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Using custom materials in gazebo

asked 2013-01-29 09:39:05 -0500

Davinci gravatar image

I am using a Ar marker in my simulation. For this I use a custom material which loads a marker (pattHiro). But the materials are in /opt/ and need "shadow_receiver.program" How can I use a custom file which can be stored with the model in /home/work? (with relative paths)

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are you running gazebo standalone, fuerte or groovy?

hsu gravatar imagehsu ( 2013-01-29 11:40:22 -0500 )edit

Gazebo in fuerte

Davinci gravatar imageDavinci ( 2013-01-29 12:20:55 -0500 )edit

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answered 2013-01-29 19:46:14 -0500

nkoenig gravatar image

updated 2013-01-30 10:01:06 -0500

I originally wrote this "Have you tried specifying absolute paths in the SDF <uri> tags?" and it's wrong. Chalk it up to a mental lapse.

Here is some information on <uri>: http://gazebosim.org/wiki/Uri

A uri is relative to a Gazebo environment variable. For example if GAZEBO_MODEL_PATH=/tmp, then a <uri>model://my_model</uri> tells Gazebo to find this directory /tmp/my_model.

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No, But it this documented somewhere? I could not find it in the sdf reference. For portablility relative paths would be even better, is this possible? Also in ROS Gazebo version the GAZEBO_MODEL_PATH does not exist. I would be possible to add it but that would again be a custom solution, limiting portability.

Davinci gravatar imageDavinci ( 2013-01-30 04:39:58 -0500 )edit

Relative paths are not portable, they are dependent on where gazebo is run. This varies from user to user and machine to machine. More uri documentation is here: http://gazebosim.org/sdf/1.3.html (do a find on uri).

nkoenig gravatar imagenkoenig ( 2013-03-07 23:03:38 -0500 )edit
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Asked: 2013-01-29 09:39:05 -0500

Seen: 1,021 times

Last updated: Jan 30 '13