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) "models/room73b2.l"))
;; 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

0.4.5 (2023-11-30)

0.4.4 (2022-05-12)

• add world-file-path on README (#230)
• noetic support (#238)
  • use subprocess.getoutput if import commands fail
  • turn package format 3 and use python3-lxml for noetic
  • more fix on python3: fix str/byte problem : TypeError: a bytes-like object is required, not 'str' ,TypeError: write() argument must be str, not bytes
  • fix for python3 with 2to3 -w -f print
  • eusurdf.cmake : manually set collada_urdf_LIBRARIES due to https://github.com/ros/collada_urdf/issues/43
  • eusurdf.cmake : invoike python2/python3 using ROS_PYTHON=VERSION
• Contributors: Kei Okada, Yoshiki Obinata

0.4.3 (2018-12-05)

• Fix for being deprecated tag: cfmDamping -> implicitSpringDamper (#222)
• [eusurdf] add euslisp to INSTALL_DIRS (#220)
• Contributors: Juntaro Tamura, Kentaro Wada

0.4.2 (2018-09-04)

0.4.1 (2018-08-01)

0.4.0 (2018-07-25)

• [eusurdf] add cmake target for generating Semantic map from eusmodel (#194)
  • [eusurdf] add cmake target for generating ontology if generator exists
  • [eusurdf][package.xml] add python-lxml as run_depend
• Fix for arm processor (#209)
  • use LinuxARM ARCHDIR for CMKAE_SYSTEM_PROCESSOR armv/aarch64
• Contributors: Yohei Kakiuchi, Yuki Furuta

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
• [textured_models/room73b2-georgia-emerald-mountain-0] add texture of georgia can
• [textured_models/room73b2-hitachi-fiesta-refrigerator-0/model.urdf] update to more realistic physics parameters
• [textured_models] add georgia can
• [CMakeLists.txt] install eusurdf/worlds directory
• [CMakeLists.txt] add roseus to run_depend. use environment variable to get eusdir. call roseus without rosrun.
• [eusurdf] add textured_models/
• Contributors: Yuki Furuta, Masaki Murooka

0.2.1 (2015-11-27)

• package.xml; we nee do rosrun to generate models
• generate eus model and convert it to urdf from voxel grid
• use the resolved path of ros package to find eusurdf directory when path is nil. You can pass eusurdf path as argument to run in catkin build.
• add generate-model-from-voxel.l to generate eus cube list from voxel.
• Contributors: Kei Okada, Masaki Murooka

0.2.0 (2015-11-26)

• move to 0.2.0, which only available from indigo
• add instruction of converting eus->urdf
• modify sample usage comment of irteus2urdf-for-gazebo.
• use the resolved path of ros package to find eusurdf directory when path is nil. You can pass eusurdf path as argument to run in catkin build.
• add .gitignore to keep model directory
• generate model directory if not found.
• delete manifest.xml for gazebo model directory.
• Contributors: Masaki Murooka

0.1.13 (2015-09-01)

• [eusurdf/package.xml] export gazebo_model_path for gazebo_ros
• - [eusurdf] remove rosbuild related scripts revert travis
• generate random tmp directory to avoid overwrite
• fix to use no rospack find nor rosrun for eusurdf
• convert models when catkin build
• add files to convert irtmodel to urdf
• delete converted urdf models in models directory.
• Contributors: Yuki Furuta, Masaki Murooka

0.1.12 (2015-05-07)

0.1.11 (2015-04-09)

0.1.10 (2015-04-02)

0.1.9 (2015-04-01)

0.1.8 (2015-01-07)

0.1.7 (2014-12-19)

• Move scripts to euscollada to avoid catkinization of eusurdf
• Use link name, not joint name as parent link, but the solution is adhock
• add addLink function to add_sensor_to_urdf.py
• Add script to add end effector frames to urdf from yaml file for euslisp
• Add script to add sensor (fixed link) to urdf
• added moveit scene files
• add urdf models to eusurdf/models.
• Contributors: Ryohei Ueda, Masaki Murooka

0.1.6 (2014-06-30)

0.1.5 (2014-06-29)

0.1.4 (2014-06-15)

0.1.3 (2014-05-01 17:24)

0.1.2 (2014-05-01 09:31)

0.1.1 (2014-05-01 01:25)

• set eusurdf and euslisp_model_conversion_tester to ROS_NOBUILD
• #2: make model directory before running xacro when building eusurdf
• fix hoge.stl->model.stl to pass hoge/fuga check
• update dirctory for xml2sxml
• use face-to-triangle-aux for triangulate faces
• update for using simple conversion
• fix for using package:// at inside jsk
• fix for using package:// at inside jsk
• fix, if link has no mesh
• fix checking which link has glvertices
• remove jsk internal dependancy
• add code for parsing inertial parameter
• debug for using fixed joint
• update for parsing sdf
• fix error message
• add heightmap tag to geometry/visual
• update for using :translate-vertices in eusurdf.l
• update for parsing cylinder and plane geometry
• update for using multi visual/geometry tags in link
• fix for parsing sdf file
• add eusurdf (copy from jsk-ros-pkg-unreleased)
• Contributors: Kei Okada, Ryohei Ueda, nozawa, youhei