From 6e5312ee50e27dbfa1a49e4ed01375c32b9e4af6 Mon Sep 17 00:00:00 2001
From: ad-daniel <44834743+ad-daniel@users.noreply.github.com>
Date: Fri, 30 Sep 2022 10:54:28 +0200
Subject: [PATCH] Remove external urdf2webots dependency (#477)

* Remove external dependency

* Minor
---
 webots_ros2_driver/package.xml                           | 2 +-
 webots_ros2_driver/webots_ros2_driver/ros2_supervisor.py | 2 ++
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/webots_ros2_driver/package.xml b/webots_ros2_driver/package.xml
index 5e77f0eec..f0dd88a52 100644
--- 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
index 8b9fb3fc8..b15268fab 100755
--- 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