ros/solidworks_urdf_exporter

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Created over 6 years ago
Updated 29 days ago

ros/solidworks_urdf_exporter

ros

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SolidWorks to URDF Exporter

SolidWorks to URDF Exporter

Authored and maintained by Stephen Brawner. Past supporters include PickNik Consulting, Verb Surgical, Open Robotics, and Willow Garage.

Latest Release

SolidWorks 2021

https://github.com/ros/solidworks_urdf_exporter/releases/tag/1.6.1

SolidWorks 2020

https://github.com/ros/solidworks_urdf_exporter/releases/tag/1.6.0

SolidWorks 2019 on 2018 SP 5

https://github.com/ros/solidworks_urdf_exporter/releases/tag/1.5.1

SolidWorks Version Requirements

The minimum required version of SolidWorks for use with this add-in is 2018 Service Pack 5. SolidWorks 2017 or earlier may work. See this issue.

Usage

See the ROS Wiki and associated tutorials.

Development

Install Visual Studio 2017
Install .NET desktop development
1. From Visual Studio: Tools > Get Tools and Features...
2. Check .NET desktop development package
3. Select Modify
Install the SolidWorks API tools
Launch Visual Studio with admin privileges. Right click and select Run as Administrator
Open sw2urdf/SW2URDF.sln
Enable Debugging
1. Right click SW2URDF in the Solution Explorer
2. Click the Debug Tab
3. Ensure Configuration: is set to Debug
4. Ensure Start external program: is pointing to the SolidWorks executable. For example C:\Program Files\SOLIDWORKS Corp\SOLIDWORKS\SLDWORKS.exe

Trouble Shooting

AxImp.exe error - Check the installation of the .Net Tools. If there is no error, install the Windows 10 SDK.
Resourse.resx error - Check if sw2urdf/SW2URDF/Resources.resx exists and is empty. If empty, delete this file then right click the SW2URDF in the Solution Explorer and select Properties. Navigate to the Resources tab and click the button to create a new file.

ros

Core ROS packages

rosdistro

This repo maintains a lists of repositories for each ROS distribution

ros_tutorials

Code used in tutorials found on ROS wiki

ros_comm

ROS communications-related packages, including core client libraries (roscpp, rospy, roslisp) and graph introspection tools (rostopic, rosnode, rosservice, rosparam).

meta-ros

OpenEmbedded Layers for ROS 1 and ROS 2

catkin

A CMake-based build system that is used to build all packages in ROS.

urdf_tutorial

geometry2

A set of ROS packages for keeping track of coordinate transforms.

common_msgs

Commonly used messages in ROS. Includes messages for actions (actionlib_msgs), diagnostics (diagnostic_msgs), geometric primitives (geometry_msgs), robot navigation (nav_msgs), and common sensors (sensor_msgs), such as laser range finders, cameras, point clouds.

geometry

Packages for common geometric calculations including the ROS transform library, "tf". Also includes ROS bindings for "bullet" physics engine and "kdl" kinematics/dynamics package.

executive_smach

A procedural python-based task execution framework with ROS integration.

cheatsheet

The ROS Cheatsheet source

urdfdom

actionlib

Provides a standardized interface for interfacing with preemptable tasks. Examples of this include moving the base to a target location, performing a laser scan and returning the resulting point cloud, detecting the handle of a door, etc.

diagnostics

Packages related to gathering, viewing, and analyzing diagnostics data from robots.

roscpp_core

ros distribution sandbox

rosbag_snapshot

robot_state_publisher

Allows you to publish the state of a robot (i.e the position of its base and all joints) via the "tf" transform library

xacro

Xacro is an XML macro language. With xacro, you can construct shorter and more readable XML files by using macros that expand to larger XML expressions.

urdf_parser_py

Standalone URDF parser for Python.

urdf

Repository for URDF parsing code

kdl_parser

kdl_parser and kdl_parser_py provide tools to construct a KDL tree from an XML robot representation in URDF.

common_tutorials

ROS common_tutorials stack migrated from https://code.ros.org/svn/ros-pkg/stacks/common_tutorials/branches/common_tutorials-0.1/

urdf_sim_tutorial

angles

pluginlib

Library for loading/unloading plugins in ROS packages during runtime

dynamic_reconfigure

roslisp

Client library for writing ROS nodes in idiomatic Common Lisp

joint_state_publisher

http://wiki.ros.org/joint_state_publisher

nodelet_core

Allows one to create "nodelets" -- ROS node-like entities that run within the same process so as to avoid IPC and serialization overhead

filters

This library provides a standardized interface for processing data as a sequence of filters. This package contains a base class upon which to build specific implementations as well as an interface which dynamically loads filters based on runtime parameters.

robot_model

Contains packages for modeling various aspects of robot information, specified in the Xml Robot Description Format (URDF). The core package of this stack is urdf, which parses URDF files, and constructs an object model (C++) of the robot.

bond_core

Maintains a bond (i.e. heart beat ) between ROS nodes and provides feedback when the bond is broken

class_loader

ROS-independent library for dynamic class (i.e. plugin) introspection and loading from runtime libraries

ros-overlay

Gentoo Overlay for ROS packages

cmake_modules

A common repository for CMake Modules which are not distributed with CMake but are commonly used by ROS packages.

std_msgs

Contains minimal messages of primitive data types and multiarrays. Intended for quick prototyping, not production use.

sdformat_urdf

A urdf_parser_plugin using libsdformat to parse SDFormat XML into URDF structures

geometry_tutorials

ROS geometry_tutorials stack migrated from https://kforge.ros.org/geometry/tutorials/branches

genpy

collada_urdf

Contains packages for converting collada files into URDF

genmsg

Standalone Python library for generating ROS message and service data structures for various languages

roslint

Lint macros for ROS packages

urdfdom_headers

Headers for URDF parsers

urdf_launch

Launch files for common URDF operations

gencpp

ROS C++ message definition and serialization generators

catkin_tutorials

Source and build files generated by the catkin tutorials on the ros.org wiki.

console_bridge

A ROS-independent package for logging that seamlessly pipes into rosconsole/rosout for ROS-dependent packages.

rosconsole

ros_realtime

rospack

A command-line tool for retrieving information about ROS packages available on the filesystem

metapackages

Variants for ROS (implemented as metapackages)

resource_retriever

Package used to retrieve resources of different kinds, e.g. http://, file://, the ROS specific package://, etc.

roslisp_common

Clone of the old roslisp_common SVN repo from code.ros.org.

homebrew-deps

Homebrew Formula for common system ROS dependencies

convex_decomposition

genlisp

Lisp message generation for ROS

ivcon

eigen_stl_containers

ros_comm_msgs

rosconsole_bridge

Pipes console_bridge output to rosconsole/rosout when console_bridge is used in a ROS-dependent package

message_generation

meta-ros-webos

documentation

flirtlib

swig-wx

Custom version of swig for wxPython, used by rx (deprecated)

ros_message_user_examples

How to use ros messages in a "standalone" way

gentypelibxml

supposed to generate typelib xml, but is more of a hello-world for message generators

ros_environment

rosbag_image_compressor

A utility for compressing images in rosbags

homebrew-hydro

Hydro packages and dependencies repository for Homebrew

roslisp_repl

Tiny script for running emacs and slime to interactively work with roslisp.

tf2_visualization

langs-dev

rosbag_migration_rule

media_export

Placeholder package enabling generic export of media paths.

message_runtime

langs

a meta package for pulling generators