ROS2 Robot Importer missing meshes in some URDFs

[michalpelka]

I've tried to import Panda Franka from Moveit2 resources. I've changed the URDF adding intertia to all links:
https://gist.github.com/michalpelka/aed725c3f87e01b7ee02c7ef23d84477

Unfortunately URDF is loaded, but without any meshes. I've added print statement to link visitor:

        const auto processLink = [&addFilenameFromGeometry, visual, colliders](const sdf::Link* link)
        {
           AZ_Printf("ProcessLink", "link %s, visuals : %d, collisions : %d\n", link->Name().c_str(), link->VisualCount(), link->CollisionCount());

This visitor produces ouput:

<13:40:25> (ProcessLink) - link panda_link0, visuals : 0, collisions : 0

<13:40:25> (ProcessLink) - link panda_link1, visuals : 0, collisions : 0

<13:40:25> (ProcessLink) - link panda_link2, visuals : 0, collisions : 0

<13:40:25> (ProcessLink) - link panda_link3, visuals : 0, collisions : 0

<13:40:25> (ProcessLink) - link panda_link4, visuals : 0, collisions : 0

<13:40:25> (ProcessLink) - link panda_link5, visuals : 0, collisions : 0

<13:40:25> (ProcessLink) - link panda_link6, visuals : 0, collisions : 0

<13:40:25> (ProcessLink) - link panda_link7, visuals : 0, collisions : 0

<13:40:25> (ProcessLink) - link panda_link8, visuals : 0, collisions : 0

<13:40:25> (ProcessLink) - link panda_hand, visuals : 0, collisions : 0

<13:40:25> (ProcessLink) - link panda_leftfinger, visuals : 0, collisions : 0

<13:40:25> (ProcessLink) - link panda_rightfinger, visuals : 0, collisions : 0

[michalpelka]

Interestingly, after adjusting the file to have an inertia matrix 😲 libSDF started to report visual meshes.
Here is the modified URDF:
https://gist.github.com/michalpelka/50726337ed1b6d073fa4d8915d9a88a8
It is clearly bug in libsdf.

[jhanca-robotecai]

Interestingly, after adjusting the file to have an inertia matrix 😲 libSDF started to report visual meshes.
Here is the modified URDF:
https://gist.github.com/michalpelka/50726337ed1b6d073fa4d8915d9a88a8
It is clearly bug in libsdf.

If inertial tag is available, inertia matrix is required .

It should be checked why we do not get any notification about the problem. When I try to load the model with a sample libsdfrotmat app, I get the error message:

Error:   Inertial element must have inertia element
Error:   Could not parse inertial element for Link [panda_link0]
Error:   Inertial element must have inertia element
Error:   Could not parse inertial element for Link [panda_link1]
Error:   Inertial element must have inertia element
Error:   Could not parse inertial element for Link [panda_link2]
Error:   Inertial element must have inertia element
Error:   Could not parse inertial element for Link [panda_link3]
Error:   Inertial element must have inertia element
Error:   Could not parse inertial element for Link [panda_link4]
Error:   Inertial element must have inertia element
Error:   Could not parse inertial element for Link [panda_link5]
Error:   Inertial element must have inertia element
Error:   Could not parse inertial element for Link [panda_link6]
Error:   Inertial element must have inertia element
Error:   Could not parse inertial element for Link [panda_link7]
Error:   Inertial element must have inertia element
Error:   Could not parse inertial element for Link [panda_link8]
Error:   Inertial element must have inertia element
Error:   Could not parse inertial element for Link [panda_hand]
Error:   Inertial element must have inertia element
Error:   Could not parse inertial element for Link [panda_leftfinger]
Error:   Inertial element must have inertia element
Error:   Could not parse inertial element for Link [panda_rightfinger]