sw2urdf_ros2

The current solidworks sw2urdf plugin can only be used in ros1, which is obviously unfriendly to the current learning environment.So I made this tool to convert files to ros2 for use. At this stage, the tool has only been successfully tested in rviz2.

Table of contents

1. Environment
2. Getting tool
3. Getting started
4. Changing configuration
5. Running launch file
6. Reference

1. Environment

• Solidworks 2019
• Ubuntu 20.04
• Ros2 foxy
• Python == 3.8

2. Getting tool

We download the tool from github

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

3. Getting started

We should have an urdf folder that outputs from solidworks.Let's say the name of the folder is test_urdf(I had put this folder in the project as a demo file).

Let's create a workspace called test_urdf_tool_ws and a ROS package called test_urdf_tool

mkdir test_urdf_tool_ws && mkdir test_urdf_tool_ws/src
cd test_urdf_tool_ws && colcon build
cd src && ros2 pkg create test_urdf_tool --build-type ament_python

4. Changing configuration

We must change the configuration variables in conversion_urdf_ros_2_ros2.py if we use this tool.

# Configuration variable

# This variable is the path to the solidworks output folder of urdf files
source_dir = '/home/sxm/Project/ros/test_urdf/'

# This variable is the package path of ros2
target_dir = '/home/sxm/Project/ros/test_urdf_tool_ws/src/test_urdf_tool/'

# This variable is the package-name of ros2
package_name = "test_urdf_tool"

# This variable is the solidworks output folder name
output_folder_name = "test_urdf"

After changing the configuration variables, we run the python file in a new terminal.

python conversion_urdf_ros_2_ros2.py

Then,We go into the workspace and build the code.

cd .. && colcon build && source install/setup.bash

5. Running launch file

Finally，We run the launch files.

ros2 launch test_urdf_tool launch.py 

Don't forget to change the rviz configuration

5. Reference

Thanks for the links

sw2urdf plugin
lesson_urdf
Source of inspiration