Prepare to use freecad_to_gazebo as ARBench mesh exporter. No need to run as binary
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README.md
51
README.md
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@ -13,45 +13,16 @@ This project is in its early stage therefore specific design rules must be follo
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## Requirements
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* [Freecad][freecad] with [A2Plus][a2plus] workspace installed
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* [ROS][ros] *Optional*, If you wish to install it as a package
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## Usage
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#### Clone the repository to catkin workspace
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```console
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$ git clone https://github.com/Dave-Elec/freecad_to_gazebo.git ~/catkin_ws/src
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#### To generate SDF and URDF model from freecad assembly use python call:
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```python
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freecad_exporter.export_gazebo_model(freecad_assembly_file, model_destination_folder, config)
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```
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Note: Only links and joints are generated in the SDF model. To use the model with ros, use the URDF model.
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#### Re-build catkin workspace
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```console
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$ catkin_make
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$ source devel/setup.bash
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```
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#### To generate only SDF model from freecad assembly:
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```console
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# freecad2gazebo <assembly_file> <path/to/model_dir> --sdf-only
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```
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#### To generate SDF and URDF model from freecad assembly:
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```console
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$ freecad2gazebo <assembly_file> <path/to/model_dir>
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```
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Note: Only links and joints are generated in the SDF model. to use the model with ros, use the URDF model.
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## Options
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```console
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$ freecad2gazebo <assembly_file> <path/to/model> [--sdf-only] [--noexport] [--config <path/to/config>]
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```
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**--sdf**: Export only SDF.
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**--noexport**: Don't export mesh files.
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**--config**: Use other configuration file. (default is `robot_config.json` inside a directory the same as the assembly file).
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## Example config file
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## Config specification
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```json
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{
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"name": "robot_name",
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@ -66,16 +37,22 @@ $ freecad2gazebo <assembly_file> <path/to/model> [--sdf-only] [--noexport] [--co
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},
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"joints_pid": {"p": 20.0, "i": 10.0, "d": 0.0, "i_clamp": 0.0},
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"root_link": "base_link",
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"ros_package": "humanoid_17dof_description"
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"ros_package": "humanoid_17dof_description",
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"sdf_only": false,
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"export": true
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}
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```
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**sdf_only**: Export only SDF.
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**export**: Export mesh files.
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## Future plans
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* Extend collada exporter to export materials from assemblies.
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* Create a FreeCAD workbench to interactively assign joints and export to gazebo.
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* Reduce set of design rules by making it more robust and general perpouse.
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* Reduce set of design rules by making it more robust and general purpose.
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* Support any valid structures of assemblies.
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[freecad]:https://freecadweb.org
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[a2plus]:https://github.com/kbwbe/A2plus
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[ros]:https://ros.org
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