Revision history [back]

I guess you need to add an export to your package.xml

  <export>
    <!-- You can specify that this package is a metapackage here: -->
    <!-- <metapackage/> -->

    <!-- Other tools can request additional information be placed here -->
    <gazebo_ros gazebo_model_path="${prefix}/models"/> 
  </export>

so the model path inside your package is found by gazebo.

If you are learning SDF now, I guess I am sure that you might also have to learn URDF because SDF is not supported by ROS tools like robot state publisher. (Just a hint) ;-)

Regards,

Christian

I guess you need to add an export to your package.xml

  <export>
    <!-- You can specify that this package is a metapackage here: -->
    <!-- <metapackage/> -->

    <!-- Other tools can request additional information be placed here -->
    <gazebo_ros gazebo_model_path="${prefix}/models"/> 
  </export>

so the model path inside your package is found by gazebo.

If you are learning SDF now, I guess I am sure that you might also have to learn URDF because SDF is not supported by ROS tools like robot state publisher. (Just a hint) ;-)

UPDATE: I have a model myself inside the directory of my package with dae. I inserted it with gazebo and saved the world file with it.

<model name='hills'>
  <static>1</static>
  <link name='link'>
    <collision name='collision'>
      <geometry>
        <mesh>
          <uri>model://hills/mesh/hills.dae</uri>
        </mesh>
      </geometry>
      <max_contacts>10</max_contacts>
      <surface>
        <bounce/>
        <friction>
          <ode/>
        </friction>
        <contact>
          <ode/>
        </contact>
      </surface>
    </collision>
    <visual name='visual_1'>
      <pose>0 0 0 0 -0 0</pose>
      <cast_shadows>0</cast_shadows>
      <geometry>
        <mesh>
          <uri>model://hills/mesh/hills.dae</uri>
        </mesh>
      </geometry>
      <material>
        <script>
          <uri>model://hills/materials/scripts</uri>
          <uri>model://hills/materials/textures</uri>
          <name>vrc/grass</name>
        </script>
      </material>
    </visual>
    <velocity_decay>
      <linear>0</linear>
      <angular>0</angular>
    </velocity_decay>
    <self_collide>0</self_collide>
    <kinematic>0</kinematic>
    <gravity>1</gravity>
  </link>
  <pose>5 -5 0 0 -0 0</pose>
</model>

It lies in a subfolder

models

-hills
 -materials
 -scripts
 -textures
 -mesh
   -hills.dae
 model.config
 model.sdf

Regards,

Christian

I guess you need to add an export to your package.xml

  <export>
    <!-- You can specify that this package is a metapackage here: -->
    <!-- <metapackage/> -->

    <!-- Other tools can request additional information be placed here -->
    <gazebo_ros gazebo_model_path="${prefix}/models"/> 
  </export>

And:

  <run_depend>gazebo_ros</run_depend>
  <build_depend>gazebo_ros</build_depend>

And in CMakeLists:

find_package(catkin REQUIRED gazebo_ros)

so the model path "models" inside your package is found by gazebo.

If you are learning SDF now, I guess I am sure that you might also have to learn URDF because SDF is not supported by ROS tools like robot state publisher. (Just a hint) ;-)

UPDATE: I have a model myself inside the directory of my package with dae. I inserted it with gazebo and saved the world file with it.

<model name='hills'>
  <static>1</static>
  <link name='link'>
    <collision name='collision'>
      <geometry>
        <mesh>
          <uri>model://hills/mesh/hills.dae</uri>
        </mesh>
      </geometry>
      <max_contacts>10</max_contacts>
      <surface>
        <bounce/>
        <friction>
          <ode/>
        </friction>
        <contact>
          <ode/>
        </contact>
      </surface>
    </collision>
    <visual name='visual_1'>
      <pose>0 0 0 0 -0 0</pose>
      <cast_shadows>0</cast_shadows>
      <geometry>
        <mesh>
          <uri>model://hills/mesh/hills.dae</uri>
        </mesh>
      </geometry>
      <material>
        <script>
          <uri>model://hills/materials/scripts</uri>
          <uri>model://hills/materials/textures</uri>
          <name>vrc/grass</name>
        </script>
      </material>
    </visual>
    <velocity_decay>
      <linear>0</linear>
      <angular>0</angular>
    </velocity_decay>
    <self_collide>0</self_collide>
    <kinematic>0</kinematic>
    <gravity>1</gravity>
  </link>
  <pose>5 -5 0 0 -0 0</pose>
</model>

It lies in a subfolder

models

-hills
 -materials
 -scripts
 -textures
 -mesh
   -hills.dae
 model.config
 model.sdf

Regards,

Christian