Overview

Author: Nikola Banović

Issue

When depending on depthai-descriptions package, Ignition Gazebo cannot find mesh files.

The package:// syntax for resolving the model path does not allow Ignition to automatically find the required resources.

<geometry>
    <mesh filename="package://depthai_descriptions/urdf/models/${model}.stl" />
</geometry>

changing this to file://$(find my_pkg) syntax allows this to happen automatically

<geometry>
    <mesh filename="file://$(find depthai_descriptions)/urdf/models/${model}.stl" />
</geometry>

Changes

ROS distro: humble

• base_macro.urdf.xacro: changed path to mesh file

Optional changes

I've noticed that the environment hooks present only add the GAZEBO_RESOURCE_PATH, while Ignition Gazebo for humble uses IGN_GAZEBO_RESOURCE_PATH. I've added hooks for that in the files below.

• depthai_descriptions.dsv.in
• depthai_descriptions.sh.in