Merge pull request #45 from rctoris/devel

URDF meshes are now scaled correctly
RobotWebTools · Jun 5, 2013 · 1940017 · 1940017
2 parents 6051c23 + 5db350f
commit 1940017
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Showing 4 changed files with 34 additions and 9 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,5 +1,6 @@
 DEVEL - **r6**
  * MARKER_CUBE_LIST added to Marker.js [(rctoris)](https://github.com/rctoris/)
+ * URDF meshes are now scaled correctly [(rctoris)](https://github.com/rctoris/)
 
 2013-05-29 - **r5**
  * Added DepthCloud class for point ploud streaming with ros_web_video and depthcloud_encoder ([jkammerl](https://github.com/jkammerl/), [dgossow](https://github.com/dgossow/))

diff --git a/build/ros3d.js b/build/ros3d.js
@@ -2252,15 +2252,27 @@ ROS3D.Urdf = function(options) {
 
         // ignore mesh files which are not in Collada format
         if (fileType === '.dae') {
+          // create the model
+          var mesh = new ROS3D.MeshResource({
+            path : path,
+            resource : uri.substring(10)
+          });
+
+          // check for a scale
+          if(link.visual.geometry.scale) {
+            mesh.scale = new THREE.Vector3(
+              link.visual.geometry.scale.x,
+              link.visual.geometry.scale.y,
+              link.visual.geometry.scale.z
+            );
+          }
+
           // create a scene node with the model
           var sceneNode = new ROS3D.SceneNode({
             frameID : frameID,
             pose : link.visual.origin,
             tfClient : tfClient,
-            object : new ROS3D.MeshResource({
-              path : path,
-              resource : uri.substring(10)
-            })
+            object : mesh
           });
           this.add(sceneNode);
         }

diff --git a/build/ros3d.min.js b/build/ros3d.min.js
diff --git a/src/urdf/Urdf.js b/src/urdf/Urdf.js
@@ -33,15 +33,27 @@ ROS3D.Urdf = function(options) {
 
         // ignore mesh files which are not in Collada format
         if (fileType === '.dae') {
+          // create the model
+          var mesh = new ROS3D.MeshResource({
+            path : path,
+            resource : uri.substring(10)
+          });
+
+          // check for a scale
+          if(link.visual.geometry.scale) {
+            mesh.scale = new THREE.Vector3(
+              link.visual.geometry.scale.x,
+              link.visual.geometry.scale.y,
+              link.visual.geometry.scale.z
+            );
+          }
+
           // create a scene node with the model
           var sceneNode = new ROS3D.SceneNode({
             frameID : frameID,
             pose : link.visual.origin,
             tfClient : tfClient,
-            object : new ROS3D.MeshResource({
-              path : path,
-              resource : uri.substring(10)
-            })
+            object : mesh
           });
           this.add(sceneNode);
         }