robossembler/framework
7
0
Fork 0
Code Issues 21 Pull requests Projects Releases Packages Wiki Activity Actions
Tools for robotics assembly preparation via Assembly Sequence Planner, FreeCAD workbench for annotating frames, Blender plugin for preparing mesh
54 commits 6 branches 0 tags 54 MiB
Find a file
Igor Brylyov 8241627436 Merge branch '6-model-config-xml' into 'master' 
Gazebo Export Package restucturing

Closes #5 and #6

See merge request robosphere/forks/ARBench!2
2022-02-07 20:54:17 +00:00
UI Gazebo Export Package restucturing 2022-02-07 20:54:17 +00:00
.gitignore Initial commit 2017-12-13 12:39:46 +01:00
ARFrames.py Cleaning up ARFrames 2019-03-03 13:21:06 +01:00
ARTools.py Gazebo Export Package restucturing 2022-02-07 20:54:17 +00:00
GazeboExport.py Gazebo Export Package restucturing 2022-02-07 20:54:17 +00:00
Init.py First commit 2018-01-15 14:35:59 +01:00
InitGui.py Gazebo Export Package restucturing 2022-02-07 20:54:17 +00:00
LICENSE Initial commit 2017-12-13 12:39:46 +01:00
README.md Gazebo Export Package restucturing 2022-02-07 20:54:17 +00:00

README.md

implementation preview

Arbench

---!!! USE WITH CAUTION! Plugin on heavy developement !!!---

Annotation for robotics bench. A FreeCAD workbench for annotating frames of interest, exporting these w.r.t. the part frame, and exporting part information.

Installation instructions

This workbench supports versions of FreeCAD>0.16.

  1. Install FreeCAD
  2. If you're not on Ubuntu follow the workbench installation instructions or you can do the following on Ubuntu.
  3. Custom workbenches are located in .FreeCAD/Mod/ under your home directory cd ~/.FreeCAD/Mod/
  4. Either
    • Clone the repository there
    • symlink the cloned repo in there (ln -s ./ARBench ~/.FreeCAD/ARBench)
  5. Start the workbench by
    1. Running FreeCAD
    2. Open a STEP file
    3. Open the ARBench workbench

Usage

Export meta-data for part's feature frames

  1. Click a small feature e.g. a circle
  2. Press the feature frame creator (cone with a magnifying glass on it icon)
  3. Chose type of feature to create
  4. Chose feature parameters if relevant and the offset of the frame from the feature.
  5. Repeat 4 for each feature you want on each part
  6. Click a part and press the export to json button (block->textfile icon)
  7. Save json
  8. Use the json with whatever you want. E.g. arbench_part_publisher

Generate part's model packages for Gazebo simulator

To generate SDF model packages from FreeCAD Document just press "Gazebo Export" button in ARBench UI. It will create folder for every Solid part in Document (Compound parts currently doesn't supported) with such structure

name_of_part
├── model.sdf
├── meshes
│   └── part.dae
└── model.config

This packages will placed by default in your FreeCAD Document's folder and could be moved to gazebo model's folder for using them in sumulator.