The car model of car_apritalgs.world show white wheels in virtualized environment

[ghost]

Hi all,

yesterdary I installed a virtual machine (x64) with the new debian packages, I tested the car_apriltags.world with introrob_py and the images received by the plugin show white the wheels car.

This only occur in virtualized environments. Does anyone know that happens?

regards

[fqez]

Hi @almartinflorido

the problem is in these lines of the model.sdf:

<visual name="visual">
    <geometry>
        <cylinder>
            <radius>0.05</radius>
            <length>0.1</length>
         </cylinder>
     </geometry>
</visual>

in these links:

<link name="{rear,front}_{left,right}_steering_wheel_block">
<link name="{rear,front}_{left,right}_wheel">

As long as they only specify visual properties, they are not required (we have already a skin for the car). To solve this, you only have to comment out this block of code for each wheel in (~/models/carApriltag/model.sdf) and you will remove this visual effect.

I am not sure, but maybe gazebo primitive shapes have visual preferences over textures.

Try it and let me know if you success!

Regards!

[ghost]

Yes, with this changes the car don't show the white wheels.

Thank you so much @fqez !!