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This was solved by using $(find) syntax

<?xml version="1.0" encoding="UTF-8"?>
<robot name="test_robot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<link name="base_link">
    <inertial>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <mass value="1"/>
        <inertia
          ixx="1" ixy="0" ixz="0"
          iyy="1" iyz="0"
          izz="1"/>
    </inertial>
    <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="$(find test_robot)/src/description/meshes/test_robot.stl"/>
            </geometry>
        <material name="grey"/>
    </visual>
</link>
</robot>

This was solved by using $(find) syntax

<?xml version="1.0" encoding="UTF-8"?>
<robot name="test_robot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<link name="base_link">
    <inertial>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <mass value="1"/>
        <inertia
          ixx="1" ixy="0" ixz="0"
          iyy="1" iyz="0"
          izz="1"/>
    </inertial>
    <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="$(find test_robot)/src/description/meshes/test_robot.stl"/>
            </geometry>
        <material name="grey"/>
    </visual>
</link>
</robot>

This was solved by using $(find) syntax

<?xml version="1.0" encoding="UTF-8"?>
<robot name="test_robot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<link name="base_link">
    <inertial>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <mass value="1"/>
        <inertia
          ixx="1" ixy="0" ixz="0"
          iyy="1" iyz="0"
          izz="1"/>
    </inertial>
    <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="$(find test_robot)/src/description/meshes/test_robot.stl"/>
            </geometry>
        <material name="grey"/>
    </visual>
</link>
</robot>

This For the meshes to appear in Gazeob, this was solved by using $(find) syntaxsyntax. BUT, this prevents it from spawning in RBVIZ2 on the /robot_description topic

<?xml version="1.0" encoding="UTF-8"?>
<robot name="test_robot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<link name="base_link">
    <inertial>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <mass value="1"/>
        <inertia
          ixx="1" ixy="0" ixz="0"
          iyy="1" iyz="0"
          izz="1"/>
    </inertial>
    <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="$(find test_robot)/src/description/meshes/test_robot.stl"/>
            </geometry>
        <material name="grey"/>
    </visual>
</link>
</robot>

For the meshes to appear in Gazeob, this was solved by using $(find) syntax. BUT, this prevents it from spawning in RBVIZ2 on Use the /robot_descriptionfile://$(find) topicsyntax.

<?xml version="1.0" encoding="UTF-8"?>
<robot name="test_robot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<link name="base_link">
    <inertial>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <mass value="1"/>
        <inertia
          ixx="1" ixy="0" ixz="0"
          iyy="1" iyz="0"
          izz="1"/>
    </inertial>
    <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="$(find filename="file://$(find test_robot)/src/description/meshes/test_robot.stl"/>
            </geometry>
        <material name="grey"/>
    </visual>
</link>
</robot>