Use package:// instead of file://

husarion · Nov 23, 2023 · 3f9cfcc · 3f9cfcc
1 parent f11a8f9
commit 3f9cfcc
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Showing 4 changed files with 10 additions and 6 deletions.
diff --git a/rosbot_description/CMakeLists.txt b/rosbot_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()
diff --git a/rosbot_description/env-hooks/rosbot_description.sh.in b/rosbot_description/env-hooks/rosbot_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"
diff --git a/rosbot_description/urdf/body.urdf.xacro b/rosbot_description/urdf/body.urdf.xacro
@@ -15,7 +15,7 @@
     <link name="body_link">
       <visual>
         <geometry>
-          <mesh filename="file://$(find rosbot_description)/meshes/body.stl" scale="0.001 0.001 0.001" />
+          <mesh filename="package://rosbot_description/meshes/body.stl" scale="0.001 0.001 0.001" />
         </geometry>
         <origin xyz="0.0 0.0 -0.0173" rpy="${pi/2} 0.0 ${pi/2}" />
         <material name="White">
@@ -51,7 +51,7 @@
     <link name="cover_link">
       <visual>
         <geometry>
-          <mesh filename="file://$(find rosbot_description)/meshes/cover.stl" scale="0.001 0.001 0.001" />
+          <mesh filename="package://rosbot_description/meshes/cover.stl" scale="0.001 0.001 0.001" />
         </geometry>
         <origin xyz="0.0 0.0 -0.002" rpy="${pi/2} 0.0 ${pi/2}" />
         <material name="Red">

diff --git a/rosbot_description/urdf/wheel.urdf.xacro b/rosbot_description/urdf/wheel.urdf.xacro
@@ -32,28 +32,28 @@
     <xacro:if value="${prefix == 'fl'}">
       <xacro:property name="x" value="${wheel_separation_x/2.0}" />
       <xacro:property name="y" value="${wheel_separation_y/2.0}" />
-      <xacro:property name="mesh" value="file://$(find rosbot_description)/meshes/${wheel_file}_b.dae" />
+      <xacro:property name="mesh" value="package://rosbot_description/meshes/${wheel_file}_b.dae" />
       <xacro:property name="visual_rotation" value="${pi}" />
       <xacro:property name="fdir" value="1.0 -1.0 0.0" />
     </xacro:if>
     <xacro:if value="${prefix == 'fr'}">
       <xacro:property name="x" value="${wheel_separation_x/2.0}" />
       <xacro:property name="y" value="${-wheel_separation_y/2.0}" />
-      <xacro:property name="mesh" value="file://$(find rosbot_description)/meshes/${wheel_file}_a.dae" />
+      <xacro:property name="mesh" value="package://rosbot_description/meshes/${wheel_file}_a.dae" />
       <xacro:property name="visual_rotation" value="${pi}" />
       <xacro:property name="fdir" value="1.0 1.0 0.0" />
     </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_description)/meshes/${wheel_file}_a.dae" />
+      <xacro:property name="mesh" value="package://rosbot_description/meshes/${wheel_file}_a.dae" />
       <xacro:property name="visual_rotation" value="${0.0}" />
       <xacro:property name="fdir" value="1.0 1.0 0.0" />
     </xacro:if>
     <xacro:if value="${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://$(find rosbot_description)/meshes/${wheel_file}_b.dae" />
+      <xacro:property name="mesh" value="package://rosbot_description/meshes/${wheel_file}_b.dae" />
       <xacro:property name="visual_rotation" value="${0.0}" />
       <xacro:property name="fdir" value="1.0 -1.0 0.0" />
     </xacro:if>