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Can a CAD model from Solidworks be converted into a Gazebo Model?

asked 2020-10-16 07:39:02 -0500

impaidk gravatar image

The CAD model is a 3D model version of a workshop, where I would want to spawn some mobile robots. I could find articles on how to convert a CAD model into a URDF but nothing much about it. If anyone of you have worked on this, I would like to have some inputs.

Thanks in advance.

PS: I posted it here as nobody replies on GAZEBO answers.

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I don't know if that is possible, but an option can be saving the cad model in a STF file and then create an sdf that loads this mesh file.

matteocotifava gravatar image matteocotifava  ( 2020-10-22 14:33:26 -0500 )edit

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answered 2020-10-16 08:43:48 -0500

acbuynak gravatar image

If you are looking to maintain ROS integration of your robots, it may be best to use the SW2URDF Exporter. This code loads into any standard Solidworks as an "Add-In" and has good tutorials on the wiki.ros page on using the tool to build your URDF.

Next load this URDF into Gazebo. Reference this wiki.ros tutorial (Using URDF in Gazebo) for details as to what Gazebo requires in the URDF.
Note: Tools like MoveIt Setup Assistant have features that help check/generate the gazebo specific xml tags that your URDF will need for Gazebo. So, if you're already planning to use MoveIt.. check this out.

Checkout WikiRos: SW2URDF Exporter
Find gazebo specific tags in WikiRos: Using URDF in Gazebo

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Thank you for your reply. Actually, I know about this, maybe it wasn't clear in my question.

What I want to know is can a CAD model of a workshop (3D model of a room which has some equipment and pathways) be converted into a Gazebo world (NOT URDF). In which I want to later simulate Mobile robots.

impaidk gravatar image impaidk  ( 2020-10-18 05:48:35 -0500 )edit

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Asked: 2020-10-16 07:39:02 -0500

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Last updated: Oct 16 '20