The system cannot find the file specified

[thiagoribeirodamotta]

Just downloaded the pre-built binaries, placed both the urdf-viz.exe and freetype.dll on the same folder as the URDF, ran with the following line: urdf-viz.exe kuka_kr16_assembly.urdf

Got the following error:

root [⚓] => /base_link/ RotaryHeadJoint [⚙+Z] => /RotaryHead/ LowerArmJoint [⚙+Z] => /LowerArm/ UpperArmJoint [⚙+Z] => /UpperArm/ p2Joint [⚙+Z] => /p2/ WristJoint [⚙+Z] => /Wrist/ a3servoJoint [⚓] => /a3servo/ a4a5a6ServoJoint [⚓] => /a4a5a6Servo/ a1ServoJoint [⚓] => /a1Servo/ a1Servo2Joint [⚓] => /a1Servo2/

thread 'main' panicked at 'rospack find failed: Os { code: 2, kind: NotFound, message: "The system cannot find the file specified." }', src\libcore\result.rs:997:5 note: Run with RUST_BACKTRACE=1 environment variable to display a backtrace.

[OTL]

Do your urdf contains mesh files? I guess that "package://xxxx/" causes this. urdf-viz calls "rospack" command to solve the path.

Removing all "package://xxxx/" and placing all mesh files in the same folder might solve this problem.

[zicklag]

You can also use the --package-path argument instead of manually replacing.

For instance, if your XML file has paths like this in it:

package://meshes/nao/RThumb2.obj

And you have the meshes folder adjacent to your file like this:

working_dir/
    nao.urdf
    meshes/
        nao/
           RThumb2.obj

You can open it like this:

urdf-viz --package-path=meshes=./meshes nao.urdf

[taiki-e]

Yeah, for environments where ROS is not available, specifying the path or URL to the package with --package-path is the currently recommended way.

https://github.com/openrr/urdf-viz?tab=readme-ov-file#how-to-use

If there are "package://" in mesh tag, but path or URL to package is known and don't use xacro you can also skip install of ROS by replacing package with path or URL.