Soliworks export URDF file and its ROS+Gazebo simulation

1. Soliworks export URDF file

Note: It seems that only assembly drawings can export urdf format files, but not single part drawings.

1.1 Soliworks download and installation (the download and installation method of SW2022 is posted on the main website and there are other versions)

1.1.1 Soliworks 2022 download method and website:

http://www.zhanshaoyi.com/18725.html

1.1.2 Soliworks 2022 installation and cracking method:

http://www.zhanshaoyi.com/18741.html

1.1.3 Compressed package decompression password: 

rjzkgzh

1.2 Install the Soliworks urdf format export plug-in SolidWorks to URDF Exporter

1.2.1 Plug-in download address: Windows system directly downloads the .exe file and installs it:

http://wiki.ros.org/sw_urdf_exporter

After entering the website, click the following icon:

 On the windows side, select the sw2urdfSetup.exe file of the plug-in corresponding to your SW version to download:

1.2.2 After the plug-in is successfully installed, the plug-in bar of the SW can be seen as follows:

 1.3 Set the reference coordinate system of the assembly (the coordinate system of ROS for motion simulation)

Note: It is best if the object is an assembly, but a single part does not seem to work.

 1.3.1 Create base coordinate system and thruster coordinate system:

A. Create a reference point first:

 1. Mouse select assembly 2. Mouse select reference geometry 3. Mouse select point

B. Point location selection:

 Select a reference object (on which object is this point) among all parts and assemblies

 Here it is selected according to the needs of the model. The deck I choose will automatically display the center point of the surface. I choose this point as the reference point

 C. Coordinate system selection

 As shown in the figure below, we select the point object just created as the origin of the coordinate system, and then adjust the orientation of the three axes of the coordinate system:

 

 In the same way, we also create a coordinate system for the left and right thrusters of the robot:

Specify the axis of rotation of the propeller again:

1. Select the assembly with the mouse 2. Select the reference geometry with the mouse 3. Select the datum axis with the mouse

 I select the cylindrical face of my propeller, it will automatically show an axis, click the check mark to complete the creation:

The right motor coordinate system is the same as the rotation axis

 1.3.2 urdf model export

A 1. Mouse select tool 2. Mouse select Tools 3. Mouse select Export as URDF:

B Base coordinate system base_link selection: I choose coordinate system 1

 C coordinate system object selection: I select the general assembly object on the right (just click the mouse)

 D Sub-coordinate system selection: right-click on the base_link in the left figure below to select Add Child Link to add a coordinate system, and then click to select the newly created coordinate system, as shown in the right figure configuration (select the corresponding coordinate system 2, the corresponding axis system: reference axis: axis 1. Coordinate system type: continuous, corresponding object: thruster)

                       

  E After the above is completed, click Preview and Export... in the red area on the upper right to export the corresponding urdf file. It is best to name it in English when saving, so that the exported file can be directly placed in the ROS workspace to compile and run the automatically generated rviz and gazebo's launch file.

continue...