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I know above a certain complexity it is better to move entirely to collada meshes, but I think it would be nice (and preserve the ability to place and scale visual elements within a xacro/urdf) to be able to have multiple visuals within a link like the following, which would create a composite object out of a cube and a cylinder mesh (or a cube primitive or anything else):

 <link name="link1">

 <visual name="vis1">
     <origin xyz="0 0 0" rpy="0 0 0" />
     <geometry>
       <mesh filename="package://testbot_description/meshes/cud.dae" />
     </geometry>
 </visual>
 <visual name="vis2">
     <origin xyz="0 1.0 0" rpy="0 0 0" />
     <geometry>
       <mesh filename="package://testbot_description/meshes/cylinder.dae" />
     </geometry>
 </visual>  
 </link>

Right now I'm creating extra fixed joints and links that are purely for visual purposes, it seems like they pollute the xacro and rviz environments. Is there another way to solve this?


Originally posted by lucasw on ROS Answers with karma: 8729 on 2013-11-14

Post score: 2

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1 Answer 1

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A bit late (\o/), but adding multiple visual elements to links is (now) allowed. See wiki/urdf/XML/link.


Originally posted by gvdhoorn with karma: 86574 on 2016-09-25

This answer was ACCEPTED on the original site

Post score: 4


Original comments

Comment by lucasw on 2016-09-26:
Cool, I'll try it out.

Comment by audrius on 2022-03-03:
multiple collision elements also work.

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