No version for distro humble. Known supported distros are highlighted in the buttons above.

No version for distro jazzy. Known supported distros are highlighted in the buttons above.

No version for distro rolling. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI	https://github.com/jsk-ros-pkg/jsk_model_tools.git
VCS Type	git
VCS Version	master
Last Updated	2025-01-07
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Packages

Name	Version
eus_assimp	0.4.5
euscollada	0.4.5
euslisp_model_conversion_tester	UNKNOWN
eusurdf	0.4.5
jsk_model_tools	0.4.5
urdf_mesh_converter	0.4.5

README

jsk_model_tools

Package	Melodic (Bionic)	Noetic (Focal)	Noetic (Buster)
jsk_model_tools (arm64)
jsk_model_tools (armhf)			—
jsk_model_tools (i386)	—	—	—
jsk_model_tools (amd64)

Model Convert

Convert from CAD manually

(cf. PR of function to automatically convert: https://github.com/euslisp/jskeus/pull/248)

Convert1. export stl mesh with SolidEdge

=> my_model.stl is generated.

Convert2. generate urdf generate urdf with following contents. （assume that my_model.stl is located at /home/leus/my_model.stl）

<robot name="my_model_name">
  <link name="root">
    <inertial>
     <origin xyz="0 0 0.5" rpy="0 0 0"/>
     <mass value="1"/>
     <inertia ixx="100"  ixy="0"  ixz="0" iyy="100" iyz="0" izz="100" />
    </inertial>
    <visual>
     <origin xyz="0 0 0" rpy="0 0 0" />
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </visual>
    <collision>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </collision>
  </link>
</robot>

=> save to my_model.urdf

Convert3. convert to collada

rosrun collada_urdf_jsk_patch urdf_to_collada my_model.urdf my_model.dae

=> my_model.dae is generated.

Convert4. convert to eus

rosrun euscollada collada2eus my_model.dae my_model.l # fixed model version
rosrun euscollada collada2eus my_model.dae my_model.yaml my_model.l

=> my_model.l is generated.
my_model.yaml is used to set joints and endcoords settings. Please refer to example file of PR2.
Without the yaml file, the model can not move or get/send :angle-vector.

Visualize1. visualize urdf with Rviz

roslaunch urdf_tutorial display.launch model:=/home/leus/my_model.urdf

Visualize2. spawn urdf to gazebo

roslaunch gazebo_ros empty_world.launch
rosrun gazebo_ros spawn_model -file my_model.urdf -urdf -model my_model

Visualize3. visualize eus with irtviewer

roseus my_model.l
(objects (list (my_model)))

Visualize4. visualize stl with irtviewer

(load "package://eus_assimp/euslisp/eus-assimp.l" )
(setq glv (load-mesh-file "my_model.stl" :scale 1000.0))
(objects (list glv))

CONTRIBUTING

No CONTRIBUTING.md found.

No version for distro galactic. Known supported distros are highlighted in the buttons above.

No version for distro iron. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI	https://github.com/jsk-ros-pkg/jsk_model_tools.git
VCS Type	git
VCS Version	master
Last Updated	2025-01-07
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Packages

Name	Version
eus_assimp	0.4.5
euscollada	0.4.5
euslisp_model_conversion_tester	UNKNOWN
eusurdf	0.4.5
jsk_model_tools	0.4.5
urdf_mesh_converter	0.4.5

README

jsk_model_tools

Package	Melodic (Bionic)	Noetic (Focal)	Noetic (Buster)
jsk_model_tools (arm64)
jsk_model_tools (armhf)			—
jsk_model_tools (i386)	—	—	—
jsk_model_tools (amd64)

Model Convert

Convert from CAD manually

(cf. PR of function to automatically convert: https://github.com/euslisp/jskeus/pull/248)

Convert1. export stl mesh with SolidEdge

=> my_model.stl is generated.

Convert2. generate urdf generate urdf with following contents. （assume that my_model.stl is located at /home/leus/my_model.stl）

<robot name="my_model_name">
  <link name="root">
    <inertial>
     <origin xyz="0 0 0.5" rpy="0 0 0"/>
     <mass value="1"/>
     <inertia ixx="100"  ixy="0"  ixz="0" iyy="100" iyz="0" izz="100" />
    </inertial>
    <visual>
     <origin xyz="0 0 0" rpy="0 0 0" />
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </visual>
    <collision>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </collision>
  </link>
</robot>

=> save to my_model.urdf

Convert3. convert to collada

rosrun collada_urdf_jsk_patch urdf_to_collada my_model.urdf my_model.dae

=> my_model.dae is generated.

Convert4. convert to eus

rosrun euscollada collada2eus my_model.dae my_model.l # fixed model version
rosrun euscollada collada2eus my_model.dae my_model.yaml my_model.l

=> my_model.l is generated.
my_model.yaml is used to set joints and endcoords settings. Please refer to example file of PR2.
Without the yaml file, the model can not move or get/send :angle-vector.

Visualize1. visualize urdf with Rviz

roslaunch urdf_tutorial display.launch model:=/home/leus/my_model.urdf

Visualize2. spawn urdf to gazebo

roslaunch gazebo_ros empty_world.launch
rosrun gazebo_ros spawn_model -file my_model.urdf -urdf -model my_model

Visualize3. visualize eus with irtviewer

roseus my_model.l
(objects (list (my_model)))

Visualize4. visualize stl with irtviewer

(load "package://eus_assimp/euslisp/eus-assimp.l" )
(setq glv (load-mesh-file "my_model.stl" :scale 1000.0))
(objects (list glv))

CONTRIBUTING

No CONTRIBUTING.md found.

jsk_model_tools repository

Repository Summary

Packages

README

jsk_model_tools

Model Convert

Convert from CAD manually

CONTRIBUTING

Repository Summary

Packages

README

jsk_model_tools

Model Convert

Convert from CAD manually

CONTRIBUTING