In the last week, I have worked with ROS and Gazebo to integrate a 3D model in Gazebo.In the first part of activity I’ve transformed the 3D model from SolidWorks to URDF file. A first tutorial is in http://wiki.ros.org/sw_urdf_exporter
I’ve used the URDF Plugin converter available in sw2urdf, but this application running only on Windows.
I spent more time to understand an easy way to put the axis and system coordinates for all joints, but now is available the new robot model in new branch on GitHub with name “feature/upgrade_urdf” https://github.com/rbonghi/ros_dudeFinally I have tried my robot in a physical simulator Gazebo 4 and I have created a new repository https://github.com/rbonghi/ros_dude_gazebo.
Tips and tricks:
- The xtion camera plugin, called libgazebo_ros_openni_kinect.so run only on Gazebo 4 or Gazebo 5
- The differential drive plugin called libgazebo_ros_diff_drive.so running only on Gazebo 2 and Gazebo 4
- If you have installed ros-indigo-desktop-full and you want install gazebo 4 or 5, you must uninstall all and reinstall ros-indigo-gazeboX-ros-pkgs and install ros-indigo-desktop
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