Resolve ROS Package URIs

[andrewkaufman]

Is this a new feature, an improvement, or a change to existing functionality?

New Feature

Feature Description

Attempt to resolve ROS Package URIs without adding a ROS dependency. See the concept mapping from #3 for possible approaches.

Additional context or alternatives

No response

Code of Conduct

• I agree to follow urdf-usd-converter Code of Conduct
• I have searched the open issues and have found no duplicates

[ft-lab]

We expect this issue will be ready for implementation and review once #13, #7, and #14 are merged.
Currently, about 90% of it has been implemented in my local environment.
The only remaining task is resolving the ROS2 package path during texture processing in the material.

The current implementation has been extended to take the --package option on the command line.

urdf_usd_converter "foo/test.urdf" "./export_dir" --package test_package=/home/foo --package assets_package=/home/foo/assets

In this case, test_package, assets_package is the ROS2 package name.
By specifying the absolute path as the value, the conversion will replace specifications such as "package://test_package/assets/box.stl" in the URDF file.
If no package is specified, "package://test_package/assets/box.stl" becomes "assets/box.stl", and is referenced as a relative path from the urdf file.

However, if the number of packages increases, entering them as CLI arguments becomes cumbersome. It might be better to store this package-to-path mapping table in a text file and load it.