Use simulation flag to decide how to load meshes. (#524)

luxonis · May 14, 2024 · 0144d79 · 0144d79
1 parent 0ef4b38
commit 0144d79
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Showing 2 changed files with 19 additions and 5 deletions.
diff --git a/depthai_descriptions/urdf/include/base_macro.urdf.xacro b/depthai_descriptions/urdf/include/base_macro.urdf.xacro
@@ -4,7 +4,21 @@
 
     <xacro:macro name="base" params="camera_name camera_model parent base_frame 
                                            cam_pos_x cam_pos_y cam_pos_z 
-                                           cam_roll cam_pitch cam_yaw has_imu r:=0.8 g:=0.8 b:=0.8 a:=0.8 ">
+                                           cam_roll cam_pitch cam_yaw has_imu r:=0.8 g:=0.8 b:=0.8 a:=0.8 simulation:=false">
+
+        <xacro:if value="${simulation}">
+            <xacro:property
+            name="file_prefix"
+            value="file://$(find depthai_descriptions)"
+            />
+        </xacro:if>
+        <xacro:unless value="${simulation}">
+            <xacro:property
+            name="file_prefix"
+            value="package://depthai_descriptions"
+            />
+        </xacro:unless>
+
         <!-- base_link of the sensor-->
         <link name="${base_frame}"/>
         <xacro:property name="M_PI" value="3.1415926535897931" />
@@ -21,7 +35,7 @@
             <visual>
                 <origin xyz="0 0 0" rpy="0 0 0"/>
                 <geometry>
-                    <mesh filename="file://$(find depthai_descriptions)/urdf/models/${model}.stl" />
+                    <mesh filename="${file_prefix}/urdf/models/${model}.stl" />
                 </geometry>
                 <material name="mat">
                     <color rgba="${r} ${g} ${b} ${a}"/>
@@ -75,4 +89,4 @@
         </xacro:if>
 
     </xacro:macro>
-</robot>
+</robot>
diff --git a/depthai_descriptions/urdf/include/depthai_macro.urdf.xacro b/depthai_descriptions/urdf/include/depthai_macro.urdf.xacro
@@ -4,7 +4,7 @@
 
     <xacro:macro name="depthai_camera" params="camera_name camera_model parent base_frame 
                                            cam_pos_x cam_pos_y cam_pos_z 
-                                           cam_roll cam_pitch cam_yaw r:=0.8 g:=0.8 b:=0.8 a:=0.8 ">
+                                           cam_roll cam_pitch cam_yaw r:=0.8 g:=0.8 b:=0.8 a:=0.8 simulation:=false">
 
         <xacro:include filename="$(find depthai_descriptions)/urdf/include/base_macro.urdf.xacro"/>
         <xacro:property name="M_PI" value="3.1415926535897931" />
@@ -20,7 +20,7 @@
             <xacro:property name="has_imu" value="true" />
         </xacro:if>
 
-        <xacro:base camera_name="${camera_name}" parent="${parent}" camera_model="${camera_model}" base_frame="${base_frame}" cam_pos_x="${cam_pos_x}" cam_pos_y="${cam_pos_y}" cam_pos_z="${cam_pos_z}" cam_roll="${cam_roll}" cam_pitch="${cam_pitch}" cam_yaw="${cam_yaw}" has_imu="${has_imu}"/>
+        <xacro:base camera_name="${camera_name}" parent="${parent}" camera_model="${camera_model}" base_frame="${base_frame}" cam_pos_x="${cam_pos_x}" cam_pos_y="${cam_pos_y}" cam_pos_z="${cam_pos_z}" cam_roll="${cam_roll}" cam_pitch="${cam_pitch}" cam_yaw="${cam_yaw}" has_imu="${has_imu}" simulation="${simulation}"/>
 
         <!-- RGB Camera -->
         <xacro:unless value="${model in ['OAK-D-SR']}">