关于自定义机器人的meshes文件夹加载问题

[3025832761]

我的一个机器人模型有一串：

    <visual>
      <origin rpy="0 0 1.5707963267948966" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://wx250s/meshes/wx250s_1_base.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="interbotix_black"/>
    </visual>

launch.py：

    ld = LaunchDescription()
    pkg_share = FindPackageShare(package=package_name).find(package_name)
    urdf_model_path = os.path.join(pkg_share, f'urdf/{urdf_name}')
    # Start Gazebo server
    start_gazebo_cmd =  ExecuteProcess(
        cmd=['gazebo', '--verbose','-s', 'libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so'],
        output='screen')
    # Launch the robot in Gazebo
    spawn_entity_cmd = Node(
        package='gazebo_ros', 
        executable='spawn_entity.py',
        arguments=['-entity', robot_name_in_model, '-file', urdf_model_path],
        output='screen')

这个在spawn传递时会导致gazebo无响应；只运行start_gazebo_cmd时，gazebo可以运行，使用rqt的spawn的cll会报错：

[gazebo-1] [Wrn] [FuelModelDatabase.cc:313] URI not supported by Fuel [model://wx250s/meshes/wx250s_1_base.stl]
[gazebo-1] [Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://wx250s/meshes/wx250s_1_base.stl]
[gazebo-1] [Err] [Visual.cc:2956] No mesh specified

如果在udrf中使用绝对地址：

    <visual>
      <origin rpy="0 0 1.5707963267948966" xyz="0 0 0"/>
      <geometry>
        <mesh filename="/home/fan/vla/src/wx250s/meshes/wx250s_1_base.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="interbotix_black"/>
    </visual>

这样gazebo可以看到模型，但是rviz2不能加载了。
以下的方法为尝试了均没有作用：

需要在package.xml文件的<export>标签中加入一行代码
<gazebo_ros gazebo_model_path="${prefix}/.."/>
作用为：通过该行语句可以修改ROS2的markerfile从而使得urdf文件中的package://能够正确解析到install/packagename/share中

<mesh filename="file://$(find test_robot)/src/description/meshes/test_robot.stl"/>

这是我的文件结构：

src
    └── wx250s
        ├── launch
        │   └── display_wx250s.launch.py
        ├── meshes
        │   ├── interbotix_black.png
        │   ├── wx250s_10_gripper_finger.stl
        │   ├── wx250s_11_ar_tag.stl
        │   ├── wx250s_1_base.stl
        │   ├── wx250s_2_shoulder.stl
        │   ├── wx250s_3_upper_arm.stl
        │   ├── wx250s_4_upper_forearm.stl
        │   ├── wx250s_5_lower_forearm.stl
        │   ├── wx250s_6_wrist.stl
        │   ├── wx250s_7_gripper.stl
        │   ├── wx250s_8_gripper_prop.stl
        │   └── wx250s_9_gripper_bar.stl
        ├── package.xml
        ├── resource
        │   └── wx250s
        ├── setup.cfg
        ├── setup.py
        ├── test
        │   ├── test_copyright.py
        │   ├── test_flake8.py
        │   └── test_pep257.py
        ├── urdf
        │   └── wx250s.urdf
        └── wx250s
            └── __init__.py

还有

install
│   ├── COLCON_IGNORE
│   ├── local_setup.bash
│   ├── local_setup.ps1
│   ├── local_setup.sh
│   ├── _local_setup_util_ps1.py
│   ├── _local_setup_util_sh.py
│   ├── local_setup.zsh
│   ├── setup.bash
│   ├── setup.ps1
│   ├── setup.sh
│   ├── setup.zsh
│   └── wx250s
│       ├── lib
│       │   └── python3.10
│       │       └── site-packages
│       │           ├── wx250s
│       │           │   ├── __init__.py
│       │           │   └── __pycache__
│       │           │       └── __init__.cpython-310.pyc
│       │           └── wx250s-0.0.0-py3.10.egg-info
│       │               ├── dependency_links.txt
│       │               ├── entry_points.txt
│       │               ├── PKG-INFO
│       │               ├── requires.txt
│       │               ├── SOURCES.txt
│       │               ├── top_level.txt
│       │               └── zip-safe
│       └── share
│           ├── ament_index
│           │   └── resource_index
│           │       └── packages
│           │           └── wx250s
│           ├── colcon-core
│           │   └── packages
│           │       └── wx250s
│           └── wx250s
│               ├── hook
│               │   ├── ament_prefix_path.dsv
│               │   ├── ament_prefix_path.ps1
│               │   ├── ament_prefix_path.sh
│               │   ├── pythonpath.dsv
│               │   ├── pythonpath.ps1
│               │   └── pythonpath.sh
│               ├── launch
│               │   ├── display_wx250s.launch.py
│               │   └── __pycache__
│               │       └── display_wx250s.launch.cpython-310.pyc
│               ├── meshes
│               │   ├── interbotix_black.png
│               │   ├── wx250s_10_gripper_finger.stl
│               │   ├── wx250s_11_ar_tag.stl
│               │   ├── wx250s_1_base.stl
│               │   ├── wx250s_2_shoulder.stl
│               │   ├── wx250s_3_upper_arm.stl
│               │   ├── wx250s_4_upper_forearm.stl
│               │   ├── wx250s_5_lower_forearm.stl
│               │   ├── wx250s_6_wrist.stl
│               │   ├── wx250s_7_gripper.stl
│               │   ├── wx250s_8_gripper_prop.stl
│               │   └── wx250s_9_gripper_bar.stl
│               ├── package.bash
│               ├── package.dsv
│               ├── package.ps1
│               ├── package.sh
│               ├── package.xml
│               ├── package.zsh
│               └── urdf
│                   └── wx250s.urdf

这怎么解决呢？

[3025832761]

@3025832761 我用了moveit2的一个示例机器人模型ec66_description.udrf，里面也是有外接的meshes文件，按照我的launch.py运行，也是和wx250s.udrf一样的问题，这是哪出了问题？