From 93ab5811e99491c60f45bf800d1e10bcbeda7c46 Mon Sep 17 00:00:00 2001
From: rafal-gorecki <rafal.gorecki@husarion.com>
Date: Wed, 20 Mar 2024 18:19:45 +0100
Subject: [PATCH] Use packages to find mesh at run time

---
 depthai_descriptions/urdf/include/base_macro.urdf.xacro | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/depthai_descriptions/urdf/include/base_macro.urdf.xacro b/depthai_descriptions/urdf/include/base_macro.urdf.xacro
index 4fc1cbf9..ccb4ad59 100644
--- a/depthai_descriptions/urdf/include/base_macro.urdf.xacro
+++ b/depthai_descriptions/urdf/include/base_macro.urdf.xacro
@@ -2,8 +2,8 @@
 <robot name="base"
     xmlns:xacro="http://ros.org/wiki/xacro">
 
-    <xacro:macro name="base" params="camera_name camera_model parent base_frame 
-                                           cam_pos_x cam_pos_y cam_pos_z 
+    <xacro:macro name="base" params="camera_name camera_model parent base_frame
+                                           cam_pos_x cam_pos_y cam_pos_z
                                            cam_roll cam_pitch cam_yaw has_imu r:=0.8 g:=0.8 b:=0.8 a:=0.8 ">
         <!-- base_link of the sensor-->
         <link name="${base_frame}"/>
@@ -21,7 +21,7 @@
             <visual>
                 <origin xyz="0 0 0" rpy="0 0 0"/>
                 <geometry>
-                    <mesh filename="file://$(find depthai_descriptions)/urdf/models/${model}.stl" />
+                    <mesh filename="package://depthai_descriptions/urdf/models/${model}.stl" />
                 </geometry>
                 <material name="mat">
                     <color rgba="${r} ${g} ${b} ${a}"/>
@@ -75,4 +75,4 @@
         </xacro:if>
 
     </xacro:macro>
-</robot>
\ No newline at end of file
+</robot>