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Add a package:// resource provider plugin - #3614
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@yuvaltassa this is the fresh PR you invited on #1432. @havess it follows the |
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@yuvaltassa can I get a maintainer review? edit: sorry I misunderstood the import the PR into its internal repo process for merge |
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@havess can you TAL? This looks nice but the providers are not my specialty |
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Adds plugin/package_uri, a resource provider that serves ROS-style package://<package>/<path> URIs from the OS filesystem. It locates the package through AMENT_PREFIX_PATH (ROS 2 install spaces, via the ament index) and ROS_PACKAGE_PATH (ROS 1 install spaces and source trees), with no dependency on ROS, so URDF and MJCF models can reference ROS package assets unchanged. A URI cannot resolve outside its package. strippath no longer strips file names that match a registered resource provider. These names are not filesystem paths: the compiler already treats them as absolute when combining them with meshdir, so the provider now receives the full name even when a model sets strippath="true".
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Follow-up to #1432, which was closed as stale.
Adds
plugin/package_uri, a resource provider for ROSpackage://<package>/<path>URIs.AMENT_PREFIX_PATH(ament index), thenROS_PACKAGE_PATH(directory withpackage.xml). No ROS dependency.strippathno longer strips names claimed by a registered resource provider, sopackage://meshes also load withstrippath="true".mjs_dedupAssetsand by-reference textures resolve file names the same way: provider files that share a base name stay distinct, and a by-reference texture keeps its URI inmjModel.paths.test/plugin/package_uri,user_mesh_test,user_model_test,user_texture_test,xml_urdf_test. Full suite passes in double and single precision.//plugin/package_urilinks the provider statically, like the other plugins.bazel test //...passes.build_steps.sh: that would registerpackage://in every Python install. Happy to add it if you want it shipped.