Revision history [back]

You can reference the path to the mesh file in several ways.

This works with RVIZ and GAZEBO:

<mesh filename="file://$(find my_package)/meshes/mesh_file"/>

This work with RVIZ but not for GAZEBO:

<mesh filename="package://my_package/meshes/mesh_file"/>

For GAZEBO other way is including the path in the environment variable GAZEBO_MODEL_PATH. For that you can use the EXPORT command in the command line or include the following code to your launch file.

import os
from ament_index_python import get_package_prefix

pkg_share_path = os.pathsep + os.path.join(get_package_prefix(package_name), 'share')
if 'GAZEBO_MODEL_PATH' in os.environ:
    os.environ['GAZEBO_MODEL_PATH'] += pkg_share_path
else:
    os.environ['GAZEBO_MODEL_PATH'] =  pkg_share_path

See this post I wrote for more information.