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User_App_NoROS_ExportURDFOnWindows
Note: This tutorial assumes that you have completed tutorials:
Watch this tutorial video for an example of how to build a URDF robot from scratch.
- Import a URDF model, as outlined in tutorial 3.1
- Make any desired changes (e.g.: change a joint axis, move a link into the correct position, etc.). For an idea of how to accomplish this, watch the tutorial video linked above.
- Navigate to the root game object of the URDF model that you want to export. It will have a UrdfRobot script attached.
- In the Inspector of the UrdfRobot script, click "Export Robot to URDF file."
- In the editor window that opens, define an export location and other preferences.
- Click "Export Robot."
Note: In step 3, select "Export URDF to the following subfolder" in order to make all the mesh and resource paths in the URDF file be relative to a subfolder of the export location. This is useful when publishing/visualizing the robot in ROS, especially in situations where the URDF files should not be placed directly in the ROS package root folder.
A URDF model created in ROS# can be used like any other robot. Watch this video to see an example robot being manipulated in Unity, RViZ, and Gazebo.
Next tutorial: 3.3 Animate a Robot Model in Unity
© Siemens AG, 2018 Author: Suzannah Smith (suzannah.smith@siemens.com)
1. Installation and Configuration
1.1 Unity on Windows
1.2 Ubuntu on Oracle VM
1.3 ROS on Ubuntu
1.4 Gazebo Setup on VM
1.5 TurtleBot2
1.6 Shadow Hand
1.7 Gazebo Simulation Example Setup
1.8 Unity Simulation Example Setup
2. Application examples with ROS communication
2.1 Transfer a URDF from ROS to Unity
2.2 Transfer a URDF from Unity to ROS
2.3 Gazebo Simulation Example
2.4 Unity Simulation Example
2.5 Fibonacci Action Client
2.6 Fibonacci Action Server
3. Application examples without ROS communication
3.1 Import a URDF on Windows
3.2 Create, Modify and Export a URDF Model
3.3 Animate a Robot Model in Unity
ROS-Unity Coordinate System Conversions
How to add new Message Types
RosBridgeClient Protocols
RosBridgeClient Serializers
Message Handling Code Map
Action Server State Machine Model
License Headers