yenon/ROS_Workspace
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Add file URI so MoveIt actually finds everything.

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This commit is contained in:
Bastian Hofmann 2023-03-29 14:23:34 +00:00
parent 6bda1077c2
commit 90e523d686
1 changed files with 14 additions and 14 deletions
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28
src/iisy_config/config/iisy.urdf
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@ -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>