different robot color between gzweb and gazebo client

[osrf-migration]

Original report (archived issue) by Anonymous.

The original report had attachments: gazebo.jpeg, gzweb.jpeg

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gzweb version: 1.3.0
gazebo version: 7.0

We have same robot model yet rendered with different color in gzweb and gazebo client. The color in gazebo client is correct.

[osrf-migration]

Original comment by Yue Ming Wang (Bitbucket: wangyueming).

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• set attachment to "gzweb.jpeg"

The color is black in gazebo client.
The color is white in gzweb.

[osrf-migration]

Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

---

Can you share the robot description?

[osrf-migration]

Original comment by Yue Ming Wang (Bitbucket: wangyueming).

---

<sdf version='1.6'>
  <model name='turtlebot'>
    <link name='base_footprint'>
      <pose frame=''>0 0 0 0 -0 0</pose>
      <inertial>
        <pose frame=''>-0.014288 2.1e-05 0.061461 0 -0 0</pose>
        <mass>2.9853</mass>
        <inertia>
          <ixx>0.0598618</ixx>
          <ixy>-4.37146e-06</ixy>
          <ixz>0.0158512</ixz>
          <iyy>0.0641805</iyy>
          <iyz>1.92581e-06</iyz>
          <izz>0.0508443</izz>
        </inertia>
      </inertial>
      <collision name='base_footprint_fixed_joint_lump__base_collision'>
        <pose frame=''>0 0 0.06969 0 -0 0</pose>
        <geometry>
          <cylinder>
            <length>0.10938</length>
            <radius>0.178</radius>
          </cylinder>
        </geometry>
      </collision>
      <collision name='base_footprint_fixed_joint_lump__camera_link_collision_1'>
        <pose frame=''>-0.118 0 0.2812 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.07271 0.27794 0.073</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <collision name='base_footprint_fixed_joint_lump__caster_back_link_collision_2'>
        <pose frame=''>-0.135 0 0.0192 -1.5708 0 0</pose>
        <geometry>
          <cylinder>
            <length>0.0176</length>
            <radius>0.017</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode>
              <kp>1e+06</kp>
              <kd>100</kd>
              <max_vel>1</max_vel>
              <min_depth>0.001</min_depth>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>0</mu>
              <mu2>0</mu2>
            </ode>
          </friction>
        </surface>
      </collision>
      <collision name='base_footprint_fixed_joint_lump__caster_front_link_collision_3'>
        <pose frame=''>0.115 0 0.0172 -1.5708 0 0</pose>
        <geometry>
          <cylinder>
            <length>0.0176</length>
            <radius>0.017</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode>
              <kp>1e+06</kp>
              <kd>100</kd>
              <max_vel>1</max_vel>
              <min_depth>0.001</min_depth>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>0</mu>
              <mu2>0</mu2>
            </ode>
          </friction>
        </surface>
      </collision>
      <visual name='base_footprint_fixed_joint_lump__base_link_visual'>
        <pose frame=''>0.001 0 0.06219 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://kobuki_description/meshes/main_body.dae</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <uri>__default__</uri>
            <name>__default__</name>
          </script>
        </material>
      </visual>
      <visual name='base_footprint_fixed_joint_lump__camera_link_visual_1'>
        <pose frame=''>-0.118 0 0.2812 0 -0 1.5708</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://kobuki_description/meshes/sensors/kinect.dae</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <uri>__default__</uri>
            <name>__default__</name>
          </script>
        </material>
      </visual>
      <velocity_decay/>
      <sensor name='bumpers' type='contact'>
        <always_on>1</always_on>
        <update_rate>50</update_rate>
        <visualize>1</visualize>
        <contact>
          <collision>base_footprint_fixed_joint_lump__base_collision</collision>
          <topic>__default_topic__</topic>
        </contact>
        <pose frame=''>0 0 0.0102 0 -0 0</pose>
      </sensor>
      <velocity_decay/>
      <sensor name='camera' type='depth'>
        <always_on>1</always_on>
        <update_rate>20</update_rate>
        <camera name='__default__'>
          <horizontal_fov>1.0472</horizontal_fov>
          <image>
            <format>B8G8R8</format>
            <width>640</width>
            <height>480</height>
          </image>
          <clip>
            <near>0.05</near>
            <far>8</far>
          </clip>
        </camera>
        <plugin name='kinect_camera_controller' filename='libgazebo_ros_openni_kinect.so'>
          <cameraName>camera</cameraName>
          <alwaysOn>true</alwaysOn>
          <updateRate>10</updateRate>
          <imageTopicName>rgb/image_raw</imageTopicName>
          <depthImageTopicName>depth/image_raw</depthImageTopicName>
          <pointCloudTopicName>depth/points</pointCloudTopicName>
          <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
          <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
          <frameName>camera_depth_optical_frame</frameName>
          <baseline>0.1</baseline>
          <distortion_k1>0.0</distortion_k1>
          <distortion_k2>0.0</distortion_k2>
          <distortion_k3>0.0</distortion_k3>
          <distortion_t1>0.0</distortion_t1>
          <distortion_t2>0.0</distortion_t2>
          <pointCloudCutoff>0.4</pointCloudCutoff>
        </plugin>
        <pose frame=''>-0.118 0 0.2812 0 -0 0</pose>
      </sensor>
      <velocity_decay/>
      <velocity_decay/>
      <velocity_decay/>
      <sensor name='cliff_sensor_front' type='ray'>
        <always_on>1</always_on>
        <update_rate>50</update_rate>
        <visualize>1</visualize>
        <ray>
          <scan>
            <horizontal>
              <samples>50</samples>
              <resolution>1</resolution>
              <min_angle>-0.0436</min_angle>
              <max_angle>0.0436</max_angle>
            </horizontal>
          </scan>
          <range>
            <min>0.01</min>
            <max>0.15</max>
            <resolution>1</resolution>
          </range>
        </ray>
        <pose frame=''>0.188 0 0.0316 3.14159 1.57079 3.14159</pose>
      </sensor>
      <velocity_decay/>
      <sensor name='cliff_sensor_left' type='ray'>
        <always_on>1</always_on>
        <update_rate>50</update_rate>
        <visualize>1</visualize>
        <ray>
          <scan>
            <horizontal>
              <samples>50</samples>
              <resolution>1</resolution>
              <min_angle>-0.0436</min_angle>
              <max_angle>0.0436</max_angle>
            </horizontal>
          </scan>
          <range>
            <min>0.01</min>
            <max>0.15</max>
            <resolution>1</resolution>
          </range>
        </ray>
        <pose frame=''>0.116 0.13601 0.0316 3.14159 1.57079 3.14159</pose>
      </sensor>
      <velocity_decay/>
      <sensor name='cliff_sensor_right' type='ray'>
        <always_on>1</always_on>
        <update_rate>50</update_rate>
        <visualize>1</visualize>
        <ray>
          <scan>
            <horizontal>
              <samples>50</samples>
              <resolution>1</resolution>
              <min_angle>-0.0436</min_angle>
              <max_angle>0.0436</max_angle>
            </horizontal>
          </scan>
          <range>
            <min>0.01</min>
            <max>0.15</max>
            <resolution>1</resolution>
          </range>
        </ray>
        <pose frame=''>0.115 -0.13601 0.0316 3.14159 1.57079 3.14159</pose>
      </sensor>
      <gravity>1</gravity>
      <velocity_decay/>
      <sensor name='imu' type='imu'>
        <always_on>1</always_on>
        <update_rate>50</update_rate>
        <visualize>0</visualize>
        <imu>
          <angular_velocity>
            <x>
              <noise type='gaussian'>
                <mean>0</mean>
                <stddev>1.96e-06</stddev>
                <bias_mean>0</bias_mean>
                <bias_stddev>0</bias_stddev>
              </noise>
            </x>
            <y>
              <noise type='gaussian'>
                <mean>0</mean>
                <stddev>1.96e-06</stddev>
                <bias_mean>0</bias_mean>
                <bias_stddev>0</bias_stddev>
              </noise>
            </y>
            <z>
              <noise type='gaussian'>
                <mean>0</mean>
                <stddev>1.96e-06</stddev>
                <bias_mean>0</bias_mean>
                <bias_stddev>0</bias_stddev>
              </noise>
            </z>
          </angular_velocity>
          <linear_acceleration>
            <x>
              <noise type='gaussian'>
                <mean>0</mean>
                <stddev>0.017</stddev>
                <bias_mean>0.1</bias_mean>
                <bias_stddev>0.001</bias_stddev>
              </noise>
            </x>
            <y>
              <noise type='gaussian'>
                <mean>0</mean>
                <stddev>0.017</stddev>
                <bias_mean>0.1</bias_mean>
                <bias_stddev>0.001</bias_stddev>
              </noise>
            </y>
            <z>
              <noise type='gaussian'>
                <mean>0</mean>
                <stddev>0.017</stddev>
                <bias_mean>0.1</bias_mean>
                <bias_stddev>0.001</bias_stddev>
              </noise>
            </z>
          </linear_acceleration>
        </imu>
        <pose frame=''>0.056 0.062 0.0304 0 -0 0</pose>
      </sensor>
    </link>
    <link name='wheel_left_link'>
      <pose frame=''>0 0.115 0.0352 -1.5708 0 0</pose>
      <inertial>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <mass>0.01</mass>
        <inertia>
          <ixx>0.001</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.001</iyy>
          <iyz>0</iyz>
          <izz>0.001</izz>
        </inertia>
      </inertial>
      <collision name='wheel_left_link_collision'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <cylinder>
            <length>0.0206</length>
            <radius>0.0352</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode>
              <kp>1e+06</kp>
              <kd>100</kd>
              <max_vel>1</max_vel>
              <min_depth>0.001</min_depth>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
            </ode>
          </friction>
        </surface>
      </collision>
      <visual name='wheel_left_link_visual'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://kobuki_description/meshes/wheel.dae</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <uri>__default__</uri>
            <name>__default__</name>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay/>
    </link>
    <joint name='wheel_left_joint' type='revolute'>
      <child>wheel_left_link</child>
      <parent>base_footprint</parent>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name='wheel_right_link'>
      <pose frame=''>0 -0.115 0.0352 -1.5708 0 0</pose>
      <inertial>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <mass>0.01</mass>
        <inertia>
          <ixx>0.001</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.001</iyy>
          <iyz>0</iyz>
          <izz>0.001</izz>
        </inertia>
      </inertial>
      <collision name='wheel_right_link_collision'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <cylinder>
            <length>0.0206</length>
            <radius>0.035</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode>
              <kp>1e+06</kp>
              <kd>100</kd>
              <max_vel>1</max_vel>
              <min_depth>0.001</min_depth>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
            </ode>
          </friction>
        </surface>
      </collision>
      <visual name='wheel_right_link_visual'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://kobuki_description/meshes/wheel.dae</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <uri>__default__</uri>
            <name>__default__</name>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay/>
    </link>
    <joint name='wheel_right_joint' type='revolute'>
      <child>wheel_right_link</child>
      <parent>base_footprint</parent>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <static>0</static>
    <plugin name='kobuki_controller' filename='libgazebo_ros_kobuki.so'>
      <publish_tf>1</publish_tf>
      <left_wheel_joint_name>wheel_left_joint</left_wheel_joint_name>
      <right_wheel_joint_name>wheel_right_joint</right_wheel_joint_name>
      <wheel_separation>.230</wheel_separation>
      <wheel_diameter>0.070</wheel_diameter>
      <torque>1.0</torque>
      <velocity_command_timeout>0.6</velocity_command_timeout>
      <cliff_sensor_left_name>cliff_sensor_left</cliff_sensor_left_name>
      <cliff_sensor_center_name>cliff_sensor_front</cliff_sensor_center_name>
      <cliff_sensor_right_name>cliff_sensor_right</cliff_sensor_right_name>
      <cliff_detection_threshold>0.04</cliff_detection_threshold>
      <bumper_name>bumpers</bumper_name>
      <imu_name>imu</imu_name>
    </plugin>
  </model>
</sdf>