Ros3djs is not loading my urdf.

[Julio Cesar Velarde garcia]

Hello, I have a urdf file for an ABB Irb140 robot, I sucesfully displayed it using rviz but when I tried to follow the "Visualizing a URDF" tutorial ( http://wiki.ros.org/ros3djs/Tutorials... ) the html doesn't show anything. I have tried a lot of things reading a lot of answers about the issue but I can't get it work (I'm a newby in the topic).

The important parts of my urdf.html code are the headers, I don't know if I'm using them right, and the URDF client part:

script src="https://static.robotwebtools.org/threejs/current/three.js"></script>
<script src="https://static.robotwebtools.org/threejs/current/STLLoader.js"></script>
<script src="https://static.robotwebtools.org/EventEmitter2/current/eventemitter2.js"></script>
<script src="https://static.robotwebtools.org/ros3djs/0.18.0/ColladaLoader.js"></script>
<script src="https://static.robotwebtools.org/ColladaAnimationCompress/current/ColladaLoader2.js"></script>
<script src="https://static.robotwebtools.org/roslibjs/current/roslib.js"></script>
<script src="https://static.robotwebtools.org/ros3djs/current/ros3d.min.js"></script>
<script src="https://static.robotwebtools.org/threejs/current/ColladaLoader.min.js"></script>
<script src="../build/roslib.js"></script>

var urdfClient = new ROS3D.UrdfClient({ 
     ros : ros, 
     tfClient : tfClient, 
     path : 'http://localhost:80/',
     rootObject : viewer.scene, 
     loader : ROS3D.COLLADA_LOADER
     })

I have tried using both the ROS3D.COLLADA_LOADER and ROS3D.COLLADA_LOADER_2.
I'm also using apache 2 and I have there the urdf.html and the meshes but the html code simply can't load them. In other hand I launch these files.
1.- roslaunch abb_irb140_support nodos.launch


 <launch>
<arg name="KINECT1" default="$(optenv KINECT1 false)" />
<arg name="KINECT2" default="$(optenv KINECT2 false)" />

<group>
        <param name="robot_description" command="$(find xacro)/xacro '$(find abb_irb140_support)/urdf/irb140.urdf' --inorder KINECT1:=$(arg KINECT1) KINECT2:=$(arg KINECT2)" />
</group>
    <param name="use_gui" value="true" />
    <node name="robot_state_publiher" pkg="robot_state_publisher" type="state_publisher" />
    <node name="joint_state_publiher" pkg="joint_state_publisher" type="joint_state_publisher" />   
    <node name="tf2_web_republiher"   pkg="tf2_web_republisher"   type="tf2_web_republisher" /> 
</launch>
2.-roslaunch rosbridge_server rosbridge_websocket.launch

Both of them work perfectly well and show the robot model in rviz. One thing that I don't know is if I need to launch the file from inside the apache server.

Inside the urdf file the filename is something like this:
"package://robot_description/meshes/irb140/visual/base_link.dae"

The meshes are in /var/www/html/robot_description/meshes/irb140/visual/ and if I write http://localhost/robot_description/me... they can be accesed but again the files are not loaded in the html.

Checking the web console the meshes are actually accessed by the browser, but still does not show them. I hope someone could help me with this, I have been stucked with this problem several days now. Thank you I will appreciate any help

[danghuy...@gmail.com]

Can you show me how to write http://localhost/robot_description/...  ? Did you solve this problem?