Updating worlds after model reorg

[quarkytale]

• Bug fix for robot_state_publisher dying, unable to find the model after reorganization.

Error [SDF.cc:160] Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
Error Code 13: [/sdf/world[@name="world_demo"]/model[@name="MBARI_WEC_ROS"]/include[0]/uri:/home/anderson/wec/igngzb/openrobotics/workspace/src/buoy_sim/buoy_gazebo/worlds/mbari_wec.sdf:L49]: Msg: Unable to find 

• Updating other worlds, launch files and making sure they work as expected.

[quarkytale]

So rviz isn't running as expected robot_state_publisher is looking for mbari_wec model as opposed to mbari_wec_ros, sorry this error slipped from me earlier. I'm still debugging but opening this up if anyone can take a glance.

[andermi]

Unfortunately, the error is back that I mentioned in #74 , and I can't figure out what's causing it

Error:   Could not find the 'robot' element in the xml file
         at line 80 in /tmp/binarydeb/ros-galactic-urdfdom-2.3.5/urdf_parser/src/model.cpp
Failed to parse robot description using: urdf_xml_parser/URDFXMLParser
terminate called after throwing an instance of 'std::runtime_error'
  what():  Unable to initialize urdf::model from robot description

I actually can't find where the parser plugin is actually converting sdf to urdf referenced by this comment:
https://github.com/osrf/buoy_sim/blob/8bffa32e5d9a47a564482c55ad6d7770c6e4280d/buoy_gazebo/launch/mbari_wec.launch.py#L91-L92

[quarkytale]

I actually can't find where the parser plugin is actually converting sdf to urdf referenced by this comment:

When a SDF if published on the robot_description topic, robot_state_publisher checks in the list of available parsers which can parse the message and uses sdformat_urdf from that list (afaik).

This is actually a very inconsistent error, looking into it.

[quarkytale]

Some updates on this

• The issue with ign sdf callback failing is SDF can't parse the package:// path. A quick fix is to create and set an env variable SDF_PATH the same as IGN_GAZEBO_RESOURCE_PATH. This seems like a bug I'll take it up.
• With the Could not find the 'robot' element in the xml file issue, its essentially the workspace not being sourced or sdformat_urdf not installed. Make sure to install deps via rosdep too.

[quarkytale]

Just pushed a fix, needed to add another path to the IGN_GAZEBO_RESOURCE_PATH, solves the rviz problem as well.

[andermi]

The tests should pass after I merge #85 and you merge main into your branch

[quarkytale]

Ahh you beat me to it, thanks!