# Revision history [back]

Hi All, I'm trying to create a SDF from COLLADA files I have already. However, the files I'm trying to link to are located in different files (I'm trying to load a sensor on the robot). In URDFs I could use the ($find package_name) method to get a location. How would I do that with the SDF file? This is part of what I have right now in the SDF file. <visual name='base_link_visual'> <pose>0 0 0 0 0 0</pose> <geometry> <mesh> <scale>1 1 1</scale> <uri>package://my_package/Media/models/textured.dae</uri> </mesh> </geometry> </visual>  This won't link to my package. ### URI paths to packages in the SDF model file? Hi All, All, I'm trying to create a SDF from COLLADA files I have already. However, the files I'm trying to link to are located in different files (I'm trying to load a sensor on the robot). In URDFs I could use the ($find package_name) method to get a location. How would I do that with the SDF file? This is part of what I have right now in the SDF file.

<visual name='base_link_visual'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>package://my_package/Media/models/textured.dae</uri>
</mesh>
</geometry>
</visual>


This won't link to my package.

### URI paths to packages in the SDF model file?

Hi All,

I'm trying to create a SDF from COLLADA files I have already. However, the files I'm trying to link to are located in different files (I'm trying to load a sensor on the robot). In URDFs I could use the (\$find package_name) method to get a location. How would I do that with the SDF file? This is part of what I have right now in the SDF file.

<visual name='base_link_visual'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>package://my_package/Media/models/textured.dae</uri>
</mesh>
</geometry>
</visual>


This won't link to my package.

Also, is it possible to use XACRO files with the SDF?