Delete A2Plus dependency and URDF export, add freecad_to_gazebo info to README.md

README.md

@@ -28,5 +28,42 @@ This workbench supports versions of FreeCAD>0.16.
 7. Save json
 8. Use the json with whatever you want. E.g. [`arbench_part_publisher`](https://github.com/mahaarbo/arbench_part_publisher)
 
-# Todo
- -[] Add export all parts to meshes
+
+# Freecad to Gazebo exporter
+
+To generate SDF and URDF model from freecad assembly use python call:
+
+```python
+freecad_exporter.export_gazebo_model(freecad_assembly_file, model_destination_folder, config)
+```
+Note: Only links and joints are generated in the SDF model. To use the model with ros, use the URDF model.
+
+## Config specification
+```json
+{
+    "name": "robot_name",
+    "joints_limits": {"upper": 90, "lower": -90, "effort": 10, "velocity": 5},
+    "transmission": {
+        "type": "transmission_interface/SimpleTransmission",
+        "hardware_interface": "hardware_interface/PositionJointInterface"
+    },
+    "joints_config": {
+        "type": "position_controllers/JointGroupPositionController",
+        "grouped": true
+    },
+    "joints_pid": {"p": 20.0, "i": 10.0, "d": 0.0, "i_clamp": 0.0},
+    "root_link": "base_link",
+    "ros_package": "humanoid_17dof_description",
+    "sdf_only": false,
+    "export": true
+}
+```
+
+**sdf_only**: Export only SDF.
+
+**export**: Export mesh files.
+
+## Future plans
+* Extend collada exporter to export materials from assemblies.
+* Create a FreeCAD workbench to interactively assign joints and export to gazebo.
+* Support any valid structures of assemblies.