retrieve meshes through "file://" instead of "package://"

ICube-Robotics · Jul 28, 2024 · c156ded · c156ded
1 parent 09d6828
commit c156ded
Showing 1 changed file with 16 additions and 16 deletions.
diff --git a/iiwa_description/urdf/iiwa.urdf.xacro b/iiwa_description/urdf/iiwa.urdf.xacro
@@ -25,13 +25,13 @@
       <visual>
         <origin rpy="0.0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/visual/base_link.dae"/>
+          <mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/visual/base_link.dae"/>
         </geometry>
       </visual>
       <collision>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/collision/base_link.stl"/>
+          <mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/collision/base_link.stl"/>
         </geometry>
       </collision>
       <inertial>
@@ -44,13 +44,13 @@
       <visual>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_1.dae"/>
+          <mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/visual/link_1.dae"/>
         </geometry>
       </visual>
       <collision>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_1.stl"/>
+          <mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/collision/link_1.stl"/>
         </geometry>
       </collision>
       <inertial>
@@ -63,13 +63,13 @@
       <visual>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_2.dae"/>
+          <mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/visual/link_2.dae"/>
         </geometry>
       </visual>
       <collision>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_2.stl"/>
+          <mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/collision/link_2.stl"/>
         </geometry>
       </collision>
       <inertial>
@@ -82,13 +82,13 @@
       <visual>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_3.dae"/>
+          <mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/visual/link_3.dae"/>
         </geometry>
       </visual>
       <collision>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_3.stl"/>
+          <mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/collision/link_3.stl"/>
         </geometry>
       </collision>
       <inertial>
@@ -101,13 +101,13 @@
       <visual>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_4.dae"/>
+          <mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/visual/link_4.dae"/>
         </geometry>
       </visual>
       <collision>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_4.stl"/>
+          <mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/collision/link_4.stl"/>
         </geometry>
       </collision>
       <inertial>
@@ -120,13 +120,13 @@
       <visual>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_5.dae"/>
+          <mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/visual/link_5.dae"/>
         </geometry>
       </visual>
       <collision>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_5.stl"/>
+          <mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/collision/link_5.stl"/>
         </geometry>
       </collision>
       <inertial>
@@ -139,13 +139,13 @@
       <visual>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_6.dae"/>
+          <mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/visual/link_6.dae"/>
         </geometry>
       </visual>
       <collision>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_6.stl"/>
+          <mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/collision/link_6.stl"/>
         </geometry>
       </collision>
       <inertial>
@@ -159,13 +159,13 @@
         <origin rpy="0 0 0" xyz="0 0 0.07"/>
         <material name="gray"/>
         <geometry>
-          <mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_7_2.stl" scale ="0.001 0.001 0.001"/>
+          <mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/visual/link_7_2.stl" scale ="0.001 0.001 0.001"/>
         </geometry>
       </visual>
       <collision>
         <origin rpy="0 0 0" xyz="0 0 0.07"/>
         <geometry>
-          <mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_7_2.stl" scale ="0.001 0.001 0.001"/>
+          <mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/collision/link_7_2.stl" scale ="0.001 0.001 0.001"/>
         </geometry>
       </collision>
       <inertial>