robot_description: export gazebo paths to package#37
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CotsaftisGarnierMatthieu merged 4 commits intomasterfrom Mar 28, 2025
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The ROS workspace setup file does not source the ROS system setup file. This adds the sourcing for the ROS system setup file. Note: This seems to be unnecessary as the environment is the same if sourcing the workspace setup files only, and if sourcing both setup files (i.e. system and workspace). [1]: https://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html#source-the-setup-files
The ROS workspace setup file does not source the ROS Gazebo system setup file. This adds the sourcing for the ROS Gazebo system setup file. It drops the workaround that sets the gazebo-11 system's directory. The sourcing for the ROS Gazebo system setup file was the missing bits. Note: This exports the following additional Gazebo variable to the environment: - GAZEBO_MASTER_URI=http://localhost:11345 - GAZEBO_PLUGIN_PATH=/usr/share/gazebo/../../lib/x86_64-linux-gnu/gazebo-11/plugins: - GAZEBO_MODEL_DATABASE_URI=http://models.gazebosim.org - GAZEBO_RESOURCE_PATH=/usr/share/gazebo/../../share/gazebo-11: - GAZEBO_MODEL_PATH=/usr/share/gazebo/../../share/gazebo-11/models: - OGRE_RESOURCE_PATH=/usr/lib/x86_64-linux-gnu/OGRE-1.9.0 Also, the LD_LIBRARY_PATH lists the extra Gazebo plugin directory /opt/ros/humble/lib:/usr/lib/x86_64-linux-gnu/gazebo-11/plugins: -LD_LIBRARY_PATH=/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib +LD_LIBRARY_PATH=/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib:/usr/share/gazebo/../../lib/x86_64-linux-gnu/gazebo-11/plugins: [1]: https://classic.gazebosim.org/tutorials?tut=ros2_installing#Introduction
This appends the robot_control's models directory to the environ GAZEBO_MODEL_PATH, using the action AppendEnvironmentVariable. Note: It sets the gazebo-11 system's directories too, to workaround some missing bits. Note: This is unnecessary as the robot_controls's resource directory is appended to the environment GAZEBO_RESOURCE_PATH already. That resource directory contains the models directory and extra resources that are necessary to ROS Gazebo.
This exports the gazebo_model_path and gazebo_media_path (i.e. resource) to automatically make the workspace resources and models to ROS Gazebo. See [1][2][3]. Note: It that removes the needs to manually append these directories via the environment variables GAZEBO_RESOURCE_PATH and GAZEBO_MODEL_PATH. The python module gazebo_ros_paths.py[4] extracts the paths from the list of package.xml; the two python launch scripts gzserver.launch.py and gzclient.launch.py uses that module to concatenate these path to the environment variables[5][6]. The third launch script gazebo.launch.py launches the Gazebo server and client script. [1]: https://docs.ros.org/en/humble/Tutorials/Intermediate/URDF/Using-a-URDF-in-Gazebo.html#side-note-configuring-meshes [2]: https://classic.gazebosim.org/tutorials?tut=ros_roslaunch [3]: https://wiki.ros.org/simulator_gazebo/GazeboConfiguration [4]: https://github.com/ros-simulation/gazebo_ros_pkgs/blob/3.7.0/gazebo_ros/scripts/gazebo_ros_paths.py#L53-L65 [5]: https://github.com/ros-simulation/gazebo_ros_pkgs/blob/3.7.0/gazebo_ros/launch/gzserver.launch.py#L65-L78 [6]: https://github.com/ros-simulation/gazebo_ros_pkgs/blob/3.7.0/gazebo_ros/launch/gzclient.launch.py#L40-L53 [7]: https://github.com/ros-simulation/gazebo_ros_pkgs/blob/3.7.0/gazebo_ros/launch/gazebo.launch.py#L35-L43
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This exports the gazebo_model_path and gazebo_media_path (i.e. resource)
to automatically make the workspace resources and models to ROS Gazebo.
See 13.
Note: It that removes the needs to manually append these directories via
the environment variables GAZEBO_RESOURCE_PATH and GAZEBO_MODEL_PATH.
The python module gazebo_ros_paths.py4 extracts the paths from the
list of package.xml; the two python launch scripts gzserver.launch.py
and gzclient.launch.py uses that module to concatenate these path to the
environment variables5. The third launch script gazebo.launch.py
launches the Gazebo server and client script.