Import URDF in Gazebo - modulabs/gazebo-tutorial GitHub Wiki
- export๋ ํ์ผ ์์
- model.config ํ์ผ ์์ฑ
- [์๋ต๊ฐ๋ฅ].wolrld ํ์ผ ์์ฑ
- ํจํค์ง ํด๋ ๋ณต์ฌ ๋ฐ Gazebo์คํ
- Additional Readings
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(๊ธฐ๋ณธ์ ์ผ๋ก ์์ฑ๋ email์ด "me2email.com"์ผ๋ก ์ค๋ฅ๋ฅผ ๋ฐ์์ํจ๋ค.)
- maintainer ์ ๋ณด ์์
<author>me</author> <maintainer email="me@email.com"/>
- maintainer ์ ๋ณด ์์
$ sudo gedit model.config
.
model.config ํ์ผ ๋ด์ฉ
<model>
<version>1.0</version>
<name>bot_assembly.URDF</name>
<sdf>urdf/bot_assembly.urdf</sdf>
<description>your description here</description>
</model>
$ sudo gedit (world_name).world
.
(world_name).world ํ์ผ ๋ด์ฉ
package_name์ ์ฌ์ฉ์ ๋ชจ๋ธ ํจํค์ง ์ด๋ฆ์ ๊ธฐ์ ํ๋ค.
<?xml version="1.0" ?>
<sdf version ="1.4">
<world name="default">
<!-- A ground light source -->
<include>
<uri>model://sun</uri>
</include>
<!-- A ground plane -->
<include>
<uri>model://ground_plane</uri>
</include>
<!-- Add YOUR ROBOT -->
<include>
<uri>model://(package_name)</uri>
<posd>0.0 0.0 0.0 0.0 0.0 0.0</pose>
</include>
</world>
</sdf>
-
ํจํค์ง ํด๋๋ฅผ
~/.gazebo/models์ ๋ณต์ฌํ๋ค
$ sudo cp -r (package_name) ~/.gazebo/models/ -
Gazebo๋ฅผ ์คํํ๋ค.
-
"insert > (my_package)model์ ์ถ๊ฐํ๋ค.
-
A Design Guide for Proper Exporting from Solidworks for Gazebo Simulation
http://blogs.solidworks.com/teacher/wp-content/uploads/sites/3/WPI-Robotics-SolidWorks-to-Gazebo.pdf -
A tutorial for URDF Exporter
https://www.youtube.com/watch?v=DCNpT1ng9sA&feature=youtu.be