How to make a URDF from CAD?
Hello,
I want to implement a Staubli TX2-140 in ROS, but ROS-INDUSTRIAL does not have that model. I have the CAD but I wanto to recreate it in URDF. Why should I do? I understandt that i should convert CAD to inidividual STL links and create the URDF, but how I know the mass and inertias from each link? I am a little bit confused.
Thank you so much.
just a quick comment:
unless you can get those from Staubli, you will likely not have accurate/valid data for those aspects.
We typically also don't include mass and/or inertia, exactly for the same reason (ie: no data available).