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ROS cannot make Gazebo load texture

Hi, I'm answering this question because it has been 1 day since I am struggling with this issue.

I want to reproduce an A4 paper sheet with an image print on it, on Gazebo. I have created a cuboid shape to represent the paper sheet on Gazebo and I try to paste the texture image on it. My model should be in a gazebo world, which is run via a roslaunch file.

As the ROS package should be shareable, I want to have the texture image in the ROS package folder

The issue is : Gazebo does not find the texture file in my ROS package. Even if I specify/export models path, it keeps not finding my texture file if it is not place in Gazebo default models folder. I am now going to describe my environment

[Everything I'm going to say is working if my texture is placed in the Gazebo root folder /usr/share/gazebo/...]

My package organisation is

image description

  • launch file

Basic launch file which is working (I don't know why I cannot paste it) niryo_one_world.launch

  • world file

I attached it cause I cannot paste paste it

The problematic model is the one from line 3 to 98, especially when I define <material> lines 30 to 35

image description

  • material file

materail file

  • package.xml File

Basic package.xml, I just add this code at the end to be sure my models path is set:


    <gazebo_ros gazebo_model_path="$(find niryo_one_gazebo)/models"/>
    <gazebo_ros gazebo_media_path="$(find niryo_one_gazebo)/models"/>