Issue with tf2_web_republisher and collada

[Carlos R]

Hello everybody.

As maybe somebody remembers from the last week, i have been playing around using this library to publish correctly pr2 in my webpage.

Thanks to Jihoon Lee I managed to solve the problems with the compatibility with the libraries caused by the unfortunate close of the web, and even if all the compatibility problems were solve, i face right now a new problem that i do not know how to solve.

Actually I am running ROS Kinetic, and using the pr2_description (for the collada) i found in the Moveit library, I tried to run it in the webpage.

I found two problems.

First one, I see in the developer tool of the webpage, this error 8several times, for each collada file):


XML Parsing Error: not well-formed
Location: http://my_adress/my_web/pr2_common/pr2_description/meshes/gripper_v0/l_finger.dae
Line Number 25, Column 51:

I can confirm that I introduced correctly the adress because:

1- i checked and is correct.
2- If i try using different adress, It appears more issues.


This makes me think that maybe the collada is not compatible with the collada loader 2 from threejs, but I am not sure due to the fact that has a similar structure of folders.



Second issue, in the rosbridge:

[ERROR] [1512980868.663505]: [Client 0] [id: advertise:/tf2_web_republisher/goal:1]
advertise: Unable to load the manifest for package tf2_web_republisher. Caused by: tf2_web_republisher
are busy people and I am completely new on that, but if you had any clue which could be the issue and how to solve it, i would appreciate it a lot.

[ERROR] [1512980868.882236]: [Client 0] [id: subscribe:/tf2_web_republisher/feedback:3]
subscribe: Unable to load the manifest for package tf2_web_republisher. Caused by: tf2_web_republisher

[ERROR] [1512980869.008213]: [Client 0] [id: publish:/tf2_web_republisher/goal:5]
publish: Unable to load the manifest for package tf2_web_republisher. Caused by: tf2_web_republisher

This makes me think that the issue is with tf2_web_republisher. The two issues appeares at the same time.

I checked my packjage and i found that was not build correctly. After that, I found the same error.
After checkign if could be a comaptibility problem with kinetic, i tried with versions 0.3.1 and 0.3.2, which should be the compatible ones with kinetic, and the problem persist.

I know that RWT staff are busy people and I am completely new on that, but if you had any clue which could be the issue and how to solve it, i would appreciate it a lot.

[Jihoon]

Hi Carlos,

I ran a quick test to visualize pr2 model and confirmed that I couldn't reproduce your problem.

Can you describe how you set it up?

Jihoon

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[Carlos R]

Hello

Seems then will be my mistake.

I set up in two ways in order to try.

First one , from this tutorial in 1.4.
http://wiki.ros.org/ros3djs/Tutorials/VisualizingAURDF


Second. using a moveit demo+ tf2_web_republisher + rosbridge.


I put all the packages in the same workspace (catkin_ws) inside src.

Due to the fact that the colladas needs to be inside a server (or localhost) i did a copypaste of pr2_common folder(inside there is the pr2_description) in my server, so, even not being exactly the same file, is a copy (could be this a problem?).

Apart from that, the only change i did to the main example code, it has been to put the width and height as variables instead of prefixed values (but this does not give me any problem),

I do not know what else say, if you have any extra doubt, just ask. If the problem persist, i will try to start from the beggining.

Thanks for your time.

Carlos

[Carlos R]

I did manage to solve the problem Just removing and reinstalling all the packages (yes, even the last commits from you, Jihon Lee) .

I had to manually add the collada loads and the STLLoader, due to the fact that are not yet uploaded at the new webpage.

Apart of that, i downloaded again the pr2_common with my branch (kinetic) and modified all the package in order to replace the .tif files to png and modifying the .dae files to call them.

In order to do the simus, i tried several ways, but the last one was putting the pr2_description in the localhost (/var/www/html) and even creating there a ros workspace (just in case, this way the collada files loaded from the urdf.html demo and "roslaunch pr2_description upload_pr2.launch" are the same) .

But another problem appeared. Seems like a CORS problem that i do not manage to understand (I am not just using localhost all the time?).

Failed to load http://localhost/localhost_ws/src/pr2_common/pr2_description/meshes/base_v0/base.dae: No 'Access-Control-Allow-Origin' header is present on the requested resource. Origin 'null' is therefore not allowed access.

This appears for nearly all the stl and .dae files (a few ones are correctly loaded). 

I can confirm that the url is correct.

I do not know if it is something a little random, but if somebody have any clue, i would appreciate a lot a little bit of help.

  

[Carlos R]

Dear Jihoon Lee.

I would like to thank you. After the release of 4 days ago, I managed to solve all the problems. 

Just in case somebody has problems i will say the steps i followed.

1- git clone https://github.com/RobotWebTools/ros3djs.git

2- download pr2 model (https://github.com/pr2/pr2_common) and put it on a server (i used localhost, so var/www/html).

3- Convert all .tif images inside pr2_common/pr2_description/meshes to .png

4- install the dependencies explained in http://wiki.ros.org/ros3djs/Tutorials/VisualizingAURDF and run the commands at the end.

5- Change inside the urdf.html file the urdfclient path to where you have the pr2_description folder (in my case path : 'http://localhost/pr2_common/',)

Profit!

Thank you again! You are awesome.

[Julio Cesar Velarde garcia]

Hello Carlos  R. 

Which ones are your headers in the html file that you're running, are you using these? 

<script src="http://static.robotwebtools.org/threejs/current/three.min.js"></script>
<script src="http://static.robotwebtools.org/threejs/current/ColladaLoader.min.js"></script>
<script src="http://static.robotwebtools.org/ColladaAnimationCompress/current/ColladaLoader2.min.js"></script>
<script src="http://static.robotwebtools.org/threejs/current/STLLoader.min.js"></script>
<script src="http://static.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
<script src="http://static.robotwebtools.org/roslibjs/current/roslib.min.js"></script>
<script src="http://static.robotwebtools.org/ros3djs/current/ros3d.min.js"></script>

I'm having problems whit the tutorial and checking the webconsole of the browser the collada files are indeed accessed but for some reason it does not show them.