Use package:// to reference meshes - Githubissues

iRobotEducation / create3_sim

ROS 2 Simulation for the iRobot® Create® 3 Educational Robot

BSD 3-Clause "New" or "Revised" License

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Use package:// to reference meshes #167

Closed roni-kreinin closed 2 years ago

roni-kreinin commented 2 years ago

Description

Switching to package:// allows the description to be used by a remote computer as the mesh paths become relative rather than absolute.

Changes:

Set GAZEBO_MODEL_URI to empty string to prevent model downloads.
Added /usr/share/gazebo-11/models/ to GAZEBO_MODEL_PATH to use local ground plane and sun models.
Using package:// instead of file:// for mesh paths.

Type of change

[ ] Bug fix (non-breaking change which fixes an issue)
[x] New feature (non-breaking change which adds functionality)

How Has This Been Tested?

# Run this command
ros2 launch package launch.py

Checklist

[x] I have performed a self-review of my own code
[x] I have commented my code, particularly in hard-to-understand areas
[x] I have made corresponding changes to the documentation

alsora commented 2 years ago

I tested the PR and I can confirm that the long startup time is gone.