Robot_Description_Generator

Overview

The URDF Description Package Generator is a command tool that simplifies the process of creating ROS2/ROS description packages for robots designed using SW2URDF (SolidWorks to URDF). It automatically generates a complete ROS2 package with launch files, configuration files, and organized URDF files, saving you time and effort.

Installation

Download from the latest release version .deb and install

wget https://github.com/MOShka78/Robot_Description_Generator/releases/download/0.1.0/ros-humble-robot-description-generator_0.0.2-0jammy_amd64.deb

 sudo dpkg -i ros-humble-robot-description-generator_0.0.2-0jammy_amd64.deb

• The main branch of this repository requires a C++17-compatible compiler.

Launch

1. Create a package in the directory where the file is located urdf

ros2 run robot_description_generator robot_description_generator file_urdf.urdf

2. Create a package with a path

ros2 run robot_description_generator robot_description_generator file_urdf.urdf /workspace/packages

Usage

The program automatically generates a descriprion package under ros2/ros using your urdf obtained from SW2URDF.

The generated package has the following structure:

.
│your_name_description/
├── config/
│   ├── joint_limits.yaml
│   └── link_mass.yaml
├── launch/
│   ├── your_name_description.launch    // for ros
│   └── your_name_description.launch.py // for ros2
├── meshes/
│   ├── visual/
│   │   └── mesh.STL                    // Same in two folders (just copied from SW2URDF)
│   └── collision/
│   │   └── mesh.STL
├── urdf/
│   ├── inc/
│   │   └── your_name_property.xacro
│   ├── your_name_macro.xacro
│   └── your_name.urdf.xacro
├── CMakeLists.txt
└──  package.xml

If an error occurs after generation, check the correctness of the exported urdf. You can check it using the following command.

check_urdf file.urdf

It is also worth checking that all joint whose type is not fixed have axis specified.

Example

BU015X

This package was automatically generated by SW2URDF.

ros2 run robot_description_generator robot_description_generator example/BU015X/urdf/BU015X.urdf /home/eliseev/workspace/urdf_expansion_ws/src/URDF_Expansion/example


---
[INFO] [1726574309.725712326] [robot_description_generator]: Copied file: "link2.STL"
[INFO] [1726574309.726468370] [robot_description_generator]: Copied file: "link1.STL"
[INFO] [1726574309.726822569] [robot_description_generator]: Copied file: "link5.STL"
[INFO] [1726574309.727257414] [robot_description_generator]: Copied file: "link7.STL"
[INFO] [1726574309.727984222] [robot_description_generator]: Copied file: "base_link.STL"
[INFO] [1726574309.728626507] [robot_description_generator]: Copied file: "link3.STL"
[INFO] [1726574309.728936279] [robot_description_generator]: Copied file: "link4.STL"
[INFO] [1726574309.729082162] [robot_description_generator]: Copied file: "link6.STL"
[INFO] [1726574309.729504520] [robot_description_generator]: Create package: /home/eliseev/workspace/urdf_expansion_ws/src/URDF_Expansion/example/BU015X_description/

After entering the command, the BU015X_description package is automatically generated, which we transfer to our project.