Remove external urdf2webots dependency (#477)

* Remove external dependency * Minor
cyberbotics · Sep 30, 2022 · 6e5312e · 6e5312e
1 parent 91d1ca1
commit 6e5312e
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diff --git a/webots_ros2_driver/package.xml b/webots_ros2_driver/package.xml
@@ -25,7 +25,7 @@
   <depend>vision_msgs</depend>
   <depend>tinyxml2_vendor</depend>
   <depend>webots_ros2_msgs</depend>
-  <depend>urdf2webots-pip</depend>
+  <depend>webots_ros2_importer</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

diff --git a/webots_ros2_driver/webots_ros2_driver/ros2_supervisor.py b/webots_ros2_driver/webots_ros2_driver/ros2_supervisor.py
@@ -23,11 +23,13 @@
 
 import rclpy
 import webots_ros2_driver_webots
+import webots_ros2_importer
 from rclpy.time import Time
 from rclpy.node import Node
 from rclpy.qos import qos_profile_services_default
 from rosgraph_msgs.msg import Clock
 from std_msgs.msg import String
+sys.path.insert(1, os.path.join(os.path.dirname(webots_ros2_importer.__file__), 'urdf2webots'))
 from urdf2webots.importer import convertUrdfFile, convertUrdfContent
 from webots_ros2_msgs.srv import SpawnUrdfRobot