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ros / urdf

Repository for URDF parsing code
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Specifying the location for mesh (*.obj, *,DAE) files as a relative path w/o referencing ros package #36

Closed mch5048 closed 3 years ago

mch5048 commented 3 years ago

Hi, currently I am building a custom IK solver that is running independently with ROS and it utilizes urdf parser.

To my knowledge, the specification for the mesh files can have the form of

package:// that finds the ROS package for robot description or files:// that specifies the absolute path to the mesh files.

Can there be an alternative for the relative import of the mesh files?

Thanks in advance!

Jaeyoung-Lim commented 3 years ago

@mch5048 If you use either GAZEBO_RESOURCE_PATH or GAZEBO_MODEL_PATH you can use the tag model:// for the context of using mesh files in gazebo.

Does this answer your question?

mch5048 commented 3 years ago

@Jaeyoung-Lim Thanks for the quick reply! Unfortunately, I think I posted the question in the wrong place.

I am using pinocchio package and its urdf parsing seems customized here. It seems only the file:// orpackage :// is supported for this package as of now.

Based on the information on the GAZEBO environment path, think I can customize this header file to find my own type of tag that points to the relative path to mesh.

Thank you!