【机器人】ROS2配置solidworks模型转换的URDF文件
🙇♀ 安装solidworks_urdf插件
地址
在添加过点和坐标系后，点击工具->tools(在最下面)
如何转为URDF请看这个视频点击
☕ 为ROS2配置
安装相关依赖
sudo apt install ros-humble-joint-state-publisher-gui sudo apt install ros-humble-xacrosolidworks导出的URDF文件是ROS1版本的，所以要改装为ROS2
在你的工作空间src目录中新建一个C++的功能包
ros2 pkg create looraysbot_model --build-type ament_cmake--licenseApache-2.0分别在改包下面创建launch，meshes，rviz，urdf这四个文件夹
- 在
launch文件夹下创建 文件[display.launch.py](<http://display.launch.py/>)，插入一下代码
from ament_index_python.packagesimportget_package_share_path from launchimportLaunchDescription from launch.actionsimportDeclareLaunchArgument from launch.conditionsimportIfCondition, UnlessCondition from launch.substitutionsimportCommand, LaunchConfiguration from launch_ros.actionsimportNode from launch_ros.parameter_descriptionsimportParameterValue def generate_launch_description(): urdf_tutorial_path=get_package_share_path('looraysbot_model')default_model_path=urdf_tutorial_path /'urdf/looraysbot_model.urdf'default_rviz_config_path=urdf_tutorial_path /'rviz/looraysbot_model.rviz'gui_arg=DeclareLaunchArgument(name='gui',default_value='true',choices=['true','false'],description='Flag to enable joint_state_publisher_gui')model_arg=DeclareLaunchArgument(name='model',default_value=str(default_model_path),description='Absolute path to robot urdf file')rviz_arg=DeclareLaunchArgument(name='rvizconfig',default_value=str(default_rviz_config_path),description='Absolute path to rviz config file')robot_description=ParameterValue(Command(['xacro ', LaunchConfiguration('model')]),value_type=str)robot_state_publisher_node=Node(package='robot_state_publisher',executable='robot_state_publisher',parameters=[{'robot_description':robot_description}])# Depending on gui parameter, either launch joint_state_publisher or joint_state_publisher_guijoint_state_publisher_node=Node(package='joint_state_publisher',executable='joint_state_publisher',condition=UnlessCondition(LaunchConfiguration('gui')))joint_state_publisher_gui_node=Node(package='joint_state_publisher_gui',executable='joint_state_publisher_gui',condition=IfCondition(LaunchConfiguration('gui')))rviz_node=Node(package='rviz2',executable='rviz2',name='rviz2',output='screen',arguments=['-d', LaunchConfiguration('rvizconfig')],)returnLaunchDescription([gui_arg, model_arg, rviz_arg, joint_state_publisher_node, joint_state_publisher_gui_node, robot_state_publisher_node, rviz_node])按ctrl+f搜索looraysbot_model，并替换为你的包名称，其他不变
- 将solidworks生成的urdf包中的
meshes文件夹下的所有stl文件复制到你的对应文件夹下 - 和solidworks生成的urdf包中的
urdf文件夹下的所有文件直接复制到你的对应文件夹下
可以执行urdf_to_graphviz looraysbot_model.urdf生成pdf(要在终端进入urdf目录下)
CMakeLists.txt配置
cmake_minimum_required(VERSION3.8)project(looraysbot_model)if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES"Clang")add_compile_options(-Wall-Wextra-Wpedantic)endif()# find dependenciesfind_package(ament_cmake REQUIRED)# uncomment the following section in order to fill in# further dependencies manually.# find_package(<dependency> REQUIRED)install(DIRECTORY launch meshes urdf rviz DESTINATION share/${PROJECT_NAME})if(BUILD_TESTING)find_package(ament_lint_auto REQUIRED)# the following line skips the linter which checks for copyrights# comment the line when a copyright and license is added to all source filesset(ament_cmake_copyright_FOUND TRUE)# the following line skips cpplint (only works in a git repo)# comment the line when this package is in a git repo and when# a copyright and license is added to all source filesset(ament_cmake_cpplint_FOUND TRUE)ament_lint_auto_find_test_dependencies()endif()ament_package()按ctrl+f搜索looraysbot_model，并替换为你的包名称，其他不变
package.xml配置
<?xmlversion="1.0"?><?xml-modelhref="<http://download.ros.org/schema/package_format3.xsd>"schematypens="<http://www.w3.org/2001/XMLSchema>"?><packageformat="3"><name>looraysbot_model</name><version>0.0.0</version><description><p>URDF Description packageforlooraysbot_model</p><p>This package contains configuration data, 3D models and launch filesforlooraysbot_model robot</p></description><maintaineremail="rqtz@todo.todo">rqtz</maintainer><license>Apache-2.0</license><buildtool_depend>ament_cmake</buildtool_depend><test_depend>ament_lint_auto</test_depend><test_depend>ament_lint_common</test_depend><export><build_type>ament_cmake</build_type></export></package>按ctrl+f搜索looraysbot_model，并替换为你的包名称，其他不变(其实这个文件不改也不影响)
🥦rviz2配置
打开rviz2,按照上图所示，配置完成后保存并将其保存到该包下的rviz目录中
🦐 运行并显示URDF模型
执行编译colcon build后，更新环境变量
ros2 launch looraysbot_model display.launch.py执行成功
安装tf树
sudo apt install ros-humble-rqt-tf-tree rm -rf ~/.config/ros.org/rqt_gui.ini生成当前tf树的pdf
ros2 run tf2_tools view_frames