convex_decomposition contains the Convex Mesh Generation Library, by John
Ratcliff. This library is used to auto-generate convex decomposed meshes for
collision and visualization of robot links. 

ROS package that wraps (with some patches) the original project:
http://www.amillionpixels.us/ConvexDecomposition.zip

Homepage:
http://ros.org/wiki/convex_decomposition
