[ros-users] modifying pr2_description and multiple copies

Kevin Watts watts at willowgarage.com
Thu Jul 15 23:53:38 UTC 2010

You can make your own URDF file using the macros in pr2_description without
copying the macros. If you only want to copy one macro, you could copy that
into your new package, modify it, and just include it in your final URDF

The pr2_component_descriptions package does this to make URDF's for PR2
components and sub-assemblies.

I'm not sure how to solve the problem of loading the pr2.urdf.xacro file at
startup, that will depend on how you want to set up your configuration.


On Thu, Jul 15, 2010 at 4:50 PM, Adam Leeper <aleeper at stanford.edu> wrote:

> Hello-
> Say I want to modify pr2_description. Also say I want to check my
> modifications into a repository for easy access. As far as I can tell, I
> need to check in the entire pr2_description folder into the repo in order to
> be able to easily check it out on another comp and have it work immediately
> as an overlay. The mesh and various other files are rather large, at 57MB
> total.
> Is there any easy way for me to overlay the pr2.urdf.xacro file, and maybe
> also some custom .urdf.xacro files for sensors, without keeping multiple
> copies of the meshes floating around? It seems like right now if a launch
> file, such as pr2_bringup.launch, can find pr2.urdf.xacro in a custom copy
> of pr2_description, then by definition it will also look in that same path
> when looking for the meshes, etc.
> Any ideas on a better way to do this?
> Thanks,
> Adam
> Adam Leeper
> Stanford University
> aleeper at stanford.edu
> 719.358.3804
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