use find package instead of file

Tractonomy · Jan 7, 2025 · 54f0d13 · 54f0d13
1 parent 161c0fe
commit 54f0d13
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diff --git a/realsense2_description/urdf/_d435.urdf.xacro b/realsense2_description/urdf/_d435.urdf.xacro
@@ -76,7 +76,7 @@ aluminum peripherial evaluation case.
           <!-- the mesh origin is at front plate in between the two infrared camera axes -->
           <origin xyz="${d435_zero_depth_to_glass + d435_glass_to_front} ${-d435_cam_depth_py} 0" rpy="${M_PI/2} 0 ${M_PI/2}"/>
           <geometry>
-            <mesh filename="file://$(find realsense2_description)/meshes/d435.dae" />
+            <mesh filename="package://realsense2_description/meshes/d435.dae" />
           </geometry>
         </xacro:if>
         <xacro:unless value="${use_mesh}">

diff --git a/realsense2_description/urdf/_d455.urdf.xacro b/realsense2_description/urdf/_d455.urdf.xacro
@@ -21,72 +21,73 @@ This is the URDF model for the Intel RealSense 430 camera, in its
 aluminum peripherial evaluation case.
 -->
 
-<robot name="sensor_d455" xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name="sensor_d455"
+  xmlns:xacro="http://ros.org/wiki/xacro">
   <!-- Includes -->
   <xacro:include filename="$(find realsense2_description)/urdf/_materials.urdf.xacro" />
   <xacro:include filename="$(find realsense2_description)/urdf/_usb_plug.urdf.xacro" />
-  <xacro:include filename="$(find realsense2_description)/urdf/_d455.gazebo.xacro"/>
+  <xacro:include filename="$(find realsense2_description)/urdf/_d455.gazebo.xacro" />
 
   <xacro:macro name="sensor_d455" params="parent *origin name:=camera use_nominal_extrinsics:=false">
     <xacro:arg name="add_plug" default="false" />
     <xacro:property name="M_PI" value="3.1415926535897931" />
 
     <!-- The following values are approximate, and the camera node
      publishing TF values with actual calibrated camera extrinsic values -->
-    <xacro:property name="d455_cam_depth_to_infra1_offset" value="0.0"/>
-    <xacro:property name="d455_cam_depth_to_infra2_offset" value="-0.095"/>
-    <xacro:property name="d455_cam_depth_to_color_offset" value="-0.059"/>
+    <xacro:property name="d455_cam_depth_to_infra1_offset" value="0.0" />
+    <xacro:property name="d455_cam_depth_to_infra2_offset" value="-0.095" />
+    <xacro:property name="d455_cam_depth_to_color_offset" value="-0.059" />
 
 
     <!-- The following values model the aluminum peripherial case for the
   	d455 camera, with the camera joint represented by the actual
   	peripherial camera tripod mount -->
-    <xacro:property name="d455_cam_width" value="0.124"/>
-    <xacro:property name="d455_cam_height" value="0.029"/>
-    <xacro:property name="d455_cam_depth" value="0.026"/>
-    <xacro:property name="d455_cam_mount_from_center_offset" value="0.0158"/>
+    <xacro:property name="d455_cam_width" value="0.124" />
+    <xacro:property name="d455_cam_height" value="0.029" />
+    <xacro:property name="d455_cam_depth" value="0.026" />
+    <xacro:property name="d455_cam_mount_from_center_offset" value="0.0158" />
     <!-- glass cover is 0.1 mm inwards from front aluminium plate -->
-    <xacro:property name="d455_glass_to_front" value="0.1e-3"/>
+    <xacro:property name="d455_glass_to_front" value="0.1e-3" />
     <!-- see datasheet Revision 009, Fig. 4-4 page 68 -->
-    <xacro:property name="d455_zero_depth_to_glass" value="4.55e-3"/>
+    <xacro:property name="d455_zero_depth_to_glass" value="4.55e-3" />
     <!-- convenience precomputation to avoid clutter-->
-    <xacro:property name="d455_mesh_x_offset" value="${d455_cam_mount_from_center_offset-d455_glass_to_front-d455_zero_depth_to_glass}"/>
+    <xacro:property name="d455_mesh_x_offset" value="${d455_cam_mount_from_center_offset-d455_glass_to_front-d455_zero_depth_to_glass}" />
 
     <!-- The following offset is relative to the physical d455 camera peripherial
   	camera tripod mount -->
-    <xacro:property name="d455_cam_depth_px" value="${d455_cam_mount_from_center_offset}"/>
-    <xacro:property name="d455_cam_depth_py" value="0.0475"/>
-    <xacro:property name="d455_cam_depth_pz" value="${d455_cam_height/2}"/>
+    <xacro:property name="d455_cam_depth_px" value="${d455_cam_mount_from_center_offset}" />
+    <xacro:property name="d455_cam_depth_py" value="0.0475" />
+    <xacro:property name="d455_cam_depth_pz" value="${d455_cam_height/2}" />
 
     <!-- camera body, with origin at bottom screw mount -->
     <joint name="${name}_joint" type="fixed">
       <xacro:insert_block name="origin" />
-      <parent link="${parent}"/>
+      <parent link="${parent}" />
       <child link="${name}_bottom_screw_frame" />
     </joint>
-    <link name="${name}_bottom_screw_frame"/>
+    <link name="${name}_bottom_screw_frame" />
 
     <joint name="${name}_link_joint" type="fixed">
-      <origin xyz="${d455_mesh_x_offset} ${d455_cam_depth_py} ${d455_cam_depth_pz}" rpy="0 0 0"/>
-      <parent link="${name}_bottom_screw_frame"/>
+      <origin xyz="${d455_mesh_x_offset} ${d455_cam_depth_py} ${d455_cam_depth_pz}" rpy="0 0 0" />
+      <parent link="${name}_bottom_screw_frame" />
       <child link="${name}_link" />
     </joint>
 
     <link name="${name}_link">
       <visual>
         <!-- the mesh origin is at front plate in between the two infrared camera axes -->
         <!-- <origin xyz="${d455_zero_depth_to_glass-d455_cam_depth/2} ${-d455_cam_depth_py} 0" rpy="0 0 0"/> -->
-        <origin xyz="${d455_zero_depth_to_glass + d455_glass_to_front} ${-d455_cam_depth_py} 0" rpy="${M_PI/2} 0 ${M_PI/2}"/>
+        <origin xyz="${d455_zero_depth_to_glass + d455_glass_to_front} ${-d455_cam_depth_py} 0" rpy="${M_PI/2} 0 ${M_PI/2}" />
         <geometry>
           <!-- <box size="${d455_cam_depth} ${d455_cam_width} ${d455_cam_height}"/> -->
-	        <mesh filename="file://$(find realsense2_description)/meshes/d455.stl" scale="0.001 0.001 0.001" />
+          <mesh filename="package://realsense2_description/meshes/d455.stl" scale="0.001 0.001 0.001" />
         </geometry>
-        <material name="aluminum"/>
+        <material name="aluminum" />
       </visual>
       <collision>
-        <origin xyz="${d455_zero_depth_to_glass-d455_cam_depth/2} ${-d455_cam_depth_py} 0" rpy="0 0 0"/>
+        <origin xyz="${d455_zero_depth_to_glass-d455_cam_depth/2} ${-d455_cam_depth_py} 0" rpy="0 0 0" />
         <geometry>
-          <box size="${d455_cam_depth} ${d455_cam_width} ${d455_cam_height}"/>
+          <box size="${d455_cam_depth} ${d455_cam_width} ${d455_cam_height}" />
         </geometry>
       </collision>
       <inertial>
@@ -101,69 +102,69 @@ aluminum peripherial evaluation case.
     <xacro:if value="${use_nominal_extrinsics}">
       <!-- camera depth joints and links -->
       <joint name="${name}_depth_joint" type="fixed">
-        <origin xyz="0 0 0" rpy="0 0 0"/>
-        <parent link="${name}_link"/>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <parent link="${name}_link" />
         <child link="${name}_depth_frame" />
       </joint>
-      <link name="${name}_depth_frame"/>
+      <link name="${name}_depth_frame" />
 
       <joint name="${name}_depth_optical_joint" type="fixed">
         <origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
         <parent link="${name}_depth_frame" />
         <child link="${name}_depth_optical_frame" />
       </joint>
-      <link name="${name}_depth_optical_frame"/>
+      <link name="${name}_depth_optical_frame" />
 
       <!-- camera left IR joints and links -->
       <joint name="${name}_infra1_joint" type="fixed">
         <origin xyz="0 ${d455_cam_depth_to_infra1_offset} 0" rpy="0 0 0" />
         <parent link="${name}_link" />
         <child link="${name}_infra1_frame" />
       </joint>
-      <link name="${name}_infra1_frame"/>
+      <link name="${name}_infra1_frame" />
 
       <joint name="${name}_infra1_optical_joint" type="fixed">
         <origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
         <parent link="${name}_infra1_frame" />
         <child link="${name}_infra1_optical_frame" />
       </joint>
-      <link name="${name}_infra1_optical_frame"/>
+      <link name="${name}_infra1_optical_frame" />
 
       <!-- camera right IR joints and links -->
       <joint name="${name}_infra2_joint" type="fixed">
         <origin xyz="0 ${d455_cam_depth_to_infra2_offset} 0" rpy="0 0 0" />
         <parent link="${name}_link" />
         <child link="${name}_infra2_frame" />
       </joint>
-      <link name="${name}_infra2_frame"/>
+      <link name="${name}_infra2_frame" />
 
       <joint name="${name}_infra2_optical_joint" type="fixed">
         <origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
         <parent link="${name}_infra2_frame" />
         <child link="${name}_infra2_optical_frame" />
       </joint>
-      <link name="${name}_infra2_optical_frame"/>
+      <link name="${name}_infra2_optical_frame" />
 
       <!-- camera color joints and links -->
       <joint name="${name}_color_joint" type="fixed">
         <origin xyz="0 ${d455_cam_depth_to_color_offset} 0" rpy="0 0 0" />
         <parent link="${name}_link" />
         <child link="${name}_color_frame" />
       </joint>
-      <link name="${name}_color_frame"/>
+      <link name="${name}_color_frame" />
 
       <joint name="${name}_color_optical_joint" type="fixed">
         <origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
         <parent link="${name}_color_frame" />
         <child link="${name}_color_optical_frame" />
       </joint>
-      <link name="${name}_color_optical_frame"/>
-      
+      <link name="${name}_color_optical_frame" />
+
       <!-- IMU -->
       <!-- see datasheet Revision 009, page 114 -->
-      <xacro:property name="d455_imu_px" value="-0.01602"/>
-      <xacro:property name="d455_imu_py" value="-0.03022"/>
-      <xacro:property name="d455_imu_pz" value="+0.0074"/>
+      <xacro:property name="d455_imu_px" value="-0.01602" />
+      <xacro:property name="d455_imu_py" value="-0.03022" />
+      <xacro:property name="d455_imu_pz" value="+0.0074" />
 
       <link name="${name}_accel_frame" />
       <link name="${name}_accel_optical_frame" />
@@ -203,11 +204,11 @@ aluminum peripherial evaluation case.
     </xacro:if>
 
     <!-- Realsense Gazebo Plugin -->
-    <xacro:gazebo_d455 camera_name="${name}" reference_link="${name}_link" depth_optical_frame="${name}_depth_optical_frame" color_optical_frame="${name}_color_optical_frame" infrared1_optical_frame="${name}_left_ir_optical_frame" infrared2_optical_frame="${name}_right_ir_optical_frame" publish_pointcloud="true" accel_optical_frame="${name}_accel_optical_frame" gyro_optical_frame="${name}_gyro_optical_frame"/>
+    <xacro:gazebo_d455 camera_name="${name}" reference_link="${name}_link" depth_optical_frame="${name}_depth_optical_frame" color_optical_frame="${name}_color_optical_frame" infrared1_optical_frame="${name}_left_ir_optical_frame" infrared2_optical_frame="${name}_right_ir_optical_frame" publish_pointcloud="true" accel_optical_frame="${name}_accel_optical_frame" gyro_optical_frame="${name}_gyro_optical_frame" />
 
     <xacro:if value="$(arg add_plug)">
       <xacro:usb_plug parent="${name}_link" name="${name}_usb_plug">
-        <origin xyz="${-0.00406-d455_cam_depth_px} ${-0.03701-d455_cam_depth_py} ${-d455_cam_depth_pz}" rpy="${M_PI/2} 0 0"/>
+        <origin xyz="${-0.00406-d455_cam_depth_px} ${-0.03701-d455_cam_depth_py} ${-d455_cam_depth_pz}" rpy="${M_PI/2} 0 0" />
       </xacro:usb_plug>
     </xacro:if>
   </xacro:macro>

diff --git a/realsense2_description/urdf/_usb_plug.urdf.xacro b/realsense2_description/urdf/_usb_plug.urdf.xacro
@@ -20,7 +20,8 @@ This is the URDF model for the Intel RealSense 415 camera, in it's
 aluminum peripherial evaluation case.
 -->
 
-<robot name="usb_plug" xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name="usb_plug"
+  xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:macro name="usb_plug" params="parent *origin name:=usb_plug">
     <xacro:property name="M_PI" value="3.1415926535897931" />
 
@@ -33,18 +34,18 @@ aluminum peripherial evaluation case.
     <link name="${name}_link">
       <visual>
         <!-- 0.044850 0.008000 0.018500 -->
-        <origin xyz="0. -0.022425 0." rpy="0 0 ${M_PI/2}"/>
+        <origin xyz="0. -0.022425 0." rpy="0 0 ${M_PI/2}" />
         <geometry>
           <!--box size="0.044850 0.008 0.0185" /-->
-          <mesh filename="file://$(find realsense2_description)/meshes/plug.stl" />
+          <mesh filename="package://realsense2_description/meshes/plug.stl" />
         </geometry>
-        <material name="plastic"/>
+        <material name="plastic" />
       </visual>
       <collision>
-        <origin xyz="0. -0.022425 0." rpy="0 0 ${M_PI/2}"/>
+        <origin xyz="0. -0.022425 0." rpy="0 0 ${M_PI/2}" />
         <geometry>
           <!--box size="0.044850 0.008 0.0185" /-->
-          <mesh filename="file://$(find realsense2_description)/meshes/plug_collision.stl" />
+          <mesh filename="package://realsense2_description/meshes/plug_collision.stl" />
         </geometry>
       </collision>
     </link>