Solidworks to URDF export incorrect wheel location
Dear all, I am trying 2 days now to export a simple model from Solidoworks 2018 to Gazebo, using URDF exporter. I have tried several ways as listed bellow:
a. Defining global coordinate systems for base_link in Assembly and Coordinate/Axis systems for each link both on Assembly and on part level. b. Defining global coordinate systems for base_link on Part level and Coordinate/Axis systems for each link both on Assembly and on part level c. Designing a point on base_link and attaching coordinate system on it at the Assembly level and Coordinate/Axis systems for each link both on Assembly and on part level
- Export the URDF and Mesh letting the software create a ROS package.
- Turning to ROS and placing the package at the correct WS
- Executing catkin_make to account for changed headers and build the package
Executing ros_launch robot gazobo.launch {where robot is my package name} but the result are terrible no matter what method of the above I use.
If anyone is able to provide some help, please do.
I understand your experience with the exporter has not been too positive.
So after first bashing all components involved, you now expect people to start helping you?
Remember: this is a volunteering based community. That doesn't mean you're not allowed to criticise, but being polite about it may help incentivise others to help you.
Dear all,
Apologies for my frustration expressed in a very bad way. I had no intent to criticize anyone especially when knowing the volunteer base of those projects and the massive amount of hours spent.
Solidworks2URDF doesn't seem to work in any way; at least for my configuration which is the simplest possible 4wheel small car (4 wheels and a chassi). So, the question is how does any one create URDF for Gazebo? Is it by hand (literally writing the XML required)? Is it by any other software I am not aware of? Am I doing something wrong when using the software?
BR
The exporter should pick up on mates to determine where coordinate origins should be placed, and what types of joints should be used.
Does your model have any mates defined?
Yes it is. But I can always make "easier" mates. For example I can replace some tangent mates with more "specific" mates which would include sketches, to better define the location of my wheels. I'll try that and come back with results. Thank you for the suggestion.
I'm not sure how sophisticated it all is. The simpler the better. Concentric mates would be a good start I believe.
And I would suggest to get in touch with the author/maintainer by posting an issue on the issue tracker. Especially if you keep running into these issues.
No, it didn't work. I placed specific points in center locations just to make things "easier". The result wes the same as before, from the only 2 wheels I place, the 1st is located correctly but the second is bouncing near the axle, off by both the centerline as well as the distance from the correct position. Yes I'll send a message to the author together possibly with some pictures.
What service pack of SolidWorks are you using? SW 2018 SP 1-4 has known issues with mesh exports. You need SP 5. It's difficult to tell if that is your issue though.