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URI paths to packages in the SDF model file?

Hi All, I'm trying to create a SDF from COLLADA files I have already. However, the files I'm trying to link to are located in different files (I'm trying to load a sensor on the robot). In URDFs I could use the ($find package_name) method to get a location. How would I do that with the SDF file? This is part of what I have right now in the SDF file.

<visual name='base_link_visual'>
    <pose>0 0 0 0 0 0</pose>
    <geometry>
      <mesh>
        <scale>1 1 1</scale>
        <uri>package://my_package/Media/models/textured.dae</uri>
      </mesh>
    </geometry>
  </visual>

This won't link to my package.

URI paths to packages in the SDF model file?

Hi All, All,

I'm trying to create a SDF from COLLADA files I have already. However, the files I'm trying to link to are located in different files (I'm trying to load a sensor on the robot). In URDFs I could use the ($find package_name) method to get a location. How would I do that with the SDF file? This is part of what I have right now in the SDF file.

<visual name='base_link_visual'>
    <pose>0 0 0 0 0 0</pose>
    <geometry>
      <mesh>
        <scale>1 1 1</scale>
        <uri>package://my_package/Media/models/textured.dae</uri>
      </mesh>
    </geometry>
  </visual>

This won't link to my package.

URI paths to packages in the SDF model file?

Hi All,

I'm trying to create a SDF from COLLADA files I have already. However, the files I'm trying to link to are located in different files (I'm trying to load a sensor on the robot). In URDFs I could use the ($find package_name) method to get a location. How would I do that with the SDF file? This is part of what I have right now in the SDF file.

<visual name='base_link_visual'>
    <pose>0 0 0 0 0 0</pose>
    <geometry>
      <mesh>
        <scale>1 1 1</scale>
        <uri>package://my_package/Media/models/textured.dae</uri>
      </mesh>
    </geometry>
  </visual>

This won't link to my package.

Also, is it possible to use XACRO files with the SDF?