From 7c3fd166d797ead23889af57f05fe8ccdb582401 Mon Sep 17 00:00:00 2001
From: Ian Chen <ichen@openrobotics.org>
Date: Fri, 12 Sep 2025 01:28:20 +0000
Subject: [PATCH 1/3] Use common::findFile when search for slip map in
 LookupWheelSlip system

Signed-off-by: Ian Chen <ichen@openrobotics.org>
---
 .../lookup_wheel_slip/LookupWheelSlip.cc       | 18 +++++++-----------
 1 file changed, 7 insertions(+), 11 deletions(-)

diff --git a/src/systems/lookup_wheel_slip/LookupWheelSlip.cc b/src/systems/lookup_wheel_slip/LookupWheelSlip.cc
index b63b7e59e3..5cf8f0742d 100644
--- a/src/systems/lookup_wheel_slip/LookupWheelSlip.cc
+++ b/src/systems/lookup_wheel_slip/LookupWheelSlip.cc
@@ -212,22 +212,17 @@ void LookupWheelSlip::Configure(const Entity &_entity,
     return;
   }
 
-  // transformation matrix from world to image coordinates
-  std::string filePath;
-  if (common::isFile(this->dataPtr->slipMapFilename))
-  {
-    filePath = this->dataPtr->slipMapFilename;
-  }
-  else if (common::isRelativePath(this->dataPtr->slipMapFilename))
+  // file the slip map file
+  std::string filePath = common::findFile(asFullPath(
+      this->dataPtr->slipMapFilename, _sdf->FilePath()), false);
+  if (filePath.empty())
   {
     auto *component =
         _ecm.Component<components::WorldSdf>(worldEntity(_ecm));
     const std::string rootPath =
         common::parentPath(component->Data().Element()->FilePath());
-    std::string path = common::joinPaths(rootPath,
-        this->dataPtr->slipMapFilename);
-    if (common::isFile(path))
-      filePath = path;
+    filePath = common::findFile(asFullPath(this->dataPtr->slipMapFilename,
+        component->Data().Element()->FilePath()), false);
   }
   if (filePath.empty())
   {
@@ -237,6 +232,7 @@ void LookupWheelSlip::Configure(const Entity &_entity,
     return;
   }
   gzdbg << "Using slip_map: " << filePath << std::endl;
+  // transformation matrix from world to image coordinates
   this->dataPtr->slipMapImg.Load(filePath);
   this->dataPtr->slipMapRgb = this->dataPtr->slipMapImg.RGBData();
   this->dataPtr->worldToImgTransform(0, 0) =

From 15d9049273cc9aba0b49a9b22868f07e547e7c1a Mon Sep 17 00:00:00 2001
From: Ian Chen <ichen@openrobotics.org>
Date: Fri, 12 Sep 2025 01:47:09 +0000
Subject: [PATCH 2/3] fix typo

Signed-off-by: Ian Chen <ichen@openrobotics.org>
---
 src/systems/lookup_wheel_slip/LookupWheelSlip.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/systems/lookup_wheel_slip/LookupWheelSlip.cc b/src/systems/lookup_wheel_slip/LookupWheelSlip.cc
index 5cf8f0742d..76d69526db 100644
--- a/src/systems/lookup_wheel_slip/LookupWheelSlip.cc
+++ b/src/systems/lookup_wheel_slip/LookupWheelSlip.cc
@@ -212,7 +212,7 @@ void LookupWheelSlip::Configure(const Entity &_entity,
     return;
   }
 
-  // file the slip map file
+  // find the slip map file
   std::string filePath = common::findFile(asFullPath(
       this->dataPtr->slipMapFilename, _sdf->FilePath()), false);
   if (filePath.empty())

From a6cbacaaf54280a078d83580ca699be6ec3355bd Mon Sep 17 00:00:00 2001
From: Ian Chen <ichen@openrobotics.org>
Date: Thu, 11 Sep 2025 20:56:11 -0700
Subject: [PATCH 3/3] tweak

Signed-off-by: Ian Chen <ichen@openrobotics.org>
---
 src/systems/lookup_wheel_slip/LookupWheelSlip.cc | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/src/systems/lookup_wheel_slip/LookupWheelSlip.cc b/src/systems/lookup_wheel_slip/LookupWheelSlip.cc
index 76d69526db..0458b8e1ec 100644
--- a/src/systems/lookup_wheel_slip/LookupWheelSlip.cc
+++ b/src/systems/lookup_wheel_slip/LookupWheelSlip.cc
@@ -36,6 +36,7 @@
 #include <sdf/Geometry.hh>
 #include <sdf/Heightmap.hh>
 
+#include "gz/sim/components/SourceFilePath.hh"
 #include "gz/sim/components/Geometry.hh"
 #include "gz/sim/components/World.hh"
 #include "gz/sim/Link.hh"
@@ -213,8 +214,10 @@ void LookupWheelSlip::Configure(const Entity &_entity,
   }
 
   // find the slip map file
+  auto modelPath =
+    _ecm.ComponentData<components::SourceFilePath>(_entity);
   std::string filePath = common::findFile(asFullPath(
-      this->dataPtr->slipMapFilename, _sdf->FilePath()), false);
+      this->dataPtr->slipMapFilename, modelPath.value()), false);
   if (filePath.empty())
   {
     auto *component =