Sw_urdf exporter - How to define the Base_Link
Hi there,
I am using swurdf exporter plugin within Solidworks? http://wiki.ros.org/swurdf_exporter
I am defining the links and joints as this tutorial explains: https://www.youtube.com/watch?v=xNT3WAhoa5o
However, I am not sure which parts to select to define as base_link, if should I select just the shafts or all the parts above the shafts (cab, bucket, tanks, etc..)
I am not sure which model makes sense to ROS-URDF for simulation purposes (Center of mass, axis-reference, inertia) if I consider these other parts as base-link or not (just the shafts) ?
If I select just the blue shaft, I lose all the other parts:
In addition the orientation and pose from tires didn`t work as expected ( I followed cautiosly the instruction from here https://www.youtube.com/watch?v=xNT3WAhoa5o)
I would be very glad for some explanation, previous use-case of this plugin with the same purpose ( share a link please), etc...
Thanks in advance
Asked by Vini71 on 2023-02-10 08:37:24 UTC
Answers
The blue shaft should be considered as base_link as you can see in your model links to various part of the vehicle meets from the shaft..
Asked by Davies Ogunsina on 2023-02-23 13:47:14 UTC
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I undestand but the problem is that I am losing all the other parts (at least visually on urdf). Take a look ( I have updated the issue)
Asked by Vini71 on 2023-02-26 12:28:08 UTC
Did you ground the base_link which is the shaft . When designing on solid works or fusion360 , you need to set the base of your model or robot to ground (it has to be grounded) .
Asked by Davies Ogunsina on 2023-03-01 17:00:37 UTC
Hi Davies sorry for late reply I am not receiving notifications in my email. What do you mean with "ground" the base_link? You mean to set it to ground height? Or better create a "base_footprint"? I did not understand how is this going to collaborate on work with the SolidWorks plugin to set the joints properly?
Asked by Vini71 on 2023-03-28 23:04:50 UTC
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