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Added usage modifications

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Dawit Abate 2019-07-04 16:49:33 +03:00
parent a3ba5dab37
commit e7c7796b6b
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README.md
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@ -30,7 +30,7 @@ $ source devel/setup.bash
#### To generate only SDF model from freecad assembly: #### To generate only SDF model from freecad assembly:
```console ```console
# freecad_to_gazebo.py <assembly_file> <path/to/model_dir> --sdf # freecad_to_gazebo.py <assembly_file> <path/to/model_dir> --sdf-only
``` ```
#### To generate SDF and URDF model from freecad assembly: #### To generate SDF and URDF model from freecad assembly:
@ -41,7 +41,7 @@ Note: Only links and joints are generated in the SDF model. to use the model wit
## Options ## Options
```console ```console
$ freecad_to_gazebo.py <assembly_file> <path/to/model> [--sdf] [--noexport] [--config <path/to/config>] $ freecad_to_gazebo.py <assembly_file> <path/to/model> [--sdf-only] [--noexport] [--config <path/to/config>]
``` ```
**--sdf**: Export only SDF. **--sdf**: Export only SDF.
@ -55,7 +55,7 @@ $ freecad_to_gazebo.py <assembly_file> <path/to/model> [--sdf] [--noexport] [--c
```json ```json
{ {
"name": "robot_name", "name": "robot_name",
"joints_limits": {"upper": 90, "lower": -90, "effort": 1, "velocity": 5}, "joints_limits": {"upper": 90, "lower": -90, "effort": 10, "velocity": 5},
"transmission": { "transmission": {
"type": "transmission_interface/SimpleTransmission", "type": "transmission_interface/SimpleTransmission",
"hardware_interface": "hardware_interface/PositionJointInterface" "hardware_interface": "hardware_interface/PositionJointInterface"
@ -65,7 +65,8 @@ $ freecad_to_gazebo.py <assembly_file> <path/to/model> [--sdf] [--noexport] [--c
"grouped": true "grouped": true
}, },
"joints_pid": {"p": 20.0, "i": 10.0, "d": 0.0, "i_clamp": 0.0}, "joints_pid": {"p": 20.0, "i": 10.0, "d": 0.0, "i_clamp": 0.0},
"root_link": "base_link" "root_link": "base_link",
"ros_package": "humanoid_17dof_description"
} }
``` ```