How to Export a 3D Robot Model to ROS2 | Onshape CAD to URDF

[@FranzSchneider-h1d]

What is put inside of quadruped.rviz? I am stuck at this part of the tutorial, I believe between 8:23 and 8:25 it is populated with some information, but I'm not sure what :)

[@harshdavda3725]

Thanks for the explanation. Does the onshape to robot module support inertia tags on urdf? Can you share some details on model requirements for inertia? also what kind of joints are supported to be exported to URDF? also Is there any kind of customization available like manually selecting links or exporting part of an assembly or manually assigning the joints?

[@TheConstruct]

The joints supported are fixed joints, revolute, and prism ones. No option to manually select what to export

[@muneeburrehman3704]

Thanks for this great tutorial. I didn't understand the Fake Joints and why do we need them to properly visualize the URDF file?

[@TheConstruct]

@kevinkipkorir3132 this is correct!

[@demiscaribidis2204]

Will be there the second part about controlling this robot?

[@TheConstruct]

Not at present. Next video is how to do the same thing from Fusion 360. If you want to learn how to add control to such robot using ROS2 Control, check this course: app.theconstructsim.com/courses/102

[@mohamedaslam8644]

i have installed the way you showed but when i give final command which is "onshape-to-robot urdf" the terminal says the command onshape-to-robot is not found.why is that?

[@awaisadis8869]

Thanks for such a good explanation!!! I just have one question that if we can export a cad file to urdf format, then can we also assign mass properties to the urdf file, so we can test it in simulation environment? Also is there any way to check for joint failure by applying heavy loads to the robot in the environment? Thanks again!!

[@TheConstruct]

This method automatically provides inertias and masses as you can see on the video. Hence it can be spawned in a Gazebo world. The only thing missing is the control. That is why we use the joint state controller which provides a fake control.

[@ale_po22o]

Would there be a way to be able to spawn a model in rviz (or Gazebo) straight from onshape with a single script? Or does the need to publish fake joint states make it impossible?

[@TheConstruct]

There is not single script that publishes straight from OnShape into rviz or Gazebo. That is the reason we have created this tutorial to show you how to do it

[@sutanmuhamadsadamawal715]

Could you please, provide the tutorial when making the CAD design ?

[@sutanmuhamadsadamawal715]

I see there is specific course for that.

[@TheConstruct]

We did not create the CAD, we just took it from OnShape