"filename=package://package_name/relative/path" handling in Isaac


I’ve been having issues with my prior Gazebo-style handling of using the package:// tag for file imports. The command seems to work just fine when the package_name you are referring to is within the file_path that the urdf is in. However, it does not seem to find packages that are elsewhere within the ROS_PACKAGE_PATH.

The way this is handled is abstracted in the c binaries for the code, so I can’t see the handling myself, but I wanted to know how that tag is handled within the importer, as it seems to have some distinct differences from how I’m familiar.

My robots tend to have some cross package model references due to some modular coding and sub-modules.

Before I spend time figuring out the work-around to get the handling I desire, I just wanted to make sure I wasn’t misunderstanding the current handling.