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Cannot open exported URDF from solidworks student

asked 2013-12-04 22:36:00 -0500

Yannik_K gravatar image

updated 2014-01-28 17:18:43 -0500

ngrennan gravatar image

Hi, i'm pretty new to this kind of software and also to linux itself. I downloaded a solidworks assembly of an 6-axis epson robot from the epson site. I changed some mates and added all nececary axes. But i cannot open the exported urdf in rviz, moveit!,...

I don't know if it's because it's really a bug in the urdf file, or just because i open it in the wrong environment (because i had to copy it from my microsoft OS to my virtualBox ubuntu OS via shared folders). If someone could tell me if you could open this files on your pc? So I would now if there's a bug in the code, or because i just don't open it in the right environment, that would be really helpfull!

the error I get when I try to open a single exported part in moveit! is:

================================================================================
REQUIRED process [moveit_setup_assistant-2] has died!
process has died [pid 18783, exit code -11, cmd /home/yannik/moveit/devel/lib/mo
veit_setup_assistant/moveit_setup_assistant __name:=moveit_setup_assistant __log
:=/home/yannik/.ros/log/5d837b80-5f3e-11e3-9e91-080027c27847/moveit_setup_assist
ant-2.log].
log file: /home/yannik/.ros/log/5d837b80-5f3e-11e3-9e91-080027c27847/moveit_setu
p_assistant-2*.log
Initialising shutdown!
================================================================================

If i try to open the full assembly in moveit, it also is an exit code -11. If i try to open this assembly in rviz, i get an exit code -1

https://drive.google.com/folderview?id=0B02rl5MtJ-dZdjdwMUtCcTRVVjQ&usp=sharing

There are two zip-files in here. The one C3_ARM1 is one part converted. The other one, Test3URDF, is the complete assembly of the epson robot. Thank you for taking the time to look into this!

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Comments

Could you perhaps copy/paste some of the console output you get? *I cannot open it* is rather vague, so if you could provide some more details as to what fails for you, we might be able to figure something out. The solidworks_urdf_exporter can be somewhat finicky, but most of the times it works.

gvdhoorn gravatar image gvdhoorn  ( 2013-12-05 20:09:11 -0500 )edit

@Yannik_K: could you update your original question with this information? It's hard to read as a comment. Apart from that, without access to the URDF, this is probably going to be hard to debug. -11 == segmentation fault, so the moveit_setup_assistant.log will probably be empty (if it exists).

gvdhoorn gravatar image gvdhoorn  ( 2013-12-06 02:03:03 -0500 )edit
1

@Yannik_K: if you make the URDF available somewhere, I'd be willing to take a look at it. Basically the whole package the solidworks_urdf_exporter plugin created for you.

gvdhoorn gravatar image gvdhoorn  ( 2013-12-07 22:01:12 -0500 )edit

@Yannik_K: I've checked your zip-files. All your meshes (*.stl) are 80-byte files, which is probably worth checking out. How exactly did you convert the SolidWorks assembly to a URDF?

gvdhoorn gravatar image gvdhoorn  ( 2013-12-08 09:02:05 -0500 )edit

@gvdhoorn First, i had to add an axis to every part except for the base and it's child link. Because there were none available for them in the window wich comes up after i clicked the 'preview and export' button. Second, for those same parts, i had to change the joint type to revolute, because they were set to fixed. Alse, when i press the 'preview and export' button, i see some errors flashing in the solidworks window. It says 'over defined' but i cannot get a detailed list of those errors. Do you need more information about exporting it to URDF?

Yannik_K gravatar image Yannik_K  ( 2013-12-09 02:26:04 -0500 )edit

@Yannik_K: in short: your export failed, all STLs are empty files. Export of a single part should work, regardless of axes, mates etc. As for the axes, just set to 'none' for now. Joint type should be set in first dialogue, before 'preview and export'. Which version of plugin are you using?

gvdhoorn gravatar image gvdhoorn  ( 2013-12-09 02:45:15 -0500 )edit

I am running the newest version, v1.2.2. I tried to the base link of the robot, but the mesh is still empty.

Yannik_K gravatar image Yannik_K  ( 2013-12-09 06:36:48 -0500 )edit

SolidWorks version (32, 64bit) / language? Could you try to see if normal stl export does work? I've had some success using an older version of the plugin (1.1.0 fi). They can all be downloaded from the bitbucket site.

gvdhoorn gravatar image gvdhoorn  ( 2013-12-09 19:37:55 -0500 )edit

1 Answer

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answered 2013-12-09 02:51:02 -0500

gvdhoorn gravatar image

updated 2013-12-10 22:14:35 -0500

As an answer to your original question: the MoveIt setup assistant and rviz most likely crash because the STL files your URDF is referring to are only 80-bytes (most likely only STL header) and contain only '\0' bytes.

This could be caused by the fact that you are using the student version of SolidWorks, which has been known to be incompatible with the exporter plugin. See brawner/sw2urdf/issues on bitbucket for a list of known issues.

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Asked: 2013-12-04 22:36:00 -0500

Seen: 796 times

Last updated: Dec 10 '13