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sw2urdf_ros2

This is an adapted version of a script by xiaoming-sun6. It allows you to convert a ROS 1 robot description package that is created by the sw2urdf exporter of SolidWorks to ROS 2. It will propably also mostly work with other ROS 1 URDF packages, but might require some small fixes for individual cases.

Tested with the following environment, but will propably also work with others.

  • Solidworks 2020
  • Ubuntu 22.04
  • ROS 2 Rolling
  • Python == 3.10

Download the tool from github

git clone https://github.com/SammyRamone/sw2urdf_ros2.git

Change the configuration variables at the top of the conversion_urdf_ros_2_ros2.py

Run the script.

python3 conversion_urdf_ros_2_ros2.py

Build the package in your workspace and source it.

cd PATH:_TO_WORKSPACE && colcon build && source install/setup.bash

Launch the package to bring up RViz with the robot.

ros2 launch test_urdf_tool launch.py

A default RViz config should be loaded that shows the robot, but you might need to perform further changes.

Original Implementation of this script

sw2urdf plugin