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Fix rviz model paths #42

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merged 3 commits into from
Nov 23, 2023
Merged

Fix rviz model paths #42

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256dd69
file:// to package://
BOOTCFG Jul 21, 2023
e270d87
added env hook for gazebo
BOOTCFG Aug 3, 2023
0c04592
Merge branch 'master' into master
rafal-gorecki Nov 23, 2023
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1 change: 1 addition & 0 deletions rosbot_xl_description/CMakeLists.txt
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Expand Up @@ -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()
3 changes: 3 additions & 0 deletions rosbot_xl_description/env-hooks/rosbot_xl_description.sh.in
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@@ -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"
4 changes: 2 additions & 2 deletions rosbot_xl_description/urdf/body.urdf.xacro
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Expand Up @@ -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://$(find rosbot_xl_description)/meshes/body_colision.stl" scale="1 1 1" />
<mesh filename="package://rosbot_xl_description/meshes/body_colision.stl" scale="1 1 1" />
</geometry>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
</collision>
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4 changes: 2 additions & 2 deletions rosbot_xl_description/urdf/components/antenna.urdf.xacro
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Expand Up @@ -24,7 +24,7 @@
<link name="${tf_prefix_ext}antenna_connector_link">
<visual>
<geometry>
<mesh filename="file://$(find rosbot_xl_description)/meshes/components/antenna_connector.dae"
<mesh filename="package://rosbot_xl_description/meshes/components/antenna_connector.dae"
scale="1 1 1" />
</geometry>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
Expand All @@ -40,7 +40,7 @@
<link name="${tf_prefix_ext}antenna_link">
<visual>
<geometry>
<mesh filename="file://$(find rosbot_xl_description)/meshes/components/antenna.dae"
<mesh filename="package://rosbot_xl_description/meshes/components/antenna.dae"
scale="1 1 1" />
</geometry>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
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6 changes: 3 additions & 3 deletions rosbot_xl_description/urdf/components/camera_mount.urdf.xacro
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Expand Up @@ -23,7 +23,7 @@
<link name="${tf_prefix_ext}camera_mount_bot_link">
<visual>
<geometry>
<mesh filename="file://$(find rosbot_xl_description)/meshes/components/camera_mount_bot.dae"
<mesh filename="package://rosbot_xl_description/meshes/components/camera_mount_bot.dae"
scale="1 1 1" />
</geometry>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
Expand All @@ -46,7 +46,7 @@
<link name="${tf_prefix_ext}camera_mount_mid_link">
<visual>
<geometry>
<mesh filename="file://$(find rosbot_xl_description)/meshes/components/camera_mount_mid.dae"
<mesh filename="package://rosbot_xl_description/meshes/components/camera_mount_mid.dae"
scale="1 1 1" />
</geometry>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
Expand All @@ -69,7 +69,7 @@
<link name="${tf_prefix_ext}camera_mount_top_link">
<visual>
<geometry>
<mesh filename="file://$(find rosbot_xl_description)/meshes/components/camera_mount_top.dae"
<mesh filename="package://rosbot_xl_description/meshes/components/camera_mount_top.dae"
scale="1 1 1" />
</geometry>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
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8 changes: 4 additions & 4 deletions rosbot_xl_description/urdf/wheel.urdf.xacro
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Expand Up @@ -31,28 +31,28 @@
<xacro:if value="${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>
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