Add simplified meshes for the realsense D415, D435, D455 - #3509
Add simplified meshes for the realsense D415, D435, D455#3509thomaspeyrucain wants to merge 1 commit into
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Pull request overview
This PR switches the default visual meshes for the RealSense D415/D435/D455 URDFs to simplified versions to reduce Gazebo spawn time (and adds the missing simplified mesh assets for D435 and D455).
Changes:
- Update D415/D435/D455 xacros to reference
*_simplified.stlmeshes for visuals. - Add new simplified STL meshes for D435 and D455.
Reviewed changes
Copilot reviewed 3 out of 6 changed files in this pull request and generated 1 comment.
Show a summary per file
| File | Description |
|---|---|
realsense2_description/urdf/_d455.urdf.xacro |
Switch visual mesh to d455_simplified.stl (keeps existing scale). |
realsense2_description/urdf/_d435.urdf.xacro |
Switch visual mesh from d435.dae to d435_simplified.stl. |
realsense2_description/urdf/_d415.urdf.xacro |
Switch visual mesh to d415_simplified.stl. |
realsense2_description/meshes/d455_simplified.stl |
New simplified visual mesh asset. |
realsense2_description/meshes/d435_simplified.stl |
New simplified visual mesh asset. |
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| <geometry> | ||
| <mesh filename="package://realsense2_description/meshes/d435.dae" /> | ||
| <mesh filename="package://realsense2_description/meshes/d435_simplified.stl" /> | ||
| </geometry> |
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In the use_mesh branch there is no <material> specified. This was likely fine with the previous .dae (embedded materials), but .stl does not carry material/color data, so the D435 will render with a default color. Consider adding <material name="aluminum"/> (or an explicit material) inside the use_mesh branch to keep visuals consistent with the non-mesh fallback and other camera URDFs.
| </geometry> | |
| </geometry> | |
| <material name="aluminum"/> |
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Pull request overview
Copilot reviewed 3 out of 6 changed files in this pull request and generated 1 comment.
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| <geometry> | ||
| <!-- <box size="${d455_cam_depth} ${d455_cam_width} ${d455_cam_height}"/> --> | ||
| <mesh filename="package://realsense2_description/meshes/d455.stl" scale="0.001 0.001 0.001" /> | ||
| <mesh filename="package://realsense2_description/meshes/d455_simplified.stl" scale="0.001 0.001 0.001" /> |
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This <mesh ...> line is indented with a tab character (\t) while the surrounding XML uses spaces. Since this line was touched in the PR, it’s a good opportunity to normalize the indentation to spaces to avoid inconsistent formatting in generated URDFs and diffs.
| <mesh filename="package://realsense2_description/meshes/d455_simplified.stl" scale="0.001 0.001 0.001" /> | |
| <mesh filename="package://realsense2_description/meshes/d455_simplified.stl" scale="0.001 0.001 0.001" /> |
Hello,
The meshes of the realsenses are too big for Gazebo and resulting in the simulation to take a really long time to spawn
In the MR I change the default mesh to be the simplified one
The other meshes can be kept but I think they should be removed and put somwhere else as they take lot of space or is there a use case to have the detailed meshes in this package ?
Thanks