Improve logic of URI resolution adding more environment variables

src/rod/utils/resolve_uris.py

@@ -1,5 +1,6 @@
 import os
 import pathlib
+from typing import List
 
 from rod import Geometry, logging
 
@@ -8,7 +9,15 @@ def resolve_local_uri(uri: str) -> pathlib.Path:
     # Remove the prefix of the URI
     uri_no_prefix = uri.split(sep="//")[-1]
 
-    for path in os.environ["IGN_GAZEBO_RESOURCE_PATH"].split(":"):
+    paths = []
+    paths += paths_from_environment_variable("GZ_SIM_RESOURCE_PATH")
+    paths += paths_from_environment_variable("IGN_GAZEBO_RESOURCE_PATH")
+    paths += paths_from_environment_variable("GAZEBO_MODEL_PATH")
+
+    # Remove possible duplicates
+    paths = list(set(paths))
+
+    for path in paths:
         tentative = pathlib.Path(path) / uri_no_prefix
 
         if tentative.is_file():
@@ -24,3 +33,16 @@ def resolve_geometry_uris(geometry: Geometry) -> None:
         return
 
     geometry.mesh.uri = str(resolve_local_uri(uri=geometry.mesh.uri))
+
+
+def paths_from_environment_variable(variable_name: str) -> List[str]:
+    if variable_name not in os.environ:
+        return []
+
+    # Collect all paths removing the empty ones (if '::' is part of the variable)
+    paths = [p for p in os.environ[variable_name].split(":") if p != ""]
+
+    # Remove duplicates that might occur
+    paths = list(set(paths))
+
+    return paths