Example showing usage of resource from an external ROS package in Drake #1
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Signed-off-by: Addisu Z. Taddese <[email protected]>
Signed-off-by: Addisu Z. Taddese <[email protected]>
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| target_link_libraries(${PROJECT_NAME} drake::drake) | ||
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| install(FILES LICENSE |
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this install() fails for me because there's no LICENSE file in drake_example_pendulum
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I've removed this since there's only one LICENSE file at the top directory of this repo. 5747a7c
| <url type="bugtracker">https://github.com/RobotLocomotion/drake-ros/issues</url> | ||
| <url type="repository">https://github.com/RobotLocomotion/drake-ros</url> | ||
| <buildtool_depend>ament_cmake</buildtool_depend> | ||
| <exec_depend>drake_example_pendulum_description</exec_depend> |
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Mind adding <depend>drake</depend>? With that I'm able to build this together with RobotLocomotion/drake in an isolated colcon workspace.
Signed-off-by: Addisu Z. Taddese <[email protected]>
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| // Populate from AMENT_PREFIX_PATH environment variable to find URDF files and | ||
| // their resources, such as meshes. | ||
| parser.package_map().PopulateFromEnvironment("AMENT_PREFIX_PATH"); |
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@IanTheEngineer @EricCousineau-TRI any interest in in this example?
A lot has changed since this PR opened. I think now we'd put this in a folder in drake_ros_examples. The key piece of information appears to be calling PackageMap::PopuldateFromEnvironment with AMENT_PREFIX_PATH.
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I think that's a very reasonable approach. Let's make this a simple example populating the Drake package_map from the local ROS environment inside drake_ros_examples.
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Yes, let's revive this once #207 lands!
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nit See also drake::parsing::PackageMap::PopulateFromRosPackagePath(). That function obeys AMENT_IGNORE, whereas Possibly we should extend/amend that Drake function for this purpose, instead of using |
Reopening RobotLocomotion/drake-external-examples#194 here.
This adds an example of loading a URDF from an external ROS package. The URDF contains a mesh with a
package://type URI. For this to be found, I populate the package map fromAMENT_PREFIX_PATHas described in #170.In addition to the pendulum related packages, I copied the
scriptsdirectory from https://github.com/RobotLocomotion/drake-external-examples for the convenient installation scripts that were referenced in the README.Closes RobotLocomotion/drake-external-examples#170
cc @IanTheEngineer , @EricCousineau-TRI
This change is