From d7e8792fe9d2de6a8a249b8f6c12205ed9c99b5c Mon Sep 17 00:00:00 2001
From: marqrazz <marq.razz@gmail.com>
Date: Sun, 23 Apr 2023 12:41:30 -0600
Subject: [PATCH 1/2] update mesh path to use file find

---
 realsense2_description/urdf/_d415.urdf.xacro     | 2 +-
 realsense2_description/urdf/_d435.urdf.xacro     | 2 +-
 realsense2_description/urdf/_d455.urdf.xacro     | 2 +-
 realsense2_description/urdf/_l515.urdf.xacro     | 2 +-
 realsense2_description/urdf/_r410.urdf.xacro     | 2 +-
 realsense2_description/urdf/_r430.urdf.xacro     | 2 +-
 realsense2_description/urdf/_usb_plug.urdf.xacro | 4 ++--
 7 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/realsense2_description/urdf/_d415.urdf.xacro b/realsense2_description/urdf/_d415.urdf.xacro
index 282c764cb4..badebebdb4 100644
--- a/realsense2_description/urdf/_d415.urdf.xacro
+++ b/realsense2_description/urdf/_d415.urdf.xacro
@@ -68,7 +68,7 @@ aluminum peripherial evaluation case.
         <xacro:if value="${use_mesh}">
           <origin xyz="${d415_cam_mount_from_center_offset} ${-d415_cam_depth_py} 0" rpy="${M_PI/2} 0 ${M_PI/2}"/>
           <geometry>
-            <mesh filename="package://realsense2_description/meshes/d415.stl" />
+            <mesh filename="file://$(realsense2_description)/meshes/d415.stl" />
           </geometry>
           <material name="aluminum"/>
         </xacro:if>
diff --git a/realsense2_description/urdf/_d435.urdf.xacro b/realsense2_description/urdf/_d435.urdf.xacro
index a8e11faffe..dc0967ff4d 100644
--- a/realsense2_description/urdf/_d435.urdf.xacro
+++ b/realsense2_description/urdf/_d435.urdf.xacro
@@ -75,7 +75,7 @@ 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 ${M_PI/2}"/>
           <geometry>
-            <mesh filename="package://realsense2_description/meshes/d435.dae" />
+            <mesh filename="file://$(realsense2_description)/meshes/d435.dae" />
           </geometry>
         </xacro:if>
         <xacro:unless value="${use_mesh}">
diff --git a/realsense2_description/urdf/_d455.urdf.xacro b/realsense2_description/urdf/_d455.urdf.xacro
index 509d9720d2..46a9522eec 100644
--- a/realsense2_description/urdf/_d455.urdf.xacro
+++ b/realsense2_description/urdf/_d455.urdf.xacro
@@ -78,7 +78,7 @@ aluminum peripherial evaluation case.
         <origin xyz="${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} ${d455_cam_height}"/> -->
-	        <mesh filename="package://realsense2_description/meshes/d455.stl" scale="0.001 0.001 0.001" />
+	        <mesh filename="file://$(realsense2_description)/meshes/d455.stl" scale="0.001 0.001 0.001" />
         </geometry>
         <material name="aluminum"/>
       </visual>
diff --git a/realsense2_description/urdf/_l515.urdf.xacro b/realsense2_description/urdf/_l515.urdf.xacro
index 40d7f58619..6d47a5b76d 100644
--- a/realsense2_description/urdf/_l515.urdf.xacro
+++ b/realsense2_description/urdf/_l515.urdf.xacro
@@ -87,7 +87,7 @@ aluminum peripherial evaluation case.
         <xacro:if value="${use_mesh}">
           <origin xyz="${l515_zero_depth_to_glass} 0 ${-l515_cam_center_to_depth_pz}" rpy="${M_PI/2} 0 ${M_PI/2}"/>
           <geometry>
-              <mesh filename="package://realsense2_description/meshes/l515.dae" />
+              <mesh filename="file://$(realsense2_description)/meshes/l515.dae" />
           </geometry>
         </xacro:if>
         <xacro:unless value="${use_mesh}">
diff --git a/realsense2_description/urdf/_r410.urdf.xacro b/realsense2_description/urdf/_r410.urdf.xacro
index f55028507a..d707bddba4 100644
--- a/realsense2_description/urdf/_r410.urdf.xacro
+++ b/realsense2_description/urdf/_r410.urdf.xacro
@@ -59,7 +59,7 @@ aluminum peripherial evaluation case.
       <origin xyz="0 ${-r410_cam_mount_from_center_offset} ${r410_cam_height/2}" rpy="${M_PI/2} 0 ${M_PI/2}"/>
         <geometry>
           <box size="${r410_cam_width} ${r410_cam_height} ${r410_cam_depth}"/>
-          <!--<mesh filename="package://realsense2_description/meshes/r410/r410.dae" />-->
+          <!--<mesh filename="file://$(realsense2_description)/meshes/r410/r410.dae" />-->
         </geometry>
         <material name="aluminum"/>
       </visual>
diff --git a/realsense2_description/urdf/_r430.urdf.xacro b/realsense2_description/urdf/_r430.urdf.xacro
index 0b942abe9a..728d73ce7a 100644
--- a/realsense2_description/urdf/_r430.urdf.xacro
+++ b/realsense2_description/urdf/_r430.urdf.xacro
@@ -60,7 +60,7 @@ aluminum peripherial evaluation case.
       <origin xyz="0 ${-r430_cam_mount_from_center_offset} ${r430_cam_height/2}" rpy="${M_PI/2} 0 ${M_PI/2}"/>
         <geometry>
           <box size="${r430_cam_width} ${r430_cam_height} ${r430_cam_depth}"/>
-          <!--<mesh filename="package://realsense2_description/meshes/r430/r430.dae" />-->
+          <!--<mesh filename="file://$(realsense2_description)/meshes/r430/r430.dae" />-->
         </geometry>
         <material name="aluminum"/>
       </visual>
diff --git a/realsense2_description/urdf/_usb_plug.urdf.xacro b/realsense2_description/urdf/_usb_plug.urdf.xacro
index ba25abcab2..ab1db5d787 100644
--- a/realsense2_description/urdf/_usb_plug.urdf.xacro
+++ b/realsense2_description/urdf/_usb_plug.urdf.xacro
@@ -36,7 +36,7 @@ aluminum peripherial evaluation case.
         <origin xyz="0. -0.022425 0." rpy="0 0 ${M_PI/2}"/>
         <geometry>
           <!--box size="0.044850 0.008 0.0185" /-->
-          <mesh filename="package://realsense2_description/meshes/plug.stl" />
+          <mesh filename="file://$(realsense2_description)/meshes/plug.stl" />
         </geometry>
         <material name="plastic"/>
       </visual>
@@ -44,7 +44,7 @@ aluminum peripherial evaluation case.
         <origin xyz="0. -0.022425 0." rpy="0 0 ${M_PI/2}"/>
         <geometry>
           <!--box size="0.044850 0.008 0.0185" /-->
-          <mesh filename="package://realsense2_description/meshes/plug_collision.stl" />
+          <mesh filename="file://$(realsense2_description)/meshes/plug_collision.stl" />
         </geometry>
       </collision>
     </link>

From a04ea56d1a0e31c57bc2160f225f84fd5bbe8654 Mon Sep 17 00:00:00 2001
From: marqrazz <marq.razz@gmail.com>
Date: Sun, 23 Apr 2023 12:47:26 -0600
Subject: [PATCH 2/2] add missing find

---
 realsense2_description/urdf/_d415.urdf.xacro     | 2 +-
 realsense2_description/urdf/_d435.urdf.xacro     | 2 +-
 realsense2_description/urdf/_d455.urdf.xacro     | 2 +-
 realsense2_description/urdf/_l515.urdf.xacro     | 2 +-
 realsense2_description/urdf/_r410.urdf.xacro     | 2 +-
 realsense2_description/urdf/_r430.urdf.xacro     | 2 +-
 realsense2_description/urdf/_usb_plug.urdf.xacro | 4 ++--
 7 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/realsense2_description/urdf/_d415.urdf.xacro b/realsense2_description/urdf/_d415.urdf.xacro
index badebebdb4..65266c3160 100644
--- a/realsense2_description/urdf/_d415.urdf.xacro
+++ b/realsense2_description/urdf/_d415.urdf.xacro
@@ -68,7 +68,7 @@ aluminum peripherial evaluation case.
         <xacro:if value="${use_mesh}">
           <origin xyz="${d415_cam_mount_from_center_offset} ${-d415_cam_depth_py} 0" rpy="${M_PI/2} 0 ${M_PI/2}"/>
           <geometry>
-            <mesh filename="file://$(realsense2_description)/meshes/d415.stl" />
+            <mesh filename="file://$(find realsense2_description)/meshes/d415.stl" />
           </geometry>
           <material name="aluminum"/>
         </xacro:if>
diff --git a/realsense2_description/urdf/_d435.urdf.xacro b/realsense2_description/urdf/_d435.urdf.xacro
index dc0967ff4d..722c6e3281 100644
--- a/realsense2_description/urdf/_d435.urdf.xacro
+++ b/realsense2_description/urdf/_d435.urdf.xacro
@@ -75,7 +75,7 @@ aluminum peripherial evaluation case.
           <!-- the mesh origin is at front plate in between the two infrared camera axes -->
           <origin xyz="${d435_zero_depth_to_glass + d435_glass_to_front} ${-d435_cam_depth_py} 0" rpy="${M_PI/2} 0 ${M_PI/2}"/>
           <geometry>
-            <mesh filename="file://$(realsense2_description)/meshes/d435.dae" />
+            <mesh filename="file://$(find realsense2_description)/meshes/d435.dae" />
           </geometry>
         </xacro:if>
         <xacro:unless value="${use_mesh}">
diff --git a/realsense2_description/urdf/_d455.urdf.xacro b/realsense2_description/urdf/_d455.urdf.xacro
index 46a9522eec..8804ab880b 100644
--- a/realsense2_description/urdf/_d455.urdf.xacro
+++ b/realsense2_description/urdf/_d455.urdf.xacro
@@ -78,7 +78,7 @@ aluminum peripherial evaluation case.
         <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} ${d455_cam_height}"/> -->
-	        <mesh filename="file://$(realsense2_description)/meshes/d455.stl" scale="0.001 0.001 0.001" />
+	        <mesh filename="file://$(find realsense2_description)/meshes/d455.stl" scale="0.001 0.001 0.001" />
         </geometry>
         <material name="aluminum"/>
       </visual>
diff --git a/realsense2_description/urdf/_l515.urdf.xacro b/realsense2_description/urdf/_l515.urdf.xacro
index 6d47a5b76d..c761ddf734 100644
--- a/realsense2_description/urdf/_l515.urdf.xacro
+++ b/realsense2_description/urdf/_l515.urdf.xacro
@@ -87,7 +87,7 @@ aluminum peripherial evaluation case.
         <xacro:if value="${use_mesh}">
           <origin xyz="${l515_zero_depth_to_glass} 0 ${-l515_cam_center_to_depth_pz}" rpy="${M_PI/2} 0 ${M_PI/2}"/>
           <geometry>
-              <mesh filename="file://$(realsense2_description)/meshes/l515.dae" />
+              <mesh filename="file://$(find realsense2_description)/meshes/l515.dae" />
           </geometry>
         </xacro:if>
         <xacro:unless value="${use_mesh}">
diff --git a/realsense2_description/urdf/_r410.urdf.xacro b/realsense2_description/urdf/_r410.urdf.xacro
index d707bddba4..b0121d2b0c 100644
--- a/realsense2_description/urdf/_r410.urdf.xacro
+++ b/realsense2_description/urdf/_r410.urdf.xacro
@@ -59,7 +59,7 @@ aluminum peripherial evaluation case.
       <origin xyz="0 ${-r410_cam_mount_from_center_offset} ${r410_cam_height/2}" rpy="${M_PI/2} 0 ${M_PI/2}"/>
         <geometry>
           <box size="${r410_cam_width} ${r410_cam_height} ${r410_cam_depth}"/>
-          <!--<mesh filename="file://$(realsense2_description)/meshes/r410/r410.dae" />-->
+          <!--<mesh filename="file://$(find realsense2_description)/meshes/r410/r410.dae" />-->
         </geometry>
         <material name="aluminum"/>
       </visual>
diff --git a/realsense2_description/urdf/_r430.urdf.xacro b/realsense2_description/urdf/_r430.urdf.xacro
index 728d73ce7a..d4ea736bc8 100644
--- a/realsense2_description/urdf/_r430.urdf.xacro
+++ b/realsense2_description/urdf/_r430.urdf.xacro
@@ -60,7 +60,7 @@ aluminum peripherial evaluation case.
       <origin xyz="0 ${-r430_cam_mount_from_center_offset} ${r430_cam_height/2}" rpy="${M_PI/2} 0 ${M_PI/2}"/>
         <geometry>
           <box size="${r430_cam_width} ${r430_cam_height} ${r430_cam_depth}"/>
-          <!--<mesh filename="file://$(realsense2_description)/meshes/r430/r430.dae" />-->
+          <!--<mesh filename="file://$(find realsense2_description)/meshes/r430/r430.dae" />-->
         </geometry>
         <material name="aluminum"/>
       </visual>
diff --git a/realsense2_description/urdf/_usb_plug.urdf.xacro b/realsense2_description/urdf/_usb_plug.urdf.xacro
index ab1db5d787..7381756e17 100644
--- a/realsense2_description/urdf/_usb_plug.urdf.xacro
+++ b/realsense2_description/urdf/_usb_plug.urdf.xacro
@@ -36,7 +36,7 @@ aluminum peripherial evaluation case.
         <origin xyz="0. -0.022425 0." rpy="0 0 ${M_PI/2}"/>
         <geometry>
           <!--box size="0.044850 0.008 0.0185" /-->
-          <mesh filename="file://$(realsense2_description)/meshes/plug.stl" />
+          <mesh filename="file://$(find realsense2_description)/meshes/plug.stl" />
         </geometry>
         <material name="plastic"/>
       </visual>
@@ -44,7 +44,7 @@ aluminum peripherial evaluation case.
         <origin xyz="0. -0.022425 0." rpy="0 0 ${M_PI/2}"/>
         <geometry>
           <!--box size="0.044850 0.008 0.0185" /-->
-          <mesh filename="file://$(realsense2_description)/meshes/plug_collision.stl" />
+          <mesh filename="file://$(find realsense2_description)/meshes/plug_collision.stl" />
         </geometry>
       </collision>
     </link>