From b7fbb11852151d5e7d45c61d4798055ca3685f32 Mon Sep 17 00:00:00 2001
From: Dawid Kmak <73443304+KmakD@users.noreply.github.com>
Date: Mon, 14 Aug 2023 11:16:40 +0200
Subject: [PATCH] Change finding mesh files method (#174)

---
 panther_description/urdf/body.urdf.xacro                      | 4 ++--
 .../urdf/components/external_antenna.urdf.xacro               | 4 ++--
 panther_description/urdf/wheel.urdf.xacro                     | 4 ++--
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/panther_description/urdf/body.urdf.xacro b/panther_description/urdf/body.urdf.xacro
index 2203c7af0..a2ae877f5 100644
--- a/panther_description/urdf/body.urdf.xacro
+++ b/panther_description/urdf/body.urdf.xacro
@@ -21,14 +21,14 @@
       <visual>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
         <geometry>
-          <mesh filename="file://$(find panther_description)/meshes/body.dae" />
+          <mesh filename="package://panther_description/meshes/body.dae" />
         </geometry>
       </visual>
 
       <collision>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
         <geometry>
-          <mesh filename="file://$(find panther_description)/meshes/body_collision.stl" />
+          <mesh filename="package://panther_description/meshes/body_collision.stl" />
         </geometry>
       </collision>
 
diff --git a/panther_description/urdf/components/external_antenna.urdf.xacro b/panther_description/urdf/components/external_antenna.urdf.xacro
index 237a861d8..20534748b 100644
--- a/panther_description/urdf/components/external_antenna.urdf.xacro
+++ b/panther_description/urdf/components/external_antenna.urdf.xacro
@@ -28,14 +28,14 @@
       <visual>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
         <geometry>
-          <mesh filename="file://$(find panther_description)/meshes/components/external_antenna.dae" />
+          <mesh filename="package://panther_description/meshes/components/external_antenna.dae" />
         </geometry>
       </visual>
 
       <collision>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
         <geometry>
-          <mesh filename="file://$(find panther_description)/meshes/components/external_antenna_collision.stl" />
+          <mesh filename="package://panther_description/meshes/components/external_antenna_collision.stl" />
         </geometry>
       </collision>
 
diff --git a/panther_description/urdf/wheel.urdf.xacro b/panther_description/urdf/wheel.urdf.xacro
index 5f4f16198..118d18359 100644
--- a/panther_description/urdf/wheel.urdf.xacro
+++ b/panther_description/urdf/wheel.urdf.xacro
@@ -39,14 +39,14 @@
       <visual>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
         <geometry>
-          <mesh filename="file://$(find ${wheel_config['mesh_package']})/${wheel_config['folder_path']}/${prefix}_wheel.dae" />
+          <mesh filename="package://${wheel_config['mesh_package']}/${wheel_config['folder_path']}/${prefix}_wheel.dae" />
         </geometry>
       </visual>
 
       <collision>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
         <geometry>
-          <mesh filename="file://$(find ${wheel_config['mesh_package']})/${wheel_config['folder_path']}/wheel_collision.stl" />
+          <mesh filename="package://${wheel_config['mesh_package']}/${wheel_config['folder_path']}/wheel_collision.stl" />
         </geometry>
       </collision>