| Package | Melodic (Bionic) | Noetic (Focal) | Noetic (Buster) |
|---|---|---|---|
| jsk_model_tools (arm64) | |||
| jsk_model_tools (armhf) | --- | ||
| jsk_model_tools (i386) | --- | --- | --- |
| jsk_model_tools (amd64) |
(cf. PR of function to automatically convert: euslisp/jskeus#248)
- Convert1. export stl mesh with SolidEdge
=> my_model.stl is generated.
- Convert2. generate urdf generate urdf with following contents. （assume that my_model.stl is located at /home/leus/my_model.stl）
<robot name="my_model_name">
<link name="root">
<inertial>
<origin xyz="0 0 0.5" rpy="0 0 0"/>
<mass value="1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file:///home/leus/my_model.stl" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file:///home/leus/my_model.stl" />
</geometry>
</collision>
</link>
</robot>
=> save to my_model.urdf
- Convert3. convert to collada
rosrun collada_urdf_jsk_patch urdf_to_collada my_model.urdf my_model.dae
=> my_model.dae is generated.
- Convert4. convert to eus
rosrun euscollada collada2eus my_model.dae my_model.l # fixed model version
rosrun euscollada collada2eus my_model.dae my_model.yaml my_model.l
=> my_model.l is generated.
my_model.yaml is used to set joints and endcoords settings.
Please refer to example file of PR2.
Without the yaml file, the model can not move or get/send :angle-vector.
- Visualize1. visualize urdf with Rviz
roslaunch urdf_tutorial display.launch model:=/home/leus/my_model.urdf
- Visualize2. spawn urdf to gazebo
roslaunch gazebo_ros empty_world.launch
rosrun gazebo_ros spawn_model -file my_model.urdf -urdf -model my_model
- Visualize3. visualize eus with irtviewer
roseus my_model.l
(objects (list (my_model)))
- Visualize4. visualize stl with irtviewer
(load "package://eus_assimp/euslisp/eus-assimp.l" )
(setq glv (load-mesh-file "my_model.stl" :scale 1000.0))
(objects (list glv))