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URDF export from Solidworks with wrong orientation

Hi,

Is there any way to rotate the URDF model in ROS? I have a robot exported as URDF from Solidworks. When I launch it in Rviz or Gazebo it is on its side. I could adjust the entire URDF by setting rpy = "-pi/2 0 0" for each link, but then I would have to align everything manually.

Any suggestions would be greatly appreciated!

Cheers! Jarle

Asked by MRRobot on 2019-02-12 07:01:25 UTC

Comments

Surely you would only need to rotate the first link. Then the whole robot would be at the correct orientation?

Asked by PeteBlackerThe3rd on 2019-02-12 10:42:46 UTC

off-topic, but: is that an RDS DFR 1500?

Asked by gvdhoorn on 2019-02-12 10:46:17 UTC

Thanks Pete, had to rotate first joint and realign base_link.

Yes it is gvdhoorn ;-)

Asked by MRRobot on 2019-02-12 12:56:29 UTC

re: robot on its side: it's a typical problem with SolidWorks exported models, which essentially comes down to the model having been created Y-side up and/or coordinate systems/origins not properly defined during the export.

Asked by gvdhoorn on 2019-02-12 13:56:57 UTC

Answers

Solution:

<joint
  name="R1"
  type="prismatic">
  <origin
      xyz="-2.195 0 0.59"
      rpy="1.5707 0 0" />

Asked by MRRobot on 2019-02-12 12:58:37 UTC

Comments