如何将 XML 文件中的主路径作为环境变量? [英] How to put on the home path in an XML file as an environment variable?
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问题描述
我在 ROS 中有一个 .world
文件用于凉亭模拟,它是一个 XML 文件.
I have a .world
file in ROS for gazebo simulation which is an XML file.
如何在 <uri>
标签中放置动态主路径而不是静态路径?
How can I put on a dynamic home path instead of the static path in <uri>
tag?
这是我简化的 .world
文件:
Here's my simplified .world
file:
<?xml version="1.0" ?>
<sdf version='1.5'>
<world name='default'>
<visual name='base_link_visual_front_sonar'>
<pose>0.109 0 0.209 0 -0 0</pose>
<geometry>
<mesh>
<uri>/home/agn/catkin_ws/src/description/meshes/sonar.stl</uri> <!--Note-->
</mesh>
</geometry>
</visual>
</world>
</sdf>
<小时>
如何使用 $HOME
而不是 /home/agn
?
我尝试了以下失败的结果:
I tried the following cases with the failed results:
<uri>~/catkin_ws/src/description/meshes/sonar.stl</uri>
<uri>$HOME/catkin_ws/src/description/meshes/sonar.stl</uri>
<uri>"$HOME/catkin_ws/src/description/meshes/sonar.stl"</uri>
<uri>${HOME}/catkin_ws/src/description/meshes/sonar.stl</uri>
<uri>"${HOME}/catkin_ws/src/description/meshes/sonar.stl"</uri>
<uri>"${sys:user.home}/catkin_ws/src/description/meshes/sonar.stl"</uri>
<uri>${sys:user.home}/catkin_ws/src/description/meshes/sonar.stl</uri>
<uri>${user.home}/catkin_ws/src/description/meshes/sonar.stl</uri>
<uri>"${user.home}/catkin_ws/src/description/meshes/sonar.stl"</uri>
推荐答案
根据 roslaunch wiki,你应该试试这个:
According to roslaunch wiki,you should try this:
<uri>$(env HOME)/catkin_ws/src/description/meshes/sonar.stl</uri>
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