How to spawn a custom urdf in gazebo ignition (ros humble) through a launch file and configure GZ_SIM_RESOURCE_PATH

[julioGSabka]

I'm trying to import a urdf into gazebo ignition, at the moment this is my launch file

=======================
#!/usr/bin/env python3
import os

from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import ExecuteProcess, AppendEnvironmentVariable
from launch.substitutions import Command
from launch_ros.actions import Node

def generate_launch_description():

gz_world = "my_world.sdf"

Set gazebo environment variables

gazebo_sim_pkg = get_package_share_directory('gazebo_simulation')
urdf_pkg = get_package_share_directory('my_bot_description')

models_path = urdf_pkg + "/my_bot"
worlds_path = gazebo_sim_pkg + "/worlds"

os.environ['GZ_SIM_RESOURCE_PATH'] = models_path + ":" + worlds_path

Gazebo Simulator

worlds_fullpath = gazebo_sim_pkg + "/worlds/" + gz_world
gz_proc = ExecuteProcess(cmd=['ign', 'gazebo', worlds_fullpath], output='screen')

return LaunchDescription([
gz_proc

])

==============================
And to spawn the urdf I use the following terminal command:

ign service -s /world/my_world/create --reqtype ignition.msgs.EntityFactory --reptype ignition.msgs.Boolean --timeout 1000 --req 'sdf_filename: "src/my_bot_description/my_bot/robot.urdf", name: "my_bot"'

my urdf is entirely made up of meshes, and when trying to spawn the urdf I encounter the following errors, despite this within igntion it appears as if the robot had been spawned, it just doesn't find the path of the meshes

[ign-1] [Err] [SystemPaths.cc:378] Unable to find file with URI [model://my_bot/lidar1.stl]
[ign-1] [Err] [SystemPaths.cc:473] Could not resolve file [model://my_bot/lidar1.stl]
[ign-1] [Err] [MeshManager.cc:173] Unable to find file[model://my_bot/lidar1.stl]
[ign-1] [Err] [SystemPaths.cc:378] Unable to find file with URI [model://my_bot/lidar2.stl]
[ign-1] [Err] [SystemPaths.cc:473] Could not resolve file [model://my_bot/lidar2.stl]
[ign-1] [Err] [MeshManager.cc:173] Unable to find file[model://my_bot/lidar2.stl]
[ign-1] [Err] [SystemPaths.cc:378] Unable to find file with URI [model://my_bot/camera_1.stl]
[ign-1] [Err] [SystemPaths.cc:473] Could not resolve file [model://my_bot/camera_1.stl]
[ign-1] [Err] [MeshManager.cc:173] Unable to find file[model://my_bot/camera_1.stl]
[ign-1] [Err] [SystemPaths.cc:378] Unable to find file with URI [model://my_bot/camera_2.stl]
[ign-1] [Err] [SystemPaths.cc:473] Could not resolve file [model://my_bot/camera_2.stl]
[ign-1] [Err] [MeshManager.cc:173] Unable to find file[model://my_bot/camera_2.stl]
[ign-1] [Err] [SystemPaths.cc:378] Unable to find file with URI [model://my_bot/roda_de_carga.stl]
[ign-1] [Err] [SystemPaths.cc:473] Could not resolve file [model://my_bot/roda_de_carga.stl]
[ign-1] [Err] [MeshManager.cc:173] Unable to find file[model://my_bot/roda_de_carga.stl]

[azeey]

Thanks for the issue, but this is a type of question that is best asked on https://robotics.stackexchange.com/. I encourage you to post your question there and if you find that there's a specific bug or feature request, come back and create a new issue here. In the mean time, I'll go ahead and close this.