ROS COLLADA URDF to DAE mesh parts become flat

asked 2019-03-27 05:28:23 -0500

Kluun gravatar image

Hello everyone,

I am trying to create an IKFast kinematics solver for a robot, but i have some problems with converting the .urdf file into a .dae file. The robot looks link this wen i run the openraven command it looks like this: image description

But it needs to look like this: image description

I think the STL files that represent the links did not translate correctly.

I followed the instructions from the MoveIt tutorialt and converted my .xarco file into a .urdf. After i convert the .urdf file into a .dae file by using the following command:

rosrun collada_urdf urdf_to_collada "MY_ROBOT".urdf "MY_ROBOT".dae

and round the numbers with the following command:

rosrun moveit_kinematics round_collada_numbers.py "MY_ROBOT".dae "MY_ROBOT".dae 5

In each step i did not receive a error or a warning.

I use ROS kinetic and ubuntu 16.04 LTS and ROS industrial. The .urdf was created with the solidworks to urdf plugin.

Any tips or advises to convert the .urdf file properly are welcome.

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Comments

The .urdf was created with the solidworks to urdf plugin.

that looks like an M-710iC/something. Did ROS-I not have a model for that robot?

Please note that you have a translation in two dimensions between the 1st and 2nd, and the 3rd and the 4th joint.

That is not necessarily a problem, but in ROS-I we tend to avoid those, as it's worked quite well for us in the past with IKFast and other tools.

gvdhoorn gravatar image gvdhoorn  ( 2019-03-27 05:42:22 -0500 )edit

Did ROS-I not have a model for that robot?

The robot is a fanuc M-710iC/50 and there is a support package for it, but no plugin or config packages. So i though way not build from scratch, because i got the CAD files of the robot.

Kluun gravatar image Kluun  ( 2019-03-27 10:07:34 -0500 )edit

Up to you of course. Advantage I find of using the ROS-I models is that they've been checked (and used) by many people. re: plugin: do you actually need an IKFast plugin for that robot? Other IK solvers (such as trac_ik) may work just as well.

gvdhoorn gravatar image gvdhoorn  ( 2019-03-27 10:11:05 -0500 )edit