From 90e523d68607f5610a71d96dc14d59912409625a Mon Sep 17 00:00:00 2001
From: Bastian Hofmann <bastian.hofmann@xitaso.com>
Date: Wed, 29 Mar 2023 14:23:34 +0000
Subject: [PATCH] Add file URI so MoveIt actually finds everything.

---
 src/iisy_config/config/iisy.urdf | 28 ++++++++++++++--------------
 1 file changed, 14 insertions(+), 14 deletions(-)

diff --git a/src/iisy_config/config/iisy.urdf b/src/iisy_config/config/iisy.urdf
index bc234be..c743fcb 100644
--- a/src/iisy_config/config/iisy.urdf
+++ b/src/iisy_config/config/iisy.urdf
@@ -5,24 +5,24 @@
   <link name="table">
     <collision>
       <geometry>
-        <mesh filename="$(find iisy_config)/stl/table.stl"/>
+        <mesh filename="file://$(find iisy_config)/stl/table.stl"/>
       </geometry>
     </collision>
     <visual>
       <geometry>
-        <mesh filename="$(find iisy_config)/stl/table.stl"/>
+        <mesh filename="file://$(find iisy_config)/stl/table.stl"/>
       </geometry>
     </visual>
   </link>
   <link name="base_bottom">
     <collision>
       <geometry>
-        <mesh filename="$(find iisy_config)/stl/base_bottom_coll.stl"/>
+        <mesh filename="file://$(find iisy_config)/stl/base_bottom_coll.stl"/>
       </geometry>
     </collision>
     <visual>
       <geometry>
-        <mesh filename="$(find iisy_config)/stl/base_bottom_low.stl"/>
+        <mesh filename="file://$(find iisy_config)/stl/base_bottom_low.stl"/>
       </geometry>
     </visual>
     <inertial>
@@ -40,7 +40,7 @@
     </collision>
     <visual>
       <geometry>
-        <mesh filename="$(find iisy_config)/stl/base_top_low.stl"/>
+        <mesh filename="file://$(find iisy_config)/stl/base_top_low.stl"/>
       </geometry>
     </visual>
     <inertial>
@@ -52,12 +52,12 @@
   <link name="link1_full">
     <collision>
       <geometry>
-        <mesh filename="$(find iisy_config)/stl/link_1_full_coll.stl"/>
+        <mesh filename="file://$(find iisy_config)/stl/link_1_full_coll.stl"/>
       </geometry>
     </collision>
     <visual>
       <geometry>
-        <mesh filename="$(find iisy_config)/stl/link_1_full_low.stl"/>
+        <mesh filename="file://$(find iisy_config)/stl/link_1_full_low.stl"/>
       </geometry>
     </visual>
     <inertial>
@@ -75,7 +75,7 @@
     </collision>
     <visual>
       <geometry>
-        <mesh filename="$(find iisy_config)/stl/link_2_bottom_low.stl"/>
+        <mesh filename="file://$(find iisy_config)/stl/link_2_bottom_low.stl"/>
       </geometry>
     </visual>
     <inertial>
@@ -87,12 +87,12 @@
   <link name="link2_top">
     <collision>
       <geometry>
-        <mesh filename="$(find iisy_config)/stl/link_2_top_coll.stl"/>
+        <mesh filename="file://$(find iisy_config)/stl/link_2_top_coll.stl"/>
       </geometry>
     </collision>
     <visual>
       <geometry>
-        <mesh filename="$(find iisy_config)/stl/link_2_top_low.stl"/>
+        <mesh filename="file://$(find iisy_config)/stl/link_2_top_low.stl"/>
       </geometry>
     </visual>
     <inertial>
@@ -104,12 +104,12 @@
   <link name="link3_bottom">
     <collision>
       <geometry>
-        <mesh filename="$(find iisy_config)/stl/link_3_bottom_coll.stl"/>
+        <mesh filename="file://$(find iisy_config)/stl/link_3_bottom_coll.stl"/>
       </geometry>
     </collision>
     <visual>
       <geometry>
-        <mesh filename="$(find iisy_config)/stl/link_3_bottom_low.stl"/>
+        <mesh filename="file://$(find iisy_config)/stl/link_3_bottom_low.stl"/>
       </geometry>
     </visual>
     <inertial>
@@ -121,12 +121,12 @@
   <link name="link3_top">
     <collision>
       <geometry>
-        <mesh filename="$(find iisy_config)/stl/link_3_top_coll.stl"/>
+        <mesh filename="file://$(find iisy_config)/stl/link_3_top_coll.stl"/>
       </geometry>
     </collision>
     <visual>
       <geometry>
-        <mesh filename="$(find iisy_config)/stl/link_3_top_low.stl"/>
+        <mesh filename="file://$(find iisy_config)/stl/link_3_top_low.stl"/>
       </geometry>
     </visual>
     <inertial>