Fix xacro for simulation compatibility #79
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Checklist
Changes Made
The
alpha_bringup/launch/alpha.launch.py
was crashing when using the simulation option.As it can be found on the forum ROS Answers, the original format
<mesh filename="package://alpha_description/meshes/[FILE].stl" />
to call the meshes is not suported by gazebo, just by RVIZ, so the simulation was not working properly. So, it was updated to<mesh filename="file://$(find alpha_description)/meshes/[FILE].stl" />
, which support both RVIZ and Gazebo.The file updeted were
alpha_description/urdf/end_effectors/standard_jaws.urdf.xacro
and
alpha_description/urdf/alpha.urdf.xacro
Also, it was found that the README.md instructions pointed for the wrong SSH path and owner of the repository.
Associated Issues
No associated Issues.
Testing
The
alpha_bringup/launch/alpha.launch.py
was tested both withuse_sim=true
anduse_sim=false