Create Arm URDF + Mesh from SW_TO_URDF

Owned by Keyon Jerome
Oct 04, 2022
1 min read

Due Date: Oct 6, 2022

Contributor Log

Name

Contribution

Name

Contribution

Keyon

Task Owner + Task Manager

 

 

Skills

  • SolidWorks

  • ROS2 URDF

Task Description

Convert the arm’s Solidworks assembly to a bootable, movable/joint-based URDF with high-fidelity meshes.

Task Breakdown

Download most recent Solidworks arm assembly
Install Solidworks to URDF extension http://wiki.ros.org/sw_urdf_exporter
Follow video tutorial to create URDF https://www.youtube.com/watch?v=OSL-zqw4cXs
Combine URDF with Keyon’s arm-ros-control branch code to get it working with joint movement (see arm URDF in that branch to s
Test

Prerequisites

  • Arm assembly

Progress Journal

  • Oct 4, 2022 @Keyon Jerome

    • Created task

Relevant Documentation Links

  • See task breakdown