I have built a model to be placed within my project, other than placing it in ~/.gazebo/models (then later be used like model://my_model) in my .world file, could I include like the following or similar: (p.s. the following one seems doesn't work)
<include>
<uri>model://$(find my_package)/models/my_model.sdf</uri>
</include>
Your .world files are in SDF, and unfortunately SDF doesn't support the kind of substitution you're trying to do. I believe the syntax you're using is supported on ROS launch files.
Gazebo will find your model as long as its parent path is listed on the environment variable GAZEBO_MODEL_PATH. So you can place it on a directory other than ~/.gazebo/models and append that path to the environment variable.
You can make gazebo look in the package directory for models using the package.xml. In the below example, you can put your models into <your/package/directory>/models/ and use them from the world file without copying them into the default gazebo model directory
<export>
<gazebo_ros gazebo_model_path="${prefix}/models"/>
<gazebo_ros gazebo_media_path="${prefix}/models"/>
</export>
Here
{prefix}is evaluated to the package path
In the world file, now you can do this
<geometry>
<mesh><uri>model://your_mesh.dae</uri></mesh>
</geometry>
Asked: 2017-05-15 05:01:12 -0500
Seen: 9,223 times
Last updated: Jul 18 '20
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