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I am trying to use gz harmonic with ros2 humble, and I am stuck on rviz2 part. Gazebo and ros_gz_bridge are working well, and I am able to visualize the topics in rviz2 but not the model meshes. I am unable to use the sdf file (especially with the model mesh) to visualize in the rviz2. I am trying to do something similar like this

But meshes is not showing up in the rviz2, and instead, it gives the following error

[rviz2-3] [WARN] [1713168099.058171328] [sdformat_urdf]: SDFormat link [imu_link] has a <sensor>, but URDF does not support this
[rviz2-3] [WARN] [1713168099.058197635] [sdformat_urdf]: SDFormat link [camera_link] has a <sensor>, but URDF does not support this
[rviz2-3] [ERROR] [1713168099.084138711] [rviz2]: Error retrieving file [model://robot/meshes/base.stl]: Protocol "model" not supported or disabled in libcurl

Any idea how to modify the sdf file such that it can be used as a single file for gazebo and rviz2?

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1 Answer 1

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Yes, I had the same thing! Use the package keyword instead of model and redefine your relative path including the package. So

package://your_description_package/robot/meshes/base.stl

instead of

model://robot/meshes/base.stl

Then add or replace the items in your environment hooks with

prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share
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  • $\begingroup$ In that case, it fails to load in gazebo [Err] [SystemPaths.cc:425] Unable to find file with URI [package://description_package/robot/meshes/base.stl] $\endgroup$
    – aarsht7
    Commented Apr 15 at 14:33
  • $\begingroup$ See my updated answer. You have to configure GZ_SIM_RESOURCE_PATH with not only your robot/meshes but with your entire package share directory. This may introduce some clutter for gazebo to find, but this way both rviz and gz will find all the necessary resources. $\endgroup$
    – Nyquist
    Commented Apr 15 at 15:19
  • $\begingroup$ Ah sorry, I made a mistake in the path. I ate away one entire folder. the path for me is following package://description_package/models/robot/meshes/base.stl. for me, GZ_SIM_RESOURCE_PATH is already added in the CMakeLists so it will be updated while building the package. But thanks for pointing it out. Might help someone else. $\endgroup$
    – aarsht7
    Commented Apr 15 at 15:25

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