PR #2712 from MarqRazz: Update mesh path

IntelRealSense · Apr 27, 2023 · 1affd4c · 1affd4c
2 parents eb1458f + a04ea56
commit 1affd4c
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Showing 7 changed files with 8 additions and 8 deletions.
diff --git a/realsense2_description/urdf/_d415.urdf.xacro b/realsense2_description/urdf/_d415.urdf.xacro
@@ -68,7 +68,7 @@ aluminum peripherial evaluation case.
         <xacro:if value="${use_mesh}">
           <origin xyz="${d415_cam_mount_from_center_offset} ${-d415_cam_depth_py} 0" rpy="${M_PI/2} 0 ${M_PI/2}"/>
           <geometry>
-            <mesh filename="package://realsense2_description/meshes/d415.stl" />
+            <mesh filename="file://$(find realsense2_description)/meshes/d415.stl" />
           </geometry>
           <material name="aluminum"/>
         </xacro:if>

diff --git a/realsense2_description/urdf/_d435.urdf.xacro b/realsense2_description/urdf/_d435.urdf.xacro
@@ -75,7 +75,7 @@ aluminum peripherial evaluation case.
           <!-- the mesh origin is at front plate in between the two infrared camera axes -->
           <origin xyz="${d435_zero_depth_to_glass + d435_glass_to_front} ${-d435_cam_depth_py} 0" rpy="${M_PI/2} 0 ${M_PI/2}"/>
           <geometry>
-            <mesh filename="package://realsense2_description/meshes/d435.dae" />
+            <mesh filename="file://$(find realsense2_description)/meshes/d435.dae" />
           </geometry>
         </xacro:if>
         <xacro:unless value="${use_mesh}">

diff --git a/realsense2_description/urdf/_d455.urdf.xacro b/realsense2_description/urdf/_d455.urdf.xacro
@@ -78,7 +78,7 @@ aluminum peripherial evaluation case.
         <origin xyz="${d455_zero_depth_to_glass + d455_glass_to_front} ${-d455_cam_depth_py} 0" rpy="${M_PI/2} 0 ${M_PI/2}"/>
         <geometry>
           <!-- <box size="${d455_cam_depth} ${d455_cam_width} ${d455_cam_height}"/> -->
-	        <mesh filename="package://realsense2_description/meshes/d455.stl" scale="0.001 0.001 0.001" />
+	        <mesh filename="file://$(find realsense2_description)/meshes/d455.stl" scale="0.001 0.001 0.001" />
         </geometry>
         <material name="aluminum"/>
       </visual>

diff --git a/realsense2_description/urdf/_l515.urdf.xacro b/realsense2_description/urdf/_l515.urdf.xacro
@@ -87,7 +87,7 @@ aluminum peripherial evaluation case.
         <xacro:if value="${use_mesh}">
           <origin xyz="${l515_zero_depth_to_glass} 0 ${-l515_cam_center_to_depth_pz}" rpy="${M_PI/2} 0 ${M_PI/2}"/>
           <geometry>
-              <mesh filename="package://realsense2_description/meshes/l515.dae" />
+              <mesh filename="file://$(find realsense2_description)/meshes/l515.dae" />
           </geometry>
         </xacro:if>
         <xacro:unless value="${use_mesh}">

diff --git a/realsense2_description/urdf/_r410.urdf.xacro b/realsense2_description/urdf/_r410.urdf.xacro
@@ -59,7 +59,7 @@ aluminum peripherial evaluation case.
       <origin xyz="0 ${-r410_cam_mount_from_center_offset} ${r410_cam_height/2}" rpy="${M_PI/2} 0 ${M_PI/2}"/>
         <geometry>
           <box size="${r410_cam_width} ${r410_cam_height} ${r410_cam_depth}"/>
-          <!--<mesh filename="package://realsense2_description/meshes/r410/r410.dae" />-->
+          <!--<mesh filename="file://$(find realsense2_description)/meshes/r410/r410.dae" />-->
         </geometry>
         <material name="aluminum"/>
       </visual>

diff --git a/realsense2_description/urdf/_r430.urdf.xacro b/realsense2_description/urdf/_r430.urdf.xacro
@@ -60,7 +60,7 @@ aluminum peripherial evaluation case.
       <origin xyz="0 ${-r430_cam_mount_from_center_offset} ${r430_cam_height/2}" rpy="${M_PI/2} 0 ${M_PI/2}"/>
         <geometry>
           <box size="${r430_cam_width} ${r430_cam_height} ${r430_cam_depth}"/>
-          <!--<mesh filename="package://realsense2_description/meshes/r430/r430.dae" />-->
+          <!--<mesh filename="file://$(find realsense2_description)/meshes/r430/r430.dae" />-->
         </geometry>
         <material name="aluminum"/>
       </visual>

diff --git a/realsense2_description/urdf/_usb_plug.urdf.xacro b/realsense2_description/urdf/_usb_plug.urdf.xacro
@@ -36,15 +36,15 @@ aluminum peripherial evaluation case.
         <origin xyz="0. -0.022425 0." rpy="0 0 ${M_PI/2}"/>
         <geometry>
           <!--box size="0.044850 0.008 0.0185" /-->
-          <mesh filename="package://realsense2_description/meshes/plug.stl" />
+          <mesh filename="file://$(find realsense2_description)/meshes/plug.stl" />
         </geometry>
         <material name="plastic"/>
       </visual>
       <collision>
         <origin xyz="0. -0.022425 0." rpy="0 0 ${M_PI/2}"/>
         <geometry>
           <!--box size="0.044850 0.008 0.0185" /-->
-          <mesh filename="package://realsense2_description/meshes/plug_collision.stl" />
+          <mesh filename="file://$(find realsense2_description)/meshes/plug_collision.stl" />
         </geometry>
       </collision>
     </link>