[ros-users] modifying pr2_description and multiple copies

Tully Foote tfoote at willowgarage.com
Fri Jul 16 03:04:36 UTC 2010

You could use svn:external tricks, to preserve space but get a specific 


On 07/15/2010 04:53 PM, Kevin Watts wrote:
> 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 file.
> 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.
> Kevin
> On Thu, Jul 15, 2010 at 4:50 PM, Adam Leeper <aleeper at stanford.edu 
> <mailto: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 <mailto:aleeper at stanford.edu>
>     719.358.3804
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