Missing meshes and nan errors

[broesdecat]

Hi,

I am looking for an urdf file that models a human, for use in rviz and gazebo, so your repository seemed a nice fit. However, I when I cloned your repo and tried to get it running, I ran into several issues.
Should the repo be runnable as is, or is there additional work needed for that?

Issues I have:

• model.xacro gives empty meshes and scales in some cases => I disabled the visual tag for such input
• some meshes are used that are not present in the repo, such as Shoulder
• errors about nan in animator.py => not clear for me why it is going wrong

Thx!
Broes

[bilgincoskun]

Hi,
I wrote the code some time ago but I'll try to answer as far as I remember.
The code mainly designed to be used with Kinect. So in order to use models you need to send positions of all limbs from tf.

• It was a deliberate decision. Kinect software We used only gave position but not orientation so I removed or merged some of the joints and created empty placeholders for anatomically more accurate models.
• Same reason as above.
• This problem occurred when all joints are in the same position(when there is no person in front of Kinect). It should be gone away as soon as you provide data from tf.

I hope my answer helps.