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add env hook for Gazebo paths #47

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merged 2 commits into from
Aug 26, 2024
Merged

add env hook for Gazebo paths #47

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09d6828
add hooks
Jul 28, 2024
c156ded
retrieve meshes through "file://" instead of "package://"
Jul 28, 2024
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2 changes: 2 additions & 0 deletions iiwa_description/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -32,4 +32,6 @@ install(
DESTINATION share/${PROJECT_NAME}
)

ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/${PROJECT_NAME}.sh.in")

ament_package()
7 changes: 7 additions & 0 deletions iiwa_description/env-hooks/iiwa_description.sh.in
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Original file line number Diff line number Diff line change
@@ -0,0 +1,7 @@
# Gazebo classic
ament_prepend_unique_value GAZEBO_MODEL_PATH "$COLCON_CURRENT_PREFIX/share/@PROJECT_NAME@/meshes"
ament_prepend_unique_value GAZEBO_RESOURCE_PATH "$COLCON_CURRENT_PREFIX/share/@PROJECT_NAME@/meshes"

# Gazebo ignition and forward
ament_prepend_unique_value IGN_GAZEBO_RESOURCE_PATH "$COLCON_CURRENT_PREFIX/share/@PROJECT_NAME@/meshes"
ament_prepend_unique_value GZ_SIM_RESOURCE_PATH "$COLCON_CURRENT_PREFIX/share/@PROJECT_NAME@/meshes"
32 changes: 16 additions & 16 deletions iiwa_description/urdf/iiwa.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -25,13 +25,13 @@
<visual>
<origin rpy="0.0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/visual/base_link.dae"/>
<mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/visual/base_link.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/collision/base_link.stl"/>
<mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/collision/base_link.stl"/>
</geometry>
</collision>
<inertial>
Expand All @@ -44,13 +44,13 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_1.dae"/>
<mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/visual/link_1.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_1.stl"/>
<mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/collision/link_1.stl"/>
</geometry>
</collision>
<inertial>
Expand All @@ -63,13 +63,13 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_2.dae"/>
<mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/visual/link_2.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_2.stl"/>
<mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/collision/link_2.stl"/>
</geometry>
</collision>
<inertial>
Expand All @@ -82,13 +82,13 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_3.dae"/>
<mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/visual/link_3.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_3.stl"/>
<mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/collision/link_3.stl"/>
</geometry>
</collision>
<inertial>
Expand All @@ -101,13 +101,13 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_4.dae"/>
<mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/visual/link_4.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_4.stl"/>
<mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/collision/link_4.stl"/>
</geometry>
</collision>
<inertial>
Expand All @@ -120,13 +120,13 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_5.dae"/>
<mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/visual/link_5.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_5.stl"/>
<mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/collision/link_5.stl"/>
</geometry>
</collision>
<inertial>
Expand All @@ -139,13 +139,13 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_6.dae"/>
<mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/visual/link_6.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_6.stl"/>
<mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/collision/link_6.stl"/>
</geometry>
</collision>
<inertial>
Expand All @@ -159,13 +159,13 @@
<origin rpy="0 0 0" xyz="0 0 0.07"/>
<material name="gray"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_7_2.stl" scale ="0.001 0.001 0.001"/>
<mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/visual/link_7_2.stl" scale ="0.001 0.001 0.001"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.07"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_7_2.stl" scale ="0.001 0.001 0.001"/>
<mesh filename="file://$(find iiwa_description)/meshes/lbr_iiwa_14_r820/collision/link_7_2.stl" scale ="0.001 0.001 0.001"/>
</geometry>
</collision>
<inertial>
Expand Down
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