Fusion 360 file to ROS URDF

GitHub - syuntoku14/fusion2urdf: A Fusion 360 Script to export URDF

 

1. fusion360이 window에 깔려있다면 윈도우에 해당 코드 다운로드를 한다
2. cmd 열어서 코드가 있는 폴더로 들어간다
3. 아래 Copy 코드 실행
4. Fusion 360 - 유틸리티- 에드인- 내 스크립트에 URDF_Exporter이 생김
5. catkin_ws에 옮겨 빌드 후 실행

윈도우에서 
cd <path to fusion2urdf>

Copy-Item ".\URDF_Exporter\" -Destination "${env:APPDATA}\Autodesk\Autodesk Fusion 360\API\Scripts\" -Recurse
or 
Copy-Item ".\URDF_Exporter\" -Destination "C:\Users\사용자이름\AppData\Local\Autodesk\Autodesk Fusion 360\API\Scripts\" -Recurse

roscore
roslaunch urdf_2_description display.launch

스케일 줄이면 작게 만들 수 있음

하 이게 왜 안 뜰까

 

 

CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(urdf_2_description)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  rospy
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   std_msgs  # Or other packages containing msgs
# )

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES fusion2urdf
#  CATKIN_DEPENDS rospy
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/fusion2urdf.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/fusion2urdf_node.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_fusion2urdf.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

package.xml

<?xml version="1.0"?>
<package format="2">
  <name>urdf_2_description</name>
  <version>0.0.0</version>
<description>The urdf_2_description package</description>

  <!-- One maintainer tag required, multiple allowed, one person per tag -->
  <!-- Example:  -->
  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
  <maintainer email="syuntoku14@todo.todo">syuntoku14</maintainer>


  <!-- One license tag required, multiple allowed, one license per tag -->
  <!-- Commonly used license strings: -->
  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
  <license>TODO</license>


  <!-- Url tags are optional, but multiple are allowed, one per tag -->
  <!-- Optional attribute type can be: website, bugtracker, or repository -->
  <!-- Example: -->
  <!-- <url type="website">http://wiki.ros.org/fusion2urdf</url> -->


  <!-- Author tags are optional, multiple are allowed, one per tag -->
  <!-- Authors do not have to be maintainers, but could be -->
  <!-- Example: -->
  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->


  <!-- The *depend tags are used to specify dependencies -->
  <!-- Dependencies can be catkin packages or system dependencies -->
  <!-- Examples: -->
  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
  <!--   <depend>roscpp</depend> -->
  <!--   Note that this is equivalent to the following: -->
  <!--   <build_depend>roscpp</build_depend> -->
  <!--   <exec_depend>roscpp</exec_depend> -->
  <!-- Use build_depend for packages you need at compile time: -->
  <!--   <build_depend>message_generation</build_depend> -->
  <!-- Use build_export_depend for packages you need in order to build against this package: -->
  <!--   <build_export_depend>message_generation</build_export_depend> -->
  <!-- Use buildtool_depend for build tool packages: -->
  <!--   <buildtool_depend>catkin</buildtool_depend> -->
  <!-- Use exec_depend for packages you need at runtime: -->
  <!--   <exec_depend>message_runtime</exec_depend> -->
  <!-- Use test_depend for packages you need only for testing: -->
  <!--   <test_depend>gtest</test_depend> -->
  <!-- Use doc_depend for packages you need only for building documentation: -->
  <!--   <doc_depend>doxygen</doc_depend> -->
  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>rospy</build_depend>
  <build_export_depend>rospy</build_export_depend>
  <exec_depend>rospy</exec_depend>


  <!-- The export tag contains other, unspecified, tags -->
  <export>
    <!-- Other tools can request additional information be placed here -->

  </export>
</package>

display.launch

<launch>
  <arg name="model" default="$(find urdf_2_description)/urdf/urdf_2.xacro"/>
  <arg name="gui" default="true"/>
  <arg name="rvizconfig" default="$(find urdf_2_description)/launch/urdf.rviz"/>
  <param name="robot_description" command="$(find xacro)/xacro $(arg model)"/>
  <param name="use_gui" value="$(arg gui)"/>
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/>
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
  <node name="rviz" pkg="rviz" args="-d $(arg rvizconfig)" type="rviz" required="true"/>
</launch>

controller.launch

<launch>

<rosparam file="$(find urdf_2_description)/launch/controller.yaml" command="load"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="urdf_2" args="joint_state_controller "/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen">
  <remap from="/joint_states" to="/urdf_2/joint_states"/>
</node>

</launch>

gazebo.launch

<launch>
  <param name="robot_description" command="$(find xacro)/xacro $(find urdf_2_description)/urdf/urdf_2.xacro"/>
  <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model urdf_2"/>
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="paused" value="true"/>
    <arg name="use_sim_time" value="true"/>
    <arg name="gui" value="true"/>
    <arg name="headless" value="false"/>
    <arg name="debug" value="false"/>
  </include>
</launch>

controller.yaml

urdf_2_controller:
  # Publish all joint states -----------------------------------
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50

  # Position Controllers --------------------------------------

urdf.rviz

Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
        - /RobotModel1
        - /TF1
      Splitter Ratio: 0.5
    Tree Height: 591
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.5886790156364441
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: ""
Preferences:
  PromptSaveOnExit: true
Toolbars:
  toolButtonStyle: 2
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.029999999329447746
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 10
      Reference Frame: <Fixed Frame>
      Value: true
    - Alpha: 1
      Class: rviz/RobotModel
      Collision Enabled: false
      Enabled: true
      Links:
        2dofknuckle_link_1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        2dofknuckle_link_10:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        2dofknuckle_link_2:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        2dofknuckle_link_3:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        2dofknuckle_link_4:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        2dofknuckle_link_5:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        2dofknuckle_link_6:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        2dofknuckle_link_7:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        2dofknuckle_link_8:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        2dofknuckle_link_9:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        All Links Enabled: true
        Expand Joint Details: false
        Expand Link Details: false
        Expand Tree: false
        Link Tree Style: Links in Alphabetic Order
        base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        bucket_link_1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        face_link_1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        facebracket_link_1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        hcsr04_cans_link_1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        hcsr04_chips_link_1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        hcsr04_link_1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        leg_link_1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        leg_link_2:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        leg_link_3:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        leg_link_4:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        lipo_link_1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        mg90_link_1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        mg90_link_10:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        mg90_link_2:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        mg90_link_3:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        mg90_link_4:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        mg90_link_5:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        mg90_link_6:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        mg90_link_7:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        mg90_link_8:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        mg90_link_9:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        mpu9250_cap_link_1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        mpu9250_link_1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        mpu9250_mpu_link_1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pizerow_cam_link_1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pizerow_con_link_1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pizerow_cpu_link_1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pizerow_link_1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        raspicam_cam_link_1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        raspicam_chips_link_1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        raspicam_con_link_1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        raspicam_link_1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        servobottom_link_1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        servobottom_link_10:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        servobottom_link_2:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        servobottom_link_3:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        servobottom_link_4:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        servobottom_link_5:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        servobottom_link_6:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        servobottom_link_7:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        servobottom_link_8:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        servobottom_link_9:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        shell_link_1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
      Name: RobotModel
      Robot Description: robot_description
      TF Prefix: ""
      Update Interval: 0
      Value: true
      Visual Enabled: true
    - Class: rviz/TF
      Enabled: false
      Frame Timeout: 15
      Frames:
        All Enabled: true
      Marker Scale: 0.5
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: true
      Tree:
        {}
      Update Interval: 0
      Value: false
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Default Light: true
    Fixed Frame: base_link
    Frame Rate: 30
  Name: root
  Tools:
    - Class: rviz/Interact
      Hide Inactive Objects: true
    - Class: rviz/MoveCamera
    - Class: rviz/Select
    - Class: rviz/FocusCamera
    - Class: rviz/Measure
    - Class: rviz/SetInitialPose
      Theta std deviation: 0.2617993950843811
      Topic: /initialpose
      X std deviation: 0.5
      Y std deviation: 0.5
    - Class: rviz/SetGoal
      Topic: /move_base_simple/goal
    - Class: rviz/PublishPoint
      Single click: true
      Topic: /clicked_point
  Value: true
  Views:
    Current:
      Class: rviz/Orbit
      Distance: 0.34426525235176086
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: -0.0016349668148905039
        Y: -0.014781012199819088
        Z: 0.017814036458730698
      Focal Shape Fixed Size: true
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Pitch: 0.46039697527885437
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
      Yaw: 0.593582272529602
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 882
  Hide Left Dock: false
  Hide Right Dock: false
  QMainWindow State: 000000ff00000000fd000000040000000000000142000002d9fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000037000002d9000000ca00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002d9fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000037000002d9000000a100fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004c000000044fc0100000002fb0000000800540069006d00650100000000000004c00000026b00fffffffb0000000800540069006d0065010000000000000450000000000000000000000267000002d900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 1216
  X: 700
  Y: 385

 

 

참고

Fusion 360 URDF 설치