From 256dd6961752bfc8d9923875f5b34f0253a8e932 Mon Sep 17 00:00:00 2001
From: BOOTCFG <139364969+BOOTCFG@users.noreply.github.com>
Date: Fri, 21 Jul 2023 09:28:40 +0000
Subject: [PATCH 1/2] file:// to package://

---
 rosbot_xl_description/urdf/body.urdf.xacro                | 4 ++--
 rosbot_xl_description/urdf/components/antenna.urdf.xacro  | 4 ++--
 .../urdf/components/camera_mount.urdf.xacro               | 6 +++---
 rosbot_xl_description/urdf/wheel.urdf.xacro               | 8 ++++----
 4 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/rosbot_xl_description/urdf/body.urdf.xacro b/rosbot_xl_description/urdf/body.urdf.xacro
index 322bd2a9..01d4d8b0 100644
--- a/rosbot_xl_description/urdf/body.urdf.xacro
+++ b/rosbot_xl_description/urdf/body.urdf.xacro
@@ -13,14 +13,14 @@
     <link name="body_link">
       <visual>
         <geometry>
-          <mesh filename="file://$(find rosbot_xl_description)/meshes/body.dae" scale="1 1 1" />
+          <mesh filename="package://rosbot_xl_description/meshes/body.dae" scale="1 1 1" />
         </geometry>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
       </visual>
 
       <collision>
         <geometry>
-          <mesh filename="file://$(find rosbot_xl_description)/meshes/body_colision.stl" scale="1 1 1" />
+          <mesh filename="package://rosbot_xl_description/meshes/body_colision.stl" scale="1 1 1" />
         </geometry>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
       </collision>
diff --git a/rosbot_xl_description/urdf/components/antenna.urdf.xacro b/rosbot_xl_description/urdf/components/antenna.urdf.xacro
index 39263a4d..e2149ecf 100644
--- a/rosbot_xl_description/urdf/components/antenna.urdf.xacro
+++ b/rosbot_xl_description/urdf/components/antenna.urdf.xacro
@@ -24,7 +24,7 @@
     <link name="${tf_prefix_ext}antenna_connector_link">
       <visual>
         <geometry>
-          <mesh filename="file://$(find rosbot_xl_description)/meshes/components/antenna_connector.dae"
+          <mesh filename="package://rosbot_xl_description/meshes/components/antenna_connector.dae"
             scale="1 1 1" />
         </geometry>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
@@ -40,7 +40,7 @@
     <link name="${tf_prefix_ext}antenna_link">
       <visual>
         <geometry>
-          <mesh filename="file://$(find rosbot_xl_description)/meshes/components/antenna.dae"
+          <mesh filename="package://rosbot_xl_description/meshes/components/antenna.dae"
             scale="1 1 1" />
         </geometry>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
diff --git a/rosbot_xl_description/urdf/components/camera_mount.urdf.xacro b/rosbot_xl_description/urdf/components/camera_mount.urdf.xacro
index 4bc5b1e4..c6fc42e6 100644
--- a/rosbot_xl_description/urdf/components/camera_mount.urdf.xacro
+++ b/rosbot_xl_description/urdf/components/camera_mount.urdf.xacro
@@ -23,7 +23,7 @@
     <link name="${tf_prefix_ext}camera_mount_bot_link">
       <visual>
         <geometry>
-          <mesh filename="file://$(find rosbot_xl_description)/meshes/components/camera_mount_bot.dae"
+          <mesh filename="package://rosbot_xl_description/meshes/components/camera_mount_bot.dae"
       scale="1 1 1" />
         </geometry>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
@@ -46,7 +46,7 @@
     <link name="${tf_prefix_ext}camera_mount_mid_link">
       <visual>
         <geometry>
-          <mesh filename="file://$(find rosbot_xl_description)/meshes/components/camera_mount_mid.dae"
+          <mesh filename="package://rosbot_xl_description/meshes/components/camera_mount_mid.dae"
       scale="1 1 1" />
         </geometry>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
@@ -69,7 +69,7 @@
     <link name="${tf_prefix_ext}camera_mount_top_link">
       <visual>
         <geometry>
-          <mesh filename="file://$(find rosbot_xl_description)/meshes/components/camera_mount_top.dae"
+          <mesh filename="package://rosbot_xl_description/meshes/components/camera_mount_top.dae"
       scale="1 1 1" />
         </geometry>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
diff --git a/rosbot_xl_description/urdf/wheel.urdf.xacro b/rosbot_xl_description/urdf/wheel.urdf.xacro
index 49c4e9f9..10416e8d 100644
--- a/rosbot_xl_description/urdf/wheel.urdf.xacro
+++ b/rosbot_xl_description/urdf/wheel.urdf.xacro
@@ -31,28 +31,28 @@
     <xacro:if value="${prefix == 'fl'}">
       <xacro:property name="x" value="${wheel_separation_x/2}" />
       <xacro:property name="y" value="${wheel_separation_y/2}" />
-      <xacro:property name="mesh" value="file://$(find rosbot_xl_description)/meshes/${wheel_file}_b.dae" />
+      <xacro:property name="mesh" value="package://rosbot_xl_description/meshes/${wheel_file}_b.dae" />
       <xacro:property name="visual_rotation" value="${pi}" />
       <xacro:property name="fdir" value="1 -1 0" />
     </xacro:if>
     <xacro:if value="${prefix == 'fr'}">
       <xacro:property name="x" value="${wheel_separation_x/2}" />
       <xacro:property name="y" value="${-wheel_separation_y/2}" />
-      <xacro:property name="mesh" value="file://$(find rosbot_xl_description)/meshes/${wheel_file}_a.dae" />
+      <xacro:property name="mesh" value="package://rosbot_xl_description/meshes/${wheel_file}_a.dae" />
       <xacro:property name="visual_rotation" value="${pi}" />
       <xacro:property name="fdir" value="1 1 0" />
     </xacro:if>
     <xacro:if value="${prefix == 'rl'}">
       <xacro:property name="x" value="${-wheel_separation_x/2}" />
       <xacro:property name="y" value="${wheel_separation_y/2}" />
-      <xacro:property name="mesh" value="file://$(find rosbot_xl_description)/meshes/${wheel_file}_a.dae" />
+      <xacro:property name="mesh" value="package://rosbot_xl_description/meshes/${wheel_file}_a.dae" />
       <xacro:property name="visual_rotation" value="${0.0}" />
       <xacro:property name="fdir" value="1 1 0" />
     </xacro:if>
     <xacro:if value="${prefix == 'rr'}">
       <xacro:property name="x" value="${-wheel_separation_x/2}" />
       <xacro:property name="y" value="${-wheel_separation_y/2}" />
-      <xacro:property name="mesh" value="file://$(find rosbot_xl_description)/meshes/${wheel_file}_b.dae" />
+      <xacro:property name="mesh" value="package://rosbot_xl_description/meshes/${wheel_file}_b.dae" />
       <xacro:property name="visual_rotation" value="${0.0}" />
       <xacro:property name="fdir" value="1 -1 0" />
     </xacro:if>

From e270d87bea9a5dc5d346f063640dffe6f73c89cd Mon Sep 17 00:00:00 2001
From: BOOTCFG <139364969+BOOTCFG@users.noreply.github.com>
Date: Thu, 3 Aug 2023 17:32:55 +0200
Subject: [PATCH 2/2] added env hook for gazebo

---
 rosbot_xl_description/CMakeLists.txt                        | 1 +
 rosbot_xl_description/env-hooks/rosbot_xl_description.sh.in | 3 +++
 2 files changed, 4 insertions(+)
 create mode 100755 rosbot_xl_description/env-hooks/rosbot_xl_description.sh.in

diff --git a/rosbot_xl_description/CMakeLists.txt b/rosbot_xl_description/CMakeLists.txt
index 41f6c3c2..e68c6019 100644
--- a/rosbot_xl_description/CMakeLists.txt
+++ b/rosbot_xl_description/CMakeLists.txt
@@ -9,4 +9,5 @@ install(DIRECTORY
   DESTINATION share/${PROJECT_NAME}
 )
 
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/${PROJECT_NAME}.sh.in")
 ament_package()
\ No newline at end of file
diff --git a/rosbot_xl_description/env-hooks/rosbot_xl_description.sh.in b/rosbot_xl_description/env-hooks/rosbot_xl_description.sh.in
new file mode 100755
index 00000000..7c1fa5f8
--- /dev/null
+++ b/rosbot_xl_description/env-hooks/rosbot_xl_description.sh.in
@@ -0,0 +1,3 @@
+ament_prepend_unique_value GAZEBO_MODEL_PATH "@CMAKE_INSTALL_PREFIX@/share"
+ament_prepend_unique_value GZ_SIM_RESOURCE_PATH "@CMAKE_INSTALL_PREFIX@/share"
+ament_prepend_unique_value IGN_GAZEBO_RESOURCE_PATH "@CMAKE_INSTALL_PREFIX@/share"
\ No newline at end of file