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In order to get meshes from URDF, the URDF package must export a very specific value.
<gazebo_rosgazebo_model_path="${prefix}/.."/>
What the export does is specify a proper value of the GAZEBO_MODEL_PATH environment variable. If you say that your model path includes /home/user/models and you try to load an SDF (or other resource) with the syntax model://robot_name/file.ext, then it will enable you to load a file with the path /home/user/models/robot_name/file.ext. Logical so far...
The value of ${prefix} in your package.xml is the path to the ROS package's share folder. For instance, if you're compiling from source, that might be
Rant
In order to get meshes from URDF, the URDF package must export a very specific value.
What the export does is specify a proper value of the GAZEBO_MODEL_PATH environment variable. If you say that your model path includes
/home/user/models
and you try to load an SDF (or other resource) with the syntaxmodel://robot_name/file.ext
, then it will enable you to load a file with the path/home/user/models/robot_name/file.ext
. Logical so far...The value of
${prefix}
in yourpackage.xml
is the path to the ROS package's share folder. For instance, if you're compiling from source, that might beSo if you specify the mesh with the syntax
package://package_name/meshes/file.ext
it will presumably be installed ator
However, if we say that the Gazebo model path is
${prefix}
it will attempt to loadpackage://package_name/meshes/file.ext
asor
Note that
package_name
appears in there THREE times as opposed to the usual two.Hence, we need to set the Gazebo model path to
${prefix}/..
which is surprisingly valid syntax and results in file being loaded asor
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