eusurdf

This package contains urdf models and moveit scene file, which are converted from https://github.com/euslisp/EusLisp/tree/master/models. These models are automatically converted by rosrun eusurdf convert-all-eusmodel.py and rosrun eusurdf convert-all-eusscene.py.

convert eus model to urdf

Convert irteus object/scene to urdf.

roscd eusurdf/euslisp
roseus convert-eus-to-urdf.l
;; convert irteus object to urdf
;; the urdf model is generated in `rospack find eusurdf`/models
(progn (load "models/laundry-machine-object.l") (irteus2urdf-for-gazebo (laundry-machine) :name "laundry"))
;; convert irteus scene to urdf and world file
;; some key arguments need to be set
;; using (generate-room-models) is recommended to convert room model
(progn (load "models/room73b2-scene.l") (irteus2urdf-room-for-gazebo (room73b2)))
;; util wrapper function to convert room model
(generate-room-models "room73b2")

Spawn scene model to gazebo

• Use world file

roslaunch gazebo_ros empty_world.launch world_name:=`rospack find eusurdf`/worlds/room73b2.world

• Use urdf.xacro file

roslaunch gazebo_ros empty_world.launch
roslaunch eusurdf gazebo_spawn_scene.launch scene:=room73b2

Visualize gazebo scene to RViz

1. Launch gazebo and RViz, and spawn scene model

roslaunch gazebo_ros empty_world.launch
roslaunch eusurdf gazebo_spawn_scene.launch scene:=room73b2 publish_tf:=true
rviz # launch rviz

1. Add RobotModel to RViz, and configure

• Set Robot Description to room73b2/robot_description
• Set TF Prefix to room73b2

1. Select Fixed Frame Appropriately

Apply changes of URDF in textured_models to urdf.xacro

roscd eusurdf && ./textured_models/apply_to_xacro.sh

Changelog for package eusurdf

0.3.5 (2017-02-23)

• add gazebo_ros to build_depend
• Contributors: Kei Okada

0.3.4 (2017-02-22)

• add python-lxml
• Contributors: Kei Okada

0.3.3 (2017-02-18)

0.3.2 (2017-02-18)

0.3.1 (2017-02-18)

• for kinetic release (#197)
  • eusurdf/euslisp/eusmodel_to_urdf.l: if collada_urdf_jsk_patch does not exists, use collada_urdf
  • CMakeLists.txt, cmake/eusurdf.cmake : use collada_urdf if collada_urdf_jsk_patch is not found
• Contributors: Kei Okada

0.3.0 (2017-01-16)

• [eusurdf] fix: use :if-exists :new-version instead of :overwrite (#196)
• use package://eusurdf instead of model:// (#195)
  • [eusurdf] fix: try catch
  • [eusurdf] use 1 launch file to spawn; add option to publish tf for model
  • [eusurdf][convert-eus-to-urdf.l] fix: add / for directory path
  • [eusurdf][textured_models] use package://eusurdf instead of model:// for xacro
  • [eusurdf][urdf_to_xacro.py] convert model:// -> package://eusurdf
• [eusurdf] generate urdf.xacro for model / scene (#193)
  • [eusurdf][package.xml] add python-lxml as run_depend
  • [eusurdf][README.md] append usage about spawning urdf
  • [eusurdf][textured_models] add urdf.xacro for textured_models
  • [eusurdf] generate urdf.xacro from eusmodel / eusscene to make unified urdf
• parallelize model generation (#188)
  • [eusurdf][convert-eus-to-urdf.l] remove tmp-dir-no-duplication
  • [eusurdf][eusscene_to_world.l] raise error when model name is undefined
  • [eusurdf][convert-eus-to-urdf.l] fix: forgot to update
  • [eusurdf][convert-eus-to-urdf-test.l] update test
  • [eusurdf][convert-eus-to-urdf.l] create directory for world file if not created
  • [eusurdf][convert-eus-to-urdf.l] make argument world-file-path necessary; remove random-seed
  • [eusurdf] get collada_to_urdf bin path from cmake
  • [eusurdf] avoid intermediate files permission issue
  • [eusurdf][convert-eus-to-urdf.l] keep back compatibility
  • [eusurdf] cleanup old stuff
  • [eusurdf][textured_models] drop suffix for models
  • [eusurdf] parallelize model generation
• Contributors: Yuki Furuta

0.2.5 (2016-10-18)

• [eusurdf] add test of model conversion (#181)
  • [eusurdf/CMakeLists.txt,package.xml] test model conversion in eusurdf package.
  • [eusurdf/test] add test directory in eusurdf. add script and launch to test model conversion.
  • [eusurdf/package.xml] add maintainer of eusurdf package.
  • [eusurdf/euslisp/convert-eus-to-urdf.l] add documentation of euslisp function to convert irteus->urdf.
• [eusurdf/euslisp/convert-eus-to-urdf.l] get name from converted eus model if the argument name is not passed. (#169)
• Contributors: Masaki Murooka

0.2.4 (2016-04-30)

• Ignore world files
• Contributors: Kentaro Wada

0.2.3 (2015-12-31)

• [eusurdf/textured_models] add iemon/hamburger/wanda to texture_models
• Contributors: Yuki Furuta

0.2.2 (2015-12-11)

• [textured_models/room73b2-hitachi-fiesta-refrigerator-0] transparent inside board of fridge

File truncated at 100 lines see the full file