ros
Enabled to export mesh as 3dxml format
This PR allows the URDF exporter to output mesh files not only in STL format but also in 3DXML format. This enables the export of models with color information. This does not destroy the original functions.
This solves this issue. https://github.com/ros/solidworks_urdf_exporter/issues/114
Exported in STL (no color)
Exported in 3dxml (with color)
How to convert to .dae format for ros
pip3 install scikit-robot -U
convert-urdf-mesh <URDF_PATH> --output <OUTPUT_URDF_PATH>
I'm sorry for the late reply.
I've changed the bool to an enum of the export format. I've also added a section in the README to explain converting meshes to DAE
Although, I had a problem with the unit test.
Problem
When I exported ORIGINAL_3_DOF_ARM, the links of the arm were shown in the wrong position in Rviz. This might be related to these issues: https://github.com/ros/solidworks_urdf_exporter/issues/130, https://github.com/ros/solidworks_urdf_exporter/issues/116 I tried with the released code, but it still didn't work.
Temporary solution
When I created the same coordinates and axis of each link at the top-assembly, and selected those in the export menu instead of those in the sub-assemblies, the links were shown in the correct position. This worked on both STL and 3DXML formats.
As discussed in https://github.com/ros/solidworks_urdf_exporter/issues/116, I believe this issue can occur with SolidWorks later than 2018, but is this supposed to function correctly originally?
| wrong position in STL | correct position in STL | correct position in 3DXML |
|---|---|---|
Environment
Solidworks version: 2022 urdf_exporter: 1.6.1
@brawner I believe this PR could be highly beneficial for all SolidWorks and ROS users. I would appreciate it if you could kindly review it.
I have modified all the points you mentioned:
- Converted bool to enum / if to switch
- Added instructions for converting to .dae in the README
- Added unit tests
I would greatly appreciate it if you could kindly review the changes.