From c9de8bcd984a7be4b027964e641c3c9a6d5db8df Mon Sep 17 00:00:00 2001 From: Felix von Drigalski Date: Tue, 29 Sep 2020 01:25:15 +0900 Subject: [PATCH 1/2] Add vision geometry url to CollisionObject --- msg/CollisionObject.msg | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/msg/CollisionObject.msg b/msg/CollisionObject.msg index db1aeaa..858e5cb 100644 --- a/msg/CollisionObject.msg +++ b/msg/CollisionObject.msg @@ -11,6 +11,11 @@ string id # The object type in a database of known objects object_recognition_msgs/ObjectType type +# Visual geometry (optional) +# This mesh is only used for display. +string visual_geometry_mesh_url +geometry_msgs/Pose visual_geometry_pose + # The collision geometries associated with the object. # Their poses are with respect to the object's pose From 2ee2b05cadb66f90b2254e34c8e0361f436203ea Mon Sep 17 00:00:00 2001 From: Simon Schmeisser Date: Thu, 23 Sep 2021 12:37:32 +0200 Subject: [PATCH 2/2] CollisionObject: add visual_geometry_mesh_scaling_factor --- msg/CollisionObject.msg | 1 + 1 file changed, 1 insertion(+) diff --git a/msg/CollisionObject.msg b/msg/CollisionObject.msg index 858e5cb..06d0170 100644 --- a/msg/CollisionObject.msg +++ b/msg/CollisionObject.msg @@ -15,6 +15,7 @@ object_recognition_msgs/ObjectType type # This mesh is only used for display. string visual_geometry_mesh_url geometry_msgs/Pose visual_geometry_pose +float64 visual_geometry_mesh_scaling_factor # The collision geometries associated with the object. # Their poses are with respect to the object's pose