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robotology / idyntree

Multibody Dynamics Library designed for Free Floating Robots
BSD 3-Clause "New" or "Revised" License
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How specify `package://` mapping? #1086

Closed markisus closed 1 year ago

markisus commented 1 year ago

I have a UR10e.urdf that I found in one of the ROS repositories. However, I don't want to use ROS. This urdf uses the package:// convention, which I'm not familiar with. For example, one mesh location is specified as package://ur_description/meshes/ur10e/visual/base.dae. This leads to a RuntimeError when trying to load this urdf: RuntimeError: /home/mark/manipulation/ur10e.urdf:122: error: URI 'package://ur_description/meshes/ur10e/visual/base.dae' refers to unknown package 'ur_description'.

The good news is I actually have these meshes on my filesystem. The previously mentioned mesh is located on my computer at /opt/ros/noetic/share/ur_description/meshes/ur10e/visual/base.dae.

How can I communicate this mapping package://ur_description -> /opt/ros/noetic/share/ur_description to Drake? Or should I go ahead and manually replace the package:// URIs with absolute paths inside my urdf?

markisus commented 1 year ago

Just after posting this, I think I figured it out. The mapping is specified with the PackageMap.

The fix is simply

parser = Parser(plant)
parser.package_map().Add("ur_description", "/opt/ros/noetic/share/ur_description/")
traversaro commented 1 year ago

Hello @markisus, are you are sure you wanted to open this issue in iDynTree? I think our API is a bit different, that seems Drake's API and indeed you refer to Drake in your question.

For a reference for anyone having this problem on iDynTree, to permit to iDynTree to resolve package:// URIs you can pass the packageDirs argument to the load*** methods of ModelLoader, see https://robotology.github.io/idyntree/classiDynTree_1_1ModelLoader.html . Alternatively, you can use GAZEBO_MODEL_PATH, ROS_PACKAGE_PATH or AMENT_PREFIX_PATH environment variables. In particular, in you would need to append /opt/ros/noetic/share to either GAZEBO_MODEL_PATH or ROS_PACKAGE_PATH, or /opt/ros/noetic to AMENT_PREFIX_PATH, see the following code for reference: https://github.com/robotology/idyntree/blob/v9.1.0/src/model/src/SolidShapes.cpp .

markisus commented 1 year ago

My apologies. I accidentally ended up on your project by following a link from a Drake thread.

traversaro commented 1 year ago

My apologies. I accidentally ended up on your project by following a link from a Drake thread.

No problem!