Why import my own cad file is more slow than import PR2 cad model?

gazebo
CAD

asked 2011-08-02 20:53:05 -0600

sam
2570 ●233 ●269 ●290

updated 2014-01-28 17:10:08 -0600

ngrennan
1 ●1 ●1

I tried to covert my own cad file to stl file. And I use the command to import

  rosrun gazebo spawn_model -file foot.urdf -urdf -model top -z 0.5

I have waited several minutes but do not see any progress or message.

Why it be so slow? And how do I speed up?

Thank you~

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Please upload your URDF and STL files somewhere.

Martin Günther ( 2011-08-05 02:50:04 -0600 )edit

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answered 2011-08-09 18:45:01 -0600

sam
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updated 2011-08-09 19:29:37 -0600

I have tried to reduce the resolution of my stl file. I found 3 ways to do it,and I only try the third.

1.Use SOLIDCast to reduce the triangle number.

http://www.cast-cae.com/forum.php?mod=viewthread&tid=385

2.Use 3ds Max to reduce the vertex.

http://www.ddove.com/3dmax/sl/tut_using_the_vertex_weld_modifier.html

3.Use Inventor to export stl file with options.

It can be choice : high,medium,low,custom

What I found is if I try to import the same motor stl with different resolution successfully,

 load motor_lowest.stl（296k，about 0 sec）
 load motor_low.stl（512k，about 0 sec）
 load motor_medium.stl（1028k，about 3 sec）
 load motor_high.stl（2820k，about 10 sec）
 load motor_highest.stl（51M, very very long）

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answered 2011-08-05 07:47:23 -0600

hsu
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One possibility is that you have simply too many vertices/faces in your mesh. PR2 URDF has been simplified to around 1k faces per STL/DAE component, the original PR2 CAD file had about 300X that number of faces/vertices straight out of Solidworks. Try keeping the total number of faces of your robot mesh (collision and visual) to less than 50k should correlate to loading time of under a second. I don't have an exact number, maybe your data point could shed some light on that topic and potentially identify bottlenecks for model loading if it's pertinent to your work?

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Yeah,I found that that stl file is more bigger(36MB) than others. I successfully import another 6-axis arm (3MB)in gazebo. I will try to shed some parts to find bottle neck in the future.What the problem I met is how to combine many parts into one inseparable to reduce the total component number?

sam ( 2011-08-09 00:48:53 -0600 )edit

You'll need a separate mesh editor to simplify your model (e.g. shrink wrap with your cad software and decimate vertices). A lot of manual work involved depending on the level of detail you would like to achieve in your model. If you find something automatic, please share with us. Thanks.

hsu ( 2011-08-09 13:13:47 -0600 )edit

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Why import my own cad file is more slow than import PR2 cad model?

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