Fix issue IntelRealSense/realsense-ros#2712

SgtVincent · Sep 10, 2023 · 7ab258f · 7ab258f
1 parent c4056ac
commit 7ab258f
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Showing 11 changed files with 20 additions and 20 deletions.
diff --git a/launch/gazebo.launch b/launch/gazebo.launch
@@ -6,7 +6,7 @@
   <arg name="gui" default="true"/>
   <arg name="headless" default="false"/>
   <arg name="debug" default="false"/>
-  <arg name="model" default="$(find realsense2_description)/urdf/test_d435_camera.urdf.xacro"/>
+  <arg name="model" default="$(find realsense_gazebo_plugin)/urdf/test_d435_camera.urdf.xacro"/>
   <arg name="name" default="camera" />
   <arg name="topics_ns" default="camera" />
   <arg name="add_plug" default="false" />

diff --git a/launch/view_d435_model.launch b/launch/view_d435_model.launch
@@ -1,8 +1,8 @@
 <launch>
-    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find realsense2_description)/urdf/test_d435_camera.urdf.xacro' use_nominal_extrinsics:=true add_plug:=true use_mesh:=true" />
+    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find realsense_gazebo_plugin)/urdf/test_d435_camera.urdf.xacro' use_nominal_extrinsics:=true add_plug:=true use_mesh:=true" />
     <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
 
     <arg name="gui" default="True" />
     <param name="use_gui" value="$(arg gui)" />
-    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find realsense2_description)/rviz/urdf.rviz" required="true" />
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find realsense_gazebo_plugin)/rviz/urdf.rviz" required="true" />
 </launch>
diff --git a/launch/view_d435_model_rviz_gazebo.launch b/launch/view_d435_model_rviz_gazebo.launch
@@ -4,14 +4,14 @@
   <arg name="topics_ns" default="camera"/>
   <arg name="add_plug" default="false"/>
   <arg name="publish_pointcloud" default="true"/>
-  <arg name="model" default="$(find realsense2_description)/urdf/test_d435_camera.urdf.xacro"/>
+  <arg name="model" default="$(find realsense_gazebo_plugin)/urdf/test_d435_camera.urdf.xacro"/>
   <param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model) use_nominal_extrinsics:=true publish_pointcloud:=$(arg publish_pointcloud) add_plug:=$(arg add_plug) name:=$(arg name) topics_ns:=$(arg topics_ns)" />
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher">
     <param name="publish_frequency" type="double" value="30.0" />
   </node>
 
   <!-- this will include the launch file for gazebo given the model -->
-  <include file="$(find realsense2_description)/launch/gazebo.launch">
+  <include file="$(find realsense_gazebo_plugin)/launch/gazebo.launch">
     <arg name="model" value="$(arg model)" />
     <arg name="name" default="$(arg name)" />
     <arg name="topics_ns" default="$(arg topics_ns)" />
@@ -22,5 +22,5 @@
   <!-- loads rviz -->
   <arg name="gui" default="True" />
   <param name="use_gui" value="$(arg gui)" />
-  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find realsense2_description)/rviz/urdf.rviz" required="true" />
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find realsense_gazebo_plugin)/rviz/urdf.rviz" required="true" />
 </launch>
diff --git a/launch/view_d435i_model.launch b/launch/view_d435i_model.launch
@@ -1,8 +1,8 @@
 <launch>
-    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find realsense2_description)/urdf/test_d435i_camera.urdf.xacro' use_nominal_extrinsics:=true" />
+    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find realsense_gazebo_plugin)/urdf/test_d435i_camera.urdf.xacro' use_nominal_extrinsics:=true" />
     <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
 
     <arg name="gui" default="True" />
     <param name="use_gui" value="$(arg gui)" />
-    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find realsense2_description)/rviz/urdf.rviz" required="true" />
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find realsense_gazebo_plugin)/rviz/urdf.rviz" required="true" />
 </launch>
diff --git a/launch/view_d435i_model_rviz_gazebo.launch b/launch/view_d435i_model_rviz_gazebo.launch
@@ -4,14 +4,14 @@
   <arg name="topics_ns" default="camera"/>
   <arg name="add_plug" default="false"/>
   <arg name="publish_pointcloud" default="true"/>
-  <arg name="model" default="$(find realsense2_description)/urdf/test_d435i_camera.urdf.xacro"/>
+  <arg name="model" default="$(find realsense_gazebo_plugin)/urdf/test_d435i_camera.urdf.xacro"/>
   <param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model) use_nominal_extrinsics:=true publish_pointcloud:=$(arg publish_pointcloud) add_plug:=$(arg add_plug) name:=$(arg name) topics_ns:=$(arg topics_ns)" />
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher">
     <param name="publish_frequency" type="double" value="30.0" />
   </node>
 
   <!-- this will include the launch file for gazebo given the model -->
-  <include file="$(find realsense2_description)/launch/gazebo.launch">
+  <include file="$(find realsense_gazebo_plugin)/launch/gazebo.launch">
     <arg name="model" value="$(arg model)" />
     <arg name="name" default="$(arg name)" />
     <arg name="topics_ns" default="$(arg topics_ns)" />
@@ -22,5 +22,5 @@
   <!-- loads rviz -->
   <arg name="gui" default="True" />
   <param name="use_gui" value="$(arg gui)" />
-  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find realsense2_description)/rviz/urdf.rviz" required="true" />
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find realsense_gazebo_plugin)/rviz/urdf.rviz" required="true" />
 </launch>
diff --git a/launch/view_multiple_d435_models.launch b/launch/view_multiple_d435_models.launch
@@ -1,8 +1,8 @@
 <launch>
-    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find realsense2_description)/urdf/test_d435_multiple_cameras.urdf.xacro' use_nominal_extrinsics:=true add_plug:=true" />
+    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find realsense_gazebo_plugin)/urdf/test_d435_multiple_cameras.urdf.xacro' use_nominal_extrinsics:=true add_plug:=true" />
     <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
 
     <arg name="gui" default="True" />
     <param name="use_gui" value="$(arg gui)" />
-    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find realsense2_description)/rviz/urdf.rviz" required="true" />
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find realsense_gazebo_plugin)/rviz/urdf.rviz" required="true" />
 </launch>
diff --git a/urdf/_d435.urdf.xacro b/urdf/_d435.urdf.xacro
@@ -10,7 +10,7 @@ aluminum peripherial evaluation case.
 
 <robot name="sensor_d435" xmlns:xacro="http://ros.org/wiki/xacro">
   <!-- Includes -->
-  <xacro:include filename="$(find realsense2_description)/urdf/_d435.gazebo.xacro" />
+  <xacro:include filename="$(find realsense_gazebo_plugin)/urdf/_d435.gazebo.xacro" />
   <xacro:include filename="$(find realsense2_description)/urdf/_materials.urdf.xacro" />
   <xacro:include filename="$(find realsense2_description)/urdf/_usb_plug.urdf.xacro" />
 
@@ -63,7 +63,7 @@ aluminum peripherial evaluation case.
           <!-- the mesh origin is at front plate in between the two infrared camera axes -->
           <origin xyz="${d435_zero_depth_to_glass + d435_glass_to_front} ${-d435_cam_depth_py} 0" rpy="${M_PI/2} 0 ${M_PI/2}"/>
           <geometry>
-            <mesh filename="package://realsense2_description/meshes/d435.dae" />
+            <mesh filename="file://$(find realsense2_description)/meshes/d435.dae" />
           </geometry>
         </xacro:if>
         <xacro:unless value="${use_mesh}">

diff --git a/urdf/_d435i.urdf.xacro b/urdf/_d435i.urdf.xacro
@@ -8,8 +8,8 @@ aluminum peripherial evaluation case.
 -->
 
 <robot name="sensor_d435i" xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:include filename="$(find realsense2_description)/urdf/_d435.urdf.xacro"/>
-  <xacro:include filename="$(find realsense2_description)/urdf/_d435i_imu_modules.urdf.xacro"/>
+  <xacro:include filename="$(find realsense_gazebo_plugin)/urdf/_d435.urdf.xacro"/>
+  <xacro:include filename="$(find realsense_gazebo_plugin)/urdf/_d435i_imu_modules.urdf.xacro"/>
 
   <xacro:macro name="sensor_d435i" params="parent *origin name:=camera use_nominal_extrinsics:=false add_plug:=false topics_ns:=camera publish_pointcloud:=false" >
     <xacro:sensor_d435 parent="${parent}" name="${name}" use_nominal_extrinsics="${use_nominal_extrinsics}" add_plug="${add_plug}" topics_ns="${topics_ns}" publish_pointcloud="${publish_pointcloud}">

diff --git a/urdf/test_d435_camera.urdf.xacro b/urdf/test_d435_camera.urdf.xacro
@@ -6,7 +6,7 @@
   <xacro:arg name="name" default="camera" />
   <xacro:arg name="topics_ns" default="camera" />
   <xacro:arg name="publish_pointcloud" default="false" />
-  <xacro:include filename="$(find realsense2_description)/urdf/_d435.urdf.xacro" />
+  <xacro:include filename="$(find realsense_gazebo_plugin)/urdf/_d435.urdf.xacro" />
 
   <link name="base_link" />
   <xacro:sensor_d435 parent="base_link" use_nominal_extrinsics="$(arg use_nominal_extrinsics)" add_plug="$(arg add_plug)" use_mesh="$(arg use_mesh)" name="$(arg name)" topics_ns="$(arg topics_ns)" publish_pointcloud="$(arg publish_pointcloud)">

diff --git a/urdf/test_d435_multiple_cameras.urdf.xacro b/urdf/test_d435_multiple_cameras.urdf.xacro
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <robot name="realsense2_camera" xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:arg name="use_nominal_extrinsics" default="false"/>
-  <xacro:include filename="$(find realsense2_description)/urdf/_d435.urdf.xacro" />
+  <xacro:include filename="$(find realsense_gazebo_plugin)/urdf/_d435.urdf.xacro" />
 
   <link name="base_link" />
   <xacro:sensor_d435 parent="base_link" name="camera1" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">

diff --git a/urdf/test_d435i_camera.urdf.xacro b/urdf/test_d435i_camera.urdf.xacro
@@ -5,7 +5,7 @@
   <xacro:arg name="use_nominal_extrinsics" default="false" />
   <xacro:arg name="publish_pointcloud" default="false" />
   <xacro:arg name="add_plug" default="false" />
-  <xacro:include filename="$(find realsense2_description)/urdf/_d435i.urdf.xacro"/>
+  <xacro:include filename="$(find realsense_gazebo_plugin)/urdf/_d435i.urdf.xacro"/>
 
   <link name="base_link" />
   <xacro:sensor_d435i name="$(arg name)" topics_ns="$(arg topics_ns)" parent="base_link" use_nominal_extrinsics="$(arg use_nominal_extrinsics)" publish_pointcloud="$(arg publish_pointcloud)" add_plug="$(arg add_plug)">