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URDF export from Solidworks with wrong orientation

asked 2019-02-12 06:02:10 -0600

MRRobot gravatar image

updated 2019-04-23 04:34:51 -0600

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

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

PeteBlackerThe3rd gravatar imagePeteBlackerThe3rd ( 2019-02-12 09:42:46 -0600 )edit

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

gvdhoorn gravatar imagegvdhoorn ( 2019-02-12 09:46:17 -0600 )edit

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

Yes it is gvdhoorn ;-)

MRRobot gravatar imageMRRobot ( 2019-02-12 11:56:29 -0600 )edit
2

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.

gvdhoorn gravatar imagegvdhoorn ( 2019-02-12 12:56:57 -0600 )edit

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answered 2019-02-12 11:58:37 -0600

MRRobot gravatar image

Solution:

<joint
  name="R1"
  type="prismatic">
  <origin
      xyz="-2.195 0 0.59"
      rpy="1.5707 0 0" />
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Asked: 2019-02-12 06:01:25 -0600

Seen: 134 times

Last updated: Apr 23 '19