After converting a Solidworks robot design to a URDF folder, how can i insert it to the gazebo simulator on ros2, and what are the prerequisites for this operation to show the robot successfully on the gazebo?
I’ve watched the ( Spawn a URDF model in Gazebo with ROS2 video ) but i cant catch up to what should i do if a have my own URDF folder. should i create the packages folders, launch.py and etc. files inside my URDF folder or the opposite, or if there another way to spawn this URDF folder.
and thanks regardless
Hi,
Sorry for the late response,
The answer is: In the course of URDF for Robot Modeling in ROS2 after the URDF sections there are several units explaining step by step how to spawn a robot from urdf to gazebo. Its not the sam example, but the principles an dsteps are the same.
We might consider adding a section in the Export from OnShape to URDF where we show how to make the exported urdf gazebo ready if we see that a lot of people can want and benefit from it.
Having said that here you have the main prerequisite to make this work:
- This URDF has to work perfectly in RVIZ, and see that you can move all the joints with the fake joint publisher.
- Create a spawn rbot launch file for gazebo and simply check that the robot when spanwed appears in the world with the correct scale and the inertias don’t break the robot . Also check the collision shaped are coherent.
- Once you have it then, you will have to add the joint gazebo controllers for all the joints you want actuated.
- finally you have to add the control config files and control plugin start-up. The robot joints you’d now be controllable and ready to go
Please let us know if you have further doubts.
Again sorry for the late response
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