Project scenario ：

Beginners ROS2, Want to be in RViz2 It shows that urdf Model . among .urdf The file references external meshes Folder .

Problem description

stay RViz After entering the robot description topic , The following error occurred

Cause analysis ：

According to the error reporting instructions , Should be meshes The file in did not import correctly into the environment variable .
Check under the workspace ,install/pkg/share In folder meshes Whether the file is displayed correctly .
It is found that it does not exist visual and collision Folder .
therefore , We need to change setup.py file , Make it contain correctly .

Solution ：

urdf In the document mesh Import , The following format should be used ：

<mesh filename="package://webots_ros2_ur_demo/meshes/visual/base.dae"/>

Not like <mesh filename="file://$(find ur5_pick_and_place)/meshes/visual/base.dae"/> And so on .

correct setup.py file , stay data_files Add the following contents to the parameters ：

	('share/' + package_name + '/meshes/visual', [
        'meshes/visual/base.dae',
        'meshes/visual/forearm.dae',
        'meshes/visual/shoulder.dae',
        'meshes/visual/upperarm.dae',
        'meshes/visual/wrist1.dae',
        'meshes/visual/wrist2.dae',
        'meshes/visual/wrist3.dae',
    ]),
    ('share/' + package_name + '/meshes/collision', [
        'meshes/collision/base.stl',
        'meshes/collision/forearm.stl',
        'meshes/collision/shoulder.stl',
        'meshes/collision/upperarm.stl',
        'meshes/collision/wrist1.stl',
        'meshes/collision/wrist2.stl',
        'meshes/collision/wrist3.stl',
    ]),

give the result as follows ：