gazebo无法加载带有STL资源的urdf

[、捶你胸口]

@250893029 你好，可以把launch文件的具体内容分享一下吗，加了语句之后还是各种报错

[GHFG-98]

@3164066018
要在package中加入这个，在YT上看一个俄罗斯大哥提到的

[凄凉的泪水]

@GHFG-98 你好 我也是遇到了这样的问题，ros2 humble加载gazebo11，但无法识别urdf或者xacro文件中mesh的模型资源

我在package.xml中加入了

但是依然无法加载

我在launch.py中有如下配置，但也无效。

git@github.com:QILIANGDELEISHUI/ROS2-sw_urdf_GAZEBO.git这是源文件的仓库地址。如果您能回复，万分感激。

[wty-yy]

@zzpcp3 @3164066018 @捶你胸口 @凄凉的泪水
我在gazebo.launch.py中加入的代码是这样的

from ament_index_python.packages import get_package_prefix

package_name = 'cubot_v2_sw2urdf'
pkg_share = os.pathsep + os.path.join(get_package_prefix(package_name), 'share')
if 'GAZEBO_MODEL_PATH' in os.environ:  # 如果你修改了~/.bashrc, 就会执行这个
    os.environ['GAZEBO_MODEL_PATH'] += pkg_share
else:  # 注意此处gazebo-11修改为你的gazebo版本
    os.environ['GAZEBO_MODEL_PATH'] = "/usr/share/gazebo-11/models" + pkg_share

注意把gazebo-11替换为你的gazebo版本，可以先去找找对应的路径是否存在

全部的sw转urdf流程可以在我的blog里面看看

完整launch文件如下

import launch
import launch_ros
from ament_index_python.packages import get_package_share_directory, get_package_prefix
from launch.launch_description_sources import PythonLaunchDescriptionSource
import os


def generate_launch_description():
    # Get default path
    robot_name_in_model = "cubot_v2_sw2urdf"
    urdf_tutorial_path = get_package_share_directory('cubot_v2_sw2urdf')
    default_model_path = os.path.join(
        urdf_tutorial_path, 'urdf', 'cubot_v2_sw2urdf.urdf')

    # Read URDF file content
    with open(default_model_path, 'r') as urdf_file:
        robot_description = urdf_file.read()

    robot_state_publisher_node = launch_ros.actions.Node(
        package='robot_state_publisher',
        executable='robot_state_publisher',
        parameters=[{'robot_description': robot_description}]
    )

    # Include another launch file for Gazebo
    launch_gazebo = launch.actions.IncludeLaunchDescription(
        PythonLaunchDescriptionSource([get_package_share_directory(
            'gazebo_ros'), '/launch', '/gazebo.launch.py']),
    )

    # Request Gazebo to spawn the robot
    spawn_entity_node = launch_ros.actions.Node(
        package='gazebo_ros',
        executable='spawn_entity.py',
        arguments=['-topic', '/robot_description',
                   '-entity', robot_name_in_model])

    package_name = 'cubot_v2_sw2urdf'
    pkg_share = os.pathsep + os.path.join(get_package_prefix(package_name), 'share')
    if 'GAZEBO_MODEL_PATH' in os.environ:
        os.environ['GAZEBO_MODEL_PATH'] += pkg_share
    else:
        os.environ['GAZEBO_MODEL_PATH'] = "/usr/share/gazebo-11/models" + pkg_share

    return launch.LaunchDescription([
        robot_state_publisher_node,
        launch_gazebo,
        spawn_entity_node
    ])

[、捶你胸口]

@wty-yy 感谢！~

[lenxixi]

这是我加入上述代码后的launch文件，可以正常运行

[2177527864]

@250893029 这个有点奇怪，会报一个找不到model的报错但是可以运行，我修复这个报错后就会卡死

[来自北方的狼]

@2177527864 我这边也是，加载到gazebo里面的时候，控制台打印出：
robot_state_publisher-2] Error: No link elements found in urdf file
[robot_state_publisher-2] at line 206 in ./urdf_parser/src/model.cpp
[robot_state_publisher-2] Failed to parse robot description using: urdf_xml_parser/URDFXMLParser
但是能加载进来模型，这个对后面的操作有影响吗

[542865718]

@来自北方的狼 解决了嘛，我按照上述配置依然不可以

[Tree]

可能是解析路径的写法上的问题。
<mesh filename="file://$(find XBot)/meshes/base_link.STL" />这种是ros1的写法，
<mesh filename="package://XBot/meshes/base_link.STL"/>是ros2推荐的写法，但是gazebo11可能解析不了后一种写法，换成前一种应该就可以了。
我在使用moveit2配置助手的时候也遇到过这种问题。