sugikazu75 / jsk_model_tools

JSK model utilities

jsk_model_tools

Package	Melodic (Bionic)	Noetic (Focal)	Noetic (Buster)
jsk_model_tools (arm64)
jsk_model_tools (armhf)			---
jsk_model_tools (i386)	---	---	---
jsk_model_tools (amd64)

Model Convert

Convert from CAD manually

(cf. PR of function to automatically convert: euslisp/jskeus#248)

• Convert1. export stl mesh with SolidEdge

=> my_model.stl is generated.

• Convert2. generate urdf generate urdf with following contents. （assume that my_model.stl is located at /home/leus/my_model.stl）

<robot name="my_model_name">
  <link name="root">
    <inertial>
     <origin xyz="0 0 0.5" rpy="0 0 0"/>
     <mass value="1"/>
     <inertia ixx="100"  ixy="0"  ixz="0" iyy="100" iyz="0" izz="100" />
    </inertial>
    <visual>
     <origin xyz="0 0 0" rpy="0 0 0" />
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </visual>
    <collision>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </collision>
  </link>
</robot>

=> save to my_model.urdf

• Convert3. convert to collada

rosrun collada_urdf_jsk_patch urdf_to_collada my_model.urdf my_model.dae

=> my_model.dae is generated.

• Convert4. convert to eus

rosrun euscollada collada2eus my_model.dae my_model.l # fixed model version
rosrun euscollada collada2eus my_model.dae my_model.yaml my_model.l

=> my_model.l is generated.
my_model.yaml is used to set joints and endcoords settings. Please refer to example file of PR2.
Without the yaml file, the model can not move or get/send :angle-vector.

• Visualize1. visualize urdf with Rviz

roslaunch urdf_tutorial display.launch model:=/home/leus/my_model.urdf

• Visualize2. spawn urdf to gazebo

roslaunch gazebo_ros empty_world.launch
rosrun gazebo_ros spawn_model -file my_model.urdf -urdf -model my_model

• Visualize3. visualize eus with irtviewer

roseus my_model.l
(objects (list (my_model)))

• Visualize4. visualize stl with irtviewer

(load "package://eus_assimp/euslisp/eus-assimp.l" )
(setq glv (load-mesh-file "my_model.stl" :scale 1000.0))
(objects (list glv))