Template tutorial updates #399
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Signed-off-by: Dharini Dutia <[email protected]>
quarkytale
commented
Oct 4, 2023
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| There is a difference in how ROS and Gazebo resolves URIs, that the ROS side can handle `package://` URIs, but by default SDFormat only supports `model://`. Now `libsdformat` can convert `package://` to `model://` URIs. So existing simulation assets can be loaded by "installing" the models directory and exporting the model paths to your environment. | ||
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| This can be automated using colcon environment hooks (shell scripts provided by a ROS package) in a [DSV file](https://colcon.readthedocs.io/en/released/developer/environment.html?highlight=dsv#dsv-files). Whenever you source the setup file in a workspace these environment hooks are also being sourced. See an [example](https://github.com/gazebosim/ros_gz_project_template/blob/main/ros_gz_example_gazebo/hooks/ros_gz_example_gazebo.dsv.in) of prepending the model share path to `GZ_SIM_RESOURCE_PATH` which enables Gazebo to load models from a ROS package using the `model://` URI. |
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The example just add worlds/ will update the template to add models/ as well
ahcorde
approved these changes
Oct 5, 2023
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Updated to Harmonic, will add the same changes to Fortress and Garden once approved.
Items from #382
and fixed typos.