• Prerequisites
• Setup
  • ROS2 robot description package
    • Clone the tool
    • Convert to ROS2
    • Postprocess
• Run it
  • Viewing the URDF

You'll need to have followed the Software Setup instructions because this page assumes that you are in the developer container!

You also need to have the output of sw2urdf, a SolidWorks extension that converts the computer drawing of our robot into a ROS package. Likely, you'll need someone on the mechanical team to follow the instructions on the Creating an URDF Wiki. This requires a mostly complete CAD for it to be of any practical use, which usually means around October. Use a previous year's in the meantime.

As of now, there is no sw2urdf for ROS2. Instead, we are given a ROS1 package. Luckily, there is a tool that converts it into a ROS2 package. Therefore, we begin by taking our ROS1 package and converting it to ROS2. You could also write the ROS2 package by hand if you prefer—it's not hard, but I think this is easier.

If it isn't already in the repository, clone it.

git clone https://github.com/xiaoming-sun6/sw2urdf_ros2.git

Install dependencies:

cd sw2urdf_ros2; pip3 install -r requirements.txt; cd ..

Add your ROS1 package to the container. You can drag and drop on Windows or use docker cp on Linux.

Create the ros2 package in your src dir:

ros2 pkg create --build-type ament_python reaper_description

In the container, in the sw2urdf_ros2 folder, run

python3 conversion_urdf_ros_2_ros2.py

to start the UI.

Once that finishes, delete sw2urdf_ros2. If you do not do this, you will have build issues!

rm -rf sw2urdf_ros2

Assuming you have built and sourced (i.e. colcon build && source install/setup.bash or source build_scripts/build.sh), you'll need to launch it, using ros2 launch <pkg_name> <launchfile_name>. For me, it's

ros2 launch reaper_description launch.py

This should open RViZ2. If you are having issues, make sure your X server is running. Refer back to the steps in Software Setup.

"Where's my robot?" First, under Global Options->Fixed Frame select your base_link. On REAPER, it is named Chassis.

Next, add your Robot Model by selecting Add->Robot Model->OK. Finally, tell your Robot Model to read from your topic (Robot Model->Description Topic and available topics should pop up. If yours doesn't check ). You should now see your URDF in RViZ!