Add urdf mesh converter

[iory]

This package converts the colored output of the URDF Exporter plugin of SolidWorks into the format readable by ROS systems. Specifically, this package generates colored .dae models from .3dxml files.

JSK users should refer to the URDF Exporter documentation for guidance.

Quick Start

After building this package, source your workspace. Then, simply execute the command below, specifying your .3dxml URDF file path and the desired output URDF path.

rosrun urdf_mesh_converter convert_urdf_mesh.py <YOUR_URDF_PATH> --output <OUTPUT_URDF_PATH>

For a practical example, you can apply this package to an actual URDF by running the following command:

rosrun urdf_mesh_converter convert_urdf_mesh.py $(rospack find urdf_mesh_converter)/samples/pitch_yaw_2axis_camera_module.urdf --output $(rospack find urdf_mesh_converter)/samples/pitch_yaw_2axis_camera_module_modified.urdf

@makabe0510 @pazeshun @Masanori-Konishi If you find this package necessary, I would greatly appreciate your review.

[makabe0510]

@iory

I tested this PR with the original URDF model with .3dxml mesh files.

It seems the urdf_mesh_converter is working well.

[iory]

Thank you.

Please wait for reviews from others as well. This is not an urgent PR, so please take your time to review it when you have a moment.

[nasupium]

昨年度使用していたSolidworks2023版でも、今年度使用しているSolidworks2024版からもurdf-exporterを使ってrvizにロボットを表示することができました。

[pazeshun]

Sorry for super late.

I confirmed convert_urdf_mesh.py can create colored URDF of my finger module:	SOLIDWORKS view	rviz view

SOLIDWORKS version: 2024 SP2.0 solidworks_urdf_exporter: Installed and used according to https://docs.google.com/presentation/d/1c2fdw6f_ny4jizH5VS3M7yLNd60M3rzsZs-ACR1ghNI/edit#slide=id.p ROS version: Noetic

[iory]

@pazeshun Thanks for your review! I have modified the code based on your comment.