Gazebo | Ignition | Community

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Current solution for reading URDF models in Gazebo assumes the ROS package containing the model must also have a valid Gazebo model.config file in addition to the ROS manifest.xml file. And the model must be in both GAZEBO_MODEL_PATH and ROS_PACKAGE_PATH for both ROS and Gazebo to find the model.

With that assumption, package:// is simply replaced by model:// by parser_urdf.cc.

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