GZ_SIM_RESOURCE_PATH includes /usr/share?

asked 2022-11-07 11:54:13 -0600

clydemcqueen gravatar image

I am having problems with some SDF model names in Gazebo Garden.

If I have a model named 'orca' it seems to conflict with the GNOME package of the same name that installs some files in the path /usr/share/orca. If I rename the model to 'orca4' then it loads correctly. Is there a way to avoid this?

Here is my GZ_SIM_RESOURCE_PATH:

clyde@fastr:~/colcon_ws$ echo $GZ_SIM_RESOURCE_PATH 
/home/clyde/colcon_ws/src/orca4/orca_description/models:/home/clyde/colcon_ws/src/orca4/orca_description/worlds:/home/clyde/colcon_ws/src/bluerov2_ignition/models:/home/clyde/colcon_ws/src/bluerov2_ignition/worlds:/home/clyde/ardupilot_gazebo/models:/home/clyde/ardupilot_gazebo/worlds:

Here is the gz sim launch when the model is named 'orca':

clyde@fastr:~/colcon_ws$ gz sim -v 3 sand.world
[Msg] Gazebo Sim GUI    v7.0.0
[Msg] Received world [sand.world] from the GUI.
[Msg] Gazebo Sim Server v7.0.0
[Msg] Loading SDF world file[/home/clyde/colcon_ws/src/orca4/orca_description/worlds/sand.world].
Error [parser.cc:1218] Could not find model.config or manifest.xml in [/usr/share//orca]
[Err] [Server.cc:139] Error Code 14: [/sdf/world[@name="sand"]/include[2]/uri:/home/clyde/colcon_ws/src/orca4/orca_description/worlds/sand.world:L56]: Msg: Unable to resolve uri[model://orca] to model path [/usr/share//orca] since it does not contain a model.config file.

There is something at /usr/share/orca:

clyde@fastr:~/colcon_ws$ ls /usr/share/orca
ui
clyde@fastr:~/colcon_ws$ dpkg -S /usr/share/orca
orca: /usr/share/orca
clyde@fastr:~/colcon_ws$ apt info orca
Package: orca
Version: 42.0-1ubuntu2
Priority: optional
Section: gnome
Origin: Ubuntu
Maintainer: Ubuntu Developers <ubuntu-devel-discuss@lists.ubuntu.com>
...

Thanks.

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