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Relative Paths in own sdf element

asked 2015-11-25 08:45:12 -0500

Illuminatur gravatar image


i am writing a plugin, which needs to load a csv file from a relative path with an own sdf-xml element <pathtofile>file::myfile</pathtofile>. Is there any gazebo-header, where methods are provided to resolve a file://myfile to the gazebo resource path?

Bbest regards!

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answered 2015-11-25 09:39:30 -0500

nkoenig gravatar image

You can try using SDF's findFile function.

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answered 2015-11-26 02:39:17 -0500

Illuminatur gravatar image

updated 2015-11-26 02:39:57 -0500


thank you very much, your suggestion works. You can include an element in the SDF, like


then in the plugin load the path (relative to the Gazebo Resource Path)

const char* gazeboResourcePaths = getenv("GAZEBO_RESOURCE_PATH");
std::string gazeboResourcePathString(gazeboResourcePaths);
sdf::addURIPath("elem://", gazeboResourcePathString);
const std::string absolute_path = sdf::findFile(_sdf->Get<std::string>("elementToInclude"), true, false);

The absolute path then is given in the string absolute_path.

Best regards!

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Asked: 2015-11-25 08:45:12 -0500

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Last updated: Nov 26 '15