[New3D] Support loading mesh from URDF using a relative path over http(s)

[jhurliman]

Description

Relative paths in URDFs to mesh resources fail to load when the URDF is fetched via http(s). Relative paths for other URL schemes such as package:// and file:// have not been tested.

• Version: main
• OS: all
• Data source (e.g. bag file, mcap file, rosbridge, ROS 1/2 native): none (add a custom URDF layer)
• ROS distro (if applicable): N/A

Steps To Reproduce

1. Create a URDF file that includes <mesh filename="./mesh/robot.glb">
2. Host the URDF at https://myassets.com/robot.urdf and the glTF at https://myassets.com/mesh/robot.glb
3. Create a custom URDF layer in 3D (Beta) that points at https://myassets.com/robot.urdf
4. Observe the mesh fails to load, but when changing the filename to the absolute URL https://myassets.com/mesh/robot.glb it successfully loads

[defunctzombie]

Is this something we have ever supported? Or do we only support absolute paths for meshes (i.e. package:// https://) ?

[amacneil]

Changing to feature because I am not aware of any documentation saying we support this. We should still add it though.

[bertaveira]

I can confirm that relative paths using the file:// scheme does not work either

[AltinayGrass]

Hello,

if we use <mesh filename="file://$(find my_package)/meshes/mesh_file"/> form. It cannot be shown on the 3D map

[defunctzombie]

A filename with template arguments $() is not supported. If you want to reference a package we support the package:// scheme. See the docs here: https://docs.foxglove.dev/docs/visualization/panels/3d#resolution-of-urdf-assets-with-package-urls

[AltinayGrass]

Thanks for your reply. Thanks for your answer. I have another problem after loading meshes from https source. The robot is shown differently from the rviz view as below.
Any idea?

[AltinayGrass]

Ok now. There is a option at view Mesh up-axis. I changed it to z-up.