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Using_A_URDF_In_Gazebo: package:// URIs not described

When I read through the tutorials Using A URDF In Gazebo and Using roslaunch files to Spawn Models I have the impression that it is possible to run Gazebo with ROS without using Gazebo's model database.

To explain, I need to work with some models from ROS using Gazebo. In my view, adding the models to a local database doesn't make sense, because the users of my code just want to git clone and catkin_make and that's all.

So I searched for a way to specify paths to mesh files from my URDF relatively to the package they are contained in. Using the file:// protocol doesn't seem to be a good option, since its resolution is dependent on the working directory.

Somewhere I've found that a package:// protocol can be used, and it actually works in my models. However, there doesn't seem to be any documentation for that. Do you know of docs page that would explain the details and prerequisites for using that?

I've thought about another way to use my models without the need to install them locally. I could just add the package path to GAZEBO_RESOURCE_PATH. But where to do this? Should I use <env> tag in the launch file? Do you have any experience with that?

Using_A_URDF_In_Gazebo: package:// URIs not described

When I read through the tutorials Using A URDF In Gazebo and Using roslaunch files to Spawn Models I have the impression that it is possible to run Gazebo with ROS without using Gazebo's model database.

To explain, I need to work with some models from ROS using Gazebo. In my view, adding the models to a local database doesn't make sense, because the users of my code just want to git clone and catkin_make and that's all.

So I searched for a way to specify paths to mesh files from my URDF relatively to the package they are contained in. Using the file:// protocol doesn't seem to be a good option, since its resolution is dependent on the working directory.

Somewhere I've found that a package:// protocol can be used, and it actually works in my models. However, there doesn't seem to be any documentation for that. Do you know of docs page that would explain the details and prerequisites for using that?

I've thought about another way to use my models without the need to install them locally. I could just add the package path to GAZEBO_RESOURCE_PATH. But where to do this? Should I use <env> tag in the launch file? Do you have any experience with that?