Fix rviz model paths (#28)

* added env hook for gazebo * use package:// instead of file://
husarion · Nov 23, 2023 · c94c7fe · c94c7fe
1 parent 3fefa6e
commit c94c7fe
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Showing 9 changed files with 11 additions and 8 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -7,6 +7,6 @@ install(
   DIRECTORY meshes urdf
   DESTINATION share/${PROJECT_NAME}
 )
-
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/${PROJECT_NAME}.sh.in")
 ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
 ament_package()
diff --git a/env-hooks/ros_components_description.sh.in b/env-hooks/ros_components_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/urdf/intel_realsense_d435.urdf.xacro b/urdf/intel_realsense_d435.urdf.xacro
@@ -73,7 +73,7 @@
       <visual>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
         <geometry>
-          <mesh filename="file://$(find ros_components_description)/meshes/intel_realsense_d435.dae" />
+          <mesh filename="package://ros_components_description/meshes/intel_realsense_d435.dae" />
         </geometry>
       </visual>
       <collision>

diff --git a/urdf/orbbec_astra.urdf.xacro b/urdf/orbbec_astra.urdf.xacro
@@ -23,7 +23,7 @@
       <visual>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
         <geometry>
-          <mesh filename="file://$(find ros_components_description)/meshes/orbbec_astra.dae" />
+          <mesh filename="package://ros_components_description/meshes/orbbec_astra.dae" />
         </geometry>
       </visual>
 

diff --git a/urdf/ouster_os1_32.urdf.xacro b/urdf/ouster_os1_32.urdf.xacro
@@ -34,7 +34,7 @@
       <visual>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
         <geometry>
-          <mesh filename="file://$(find ros_components_description)/meshes/ouster_os1_32.dae" />
+          <mesh filename="package://ros_components_description/meshes/ouster_os1_32.dae" />
         </geometry>
       </visual>
 

diff --git a/urdf/slamtec_rplidar_a2.urdf.xacro b/urdf/slamtec_rplidar_a2.urdf.xacro
@@ -70,7 +70,7 @@
       <visual>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
         <geometry>
-          <mesh filename="file://$(find ros_components_description)/meshes/${mesh}" />
+          <mesh filename="package://ros_components_description/meshes/${mesh}" />
         </geometry>
       </visual>
 

diff --git a/urdf/slamtec_rplidar_a3.urdf.xacro b/urdf/slamtec_rplidar_a3.urdf.xacro
@@ -45,7 +45,7 @@
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
         <geometry>
           <!-- slamtec_rplidar_ax.dae is used as a shared mesh for A2 and A3 rplidars -->
-          <mesh filename="file://$(find ros_components_description)/meshes/slamtec_rplidar_ax.dae" />
+          <mesh filename="package://ros_components_description/meshes/slamtec_rplidar_ax.dae" />
         </geometry>
       </visual>
 

diff --git a/urdf/slamtec_rplidar_s1.urdf.xacro b/urdf/slamtec_rplidar_s1.urdf.xacro
@@ -44,7 +44,7 @@
       <visual>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
         <geometry>
-          <mesh filename="file://$(find ros_components_description)/meshes/slamtec_rplidar_s1.dae" />
+          <mesh filename="package://ros_components_description/meshes/slamtec_rplidar_s1.dae" />
         </geometry>
       </visual>
 

diff --git a/urdf/velodyne_puck.urdf.xacro b/urdf/velodyne_puck.urdf.xacro
@@ -34,7 +34,7 @@
       <visual>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
         <geometry>
-          <mesh filename="file://$(find ros_components_description)/meshes/velodyne_puck.dae" />
+          <mesh filename="package://ros_components_description/meshes/velodyne_puck.dae" />
         </geometry>
       </visual>