ArmBot Fusion360 to URDF in ROS2 | Part 1
Вставка
- Опубліковано 8 вер 2024
- In this video, you will learn how to create from scratch a robot arm in Fusion360 and use the plugin fusion2urdf-ros2.
We will convert it into a URDF file usable in ROS2 systems like RVIZ2.
Fusion360-URDF PLugin: github.com/dhe...
Fusion360: www.autodesk.e...
Rosject: app.theconstru...
🎓 Robotics Developer Masterclass (www.theconstru...) 🎓
Complete your application today to get an additional EUR 100 tuition assistance. Use code: 19932673
--
#Fusion360 #ROS #Robot #ROStutorials
great, that works wonderfully. let's go to part 2...
Already published!
Great tutorial, I had some problems with exporting solidworks models to ROS, but with fusion is easier for me
i followed your excat tutorial and it says no base link how do I fix that
You need to rename the starting component as “base_link”
@@user-rq9ec8ho4h exactly ;)
@@TheConstruct ı got the same error and ı rename the component as base_link but it doesnt work ı got same error again
@@yagzerkan2780 I have the same problem. Do you fixed it?
Thank you for the informative instructional video. The advantage of using the fusion2urdf package is that it facilitates the export of the URDF file, which contains all the necessary files for ROS2. However, I have a question: if we need to adjust the joints and coordinates of the robot, can we directly edit the URDF file without making changes in Fusion, or is it necessary to modify any related files?
Hi, You can edit for sure the URDF file, no problems on that. ACtually you can create a URDF form scratch and we have been doing it for years. The reason why we would want to use Fusion or OnShape for this is because it allows us to create more intriquet designs, like robot hands, humanois and very complex robots much faster than manually editing the XACRO file.
@@TheConstruct Thank you so much for your reply. I totally agree about that
Hi, which version of ROS2 should I have to install ? I have ROS2 iron and doesn’t compile the command for RViz, please help
Wow this makes it easier to build a URDF rather than writing or modifying an existing one. I prefer to use Onshape for CAD- can this be done with Onshape?
You can do it in OnShape, we did a video on it: ua-cam.com/video/TJeCpGnX508/v-deo.htmlsi=NsPGv3Av2LcbQCr9
Perfect!
Lovely explanation. Would it be possible to follow the same process to model basic wheeled robots? Also, is there a course on robot manipulation where I could see how to give commands to this model?
Answering the firts question: Of course, this method is for any robot, the only difference is that the joints in the wheeled robot will be continuous.
As for the second question, there are several courses in TheConstruct that teach you how to send commands to the models. If you are interested in more basic commands, the URDFs for ROS2 course app.theconstructsim.com/courses/83 is perfect for that. If you are interested in more complex commands like robot arm moveit systems the course eon ROS2 manipulation will do the trick app.theconstructsim.com/courses/167
@@TheConstruct Brilliant, thank you very much!
does this have more features or advantage to using blender+phobos
If you are reffering to this project: github.com/dfki-ric/phobos, having used it some time ago, the Fusion route is simpler, more user friendly and less prone to issues specially if you are a mechanical engineer and you are used to CAD software. But at the end of the day all systems have their issues. Even if you create the URDFs manually directly in the editor has its issues.
Thanks for your very interesting video about creating URDF with Fusion. Could you use English software for your future tutorials? It would be easier to follow.
ha ha ha that is a good point! I think we got taken by our Spanish background
Thanks for your great tutorial. In real world, the robot's structure is much more complicated than in the simulations similar to your video, for example, motors, electrical circuits, wires. How can we model these things in URDF?
They get modeled the same way. In URDF they will be shown as parts in the model and their pysical properties can affect the physics of the Gazebo model
Thanks for this tutorial !
Once we have followed the procedure described in the video, how do we simulate the dynamic response of the joints (eg: PID gains for each motor joints) ?
In the rosject workspace, I looked at the contents of the armbot_fussion package but I couldn't find where this was done.
If we just publish on the joints, we'll have a perfect answer to the instruction in the simualtion ?
For that you need to use ros2_control. Check this course if you want to learn how to: app.theconstructsim.com/courses/102
Very detailed tutorial for converting to URDF. I just have a question that when we import from Fusion 360 to URDF, is there a possible way to assign the urdf model physical properties(mass/weight, inertia,etc) that can be further used in realtime applied load analysis or to study more detailed dynamics of the model in simulation?
Answered in another question below
Thank you for the very instructive information. Through this method, would it be possible to generate URDF representations of parallel manipulators? For example, if I want to describe a Stewart platform, one child has more than one parent. How will it be the xacro in this case?
That is not possible because URDF doesn't allow more than one parent in the URDF structure.
If case you need parallel structures or closed loops, you can use SDF format which is accepted by Gazebo. However, I don't know if there exists a plugin for that in Fusion360. Also, take into account that, even if Gazebo can show SDF based robots, Rviz can't
Thank you for this well-detailed tutorial! Definitely learned a lot. Just out of curiosity, are there any available plug-ins that would allow for a more efficient way of deploying our robotic models from Fusion360 into ROS especially should we need to modify the model later on for adjustment etc? Thank you!
What do you mean by more efficient?
Thank you for video. I have a doubt, the generated package is in ament_python and is working properly but i want a ament_cmake package how to do it ?
Hi, well the basics is that you have to create it with the command like this: ros2 pkg create --build-type ament_cmake urdfbot_description --dependencies urdf xacro
After that the procedure is the same, just that the folders have to be added in the CMakelists.txt.
In the course on URDF for ROS2 we explain it in detail and with examples an exercises so that you can understand it perfectly ;) app.theconstructsim.com/courses/83
Thank you for the excellent tutorial! I have a question: If each link of my robot consist of multiple solids, is there any additional step or adjustment I need to make?
What do you mean? Which kind of adjustment are you talking about?
What do you mean? Which kind of adjustment are you talking about?
I mean, in a robot usually each link is an assembly, but in the example each link was only a solid. Does this difference impact the process of generating the components before defining joints?
hey hi i am working on opencv aruco marker . Iwanted to add a aruco.png file to the file so as to load that into my gazebo simulation. How can I do that in The conctruct. How to upload the image?
I answered it in another video, you posted the same question
@@RicardoTellez_journey the code on cloning and running catkin_make gives a lot of error. Therefore please suggest if there is any other way in which I can directly add my .png aruco file
because i cannot see any upload option in theconstruct
which ros2 version you are using?
Hi, im using ros2 iron but doesnt work, which version are you using?