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SammyRamone / sw2urdf_ros2

This is a tool that can be used in to change ros urdf files to ros2
BSD 3-Clause "New" or "Revised" License
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sw2urdf_ros2

This is an adapted version of a script by xiaoming-sun6. It allows you to convert a ROS 1 robot description package that is created by the sw2urdf exporter of SolidWorks to ROS 2. It will propably also mostly work with other ROS 1 URDF packages, but might require some small fixes for individual cases.

Tested with the following environment, but will propably also work with others.

Download the tool from github

git clone https://github.com/SammyRamone/sw2urdf_ros2.git

Change the configuration variables at the top of the conversion_urdf_ros_2_ros2.py

Run the script.

python3 conversion_urdf_ros_2_ros2.py

Build the package in your workspace and source it.

cd PATH:_TO_WORKSPACE && colcon build && source install/setup.bash

Launch the package to bring up RViz with the robot.

ros2 launch test_urdf_tool launch.py

A default RViz config should be loaded that shows the robot, but you might need to perform further changes.

Original Implementation of this script

sw2urdf plugin