Merge pull request #34 from Duatic/fix/gazebo_warning

Fixed some output warnings because the collision meshes were loaded i…
Duatic · Jan 28, 2025 · 76ba7c9 · 76ba7c9
2 parents 14ff591 + c09a920
commit 76ba7c9
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Showing 2 changed files with 7 additions and 11 deletions.
diff --git a/urdf/common/baracuda12/dynaarm_parameters.urdf.xacro b/urdf/common/baracuda12/dynaarm_parameters.urdf.xacro
@@ -310,7 +310,7 @@ THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://dynaarm_description/meshes/baracuda12/collision_meshes/base_collision_mesh.stl"
+          filename="file://$(find dynaarm_description)/meshes/baracuda12/collision_meshes/base_collision_mesh.stl"
           scale="1 1 1" />
       </geometry>
     </collision>
@@ -321,7 +321,7 @@ THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://dynaarm_description/meshes/baracuda12/collision_meshes/shoulder_collision_mesh.stl"
+          filename="file://$(find dynaarm_description)/meshes/baracuda12/collision_meshes/shoulder_collision_mesh.stl"
           scale="1 1 1" />
       </geometry>
     </collision>
@@ -332,7 +332,7 @@ THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://dynaarm_description/meshes/baracuda12/collision_meshes/upperarm_collision_mesh.stl"
+          filename="file://$(find dynaarm_description)/meshes/baracuda12/collision_meshes/upperarm_collision_mesh.stl"
           scale="1 1 1" />
       </geometry>
     </collision>
@@ -343,7 +343,7 @@ THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://dynaarm_description/meshes/baracuda12/collision_meshes/elbow_collision_mesh.stl"
+          filename="file://$(find dynaarm_description)/meshes/baracuda12/collision_meshes/elbow_collision_mesh.stl"
           scale="1 1 1" />
       </geometry>
     </collision>
@@ -354,7 +354,7 @@ THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://dynaarm_description/meshes/baracuda12/collision_meshes/forearm_collision_mesh.stl"
+          filename="file://$(find dynaarm_description)/meshes/baracuda12/collision_meshes/forearm_collision_mesh.stl"
           scale="1 1 1" />
       </geometry>
     </collision>
@@ -365,7 +365,7 @@ THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://dynaarm_description/meshes/baracuda12/collision_meshes/wrist1_collision_mesh.stl"
+          filename="file://$(find dynaarm_description)/meshes/baracuda12/collision_meshes/wrist1_collision_mesh.stl"
           scale="1 1 1" />
       </geometry>
     </collision>
@@ -376,7 +376,7 @@ THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://dynaarm_description/meshes/baracuda12/collision_meshes/wrist2_collision_mesh.stl"
+          filename="file://$(find dynaarm_description)/meshes/baracuda12/collision_meshes/wrist2_collision_mesh.stl"
           scale="1 1 1" />
       </geometry>
     </collision>

diff --git a/urdf/dynaarm.urdf.xacro b/urdf/dynaarm.urdf.xacro
@@ -403,10 +403,6 @@ THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
       <plugin filename="libgz_ros2_control-system.so"
         name="gz_ros2_control::GazeboSimROS2ControlPlugin">
         <parameters>$(find dynaarm_examples)/config/controllers.yaml</parameters>
-        <robotNamespace>dynaarm</robotNamespace>
-        <robotDescription>dynaarm_description</robotDescription>
-        <robotBaseLink>dynaarm_base</robotBaseLink>
-        <statePublisherRate>400.0</statePublisherRate>
       </plugin>
     </gazebo>
   </xacro:macro>