URDF导出改ROS2包

♪³ 在ros2中检查：

根据步骤来：

♪⁶ 0.安装ros2，使用鱼香ROS一键安装

bash
1wget http://fishros.com/install -O fishros && . fishros
2

♪⁶ 1.创建ros2工作空间：

创建目录：

bash
1mkdir ~/ros2_ws_robotarm # 创建工作空间，名字随意
2mkdir -p ros2_ws_robotarm/src
3

编译初始化一下：

bash
1cd ~/ros2_ws_robotarm
2colcon build
3

这样就会在这个工作空间下自动生成build、install、log等文件夹；

♪⁶ 2.移植SolidWorks的导出的ros包并修改相关配置

将SolidWorks的导出的ros包移动到src文件夹下，即如下目录结构：

bash
1├── ros2_ws_robotarm
2│   ├── build
3│   ├── install
4│   ├── log
5│   └── src
6│       └── robotarm
7

因为SolidWorks导出的默认是ros1的包，因此在ros2环境下，需要修改一些配置
分别需要修改CMakeLists.txt、package.xml两个文件，以及在launch目录下，将.launch文件都改成.launch.py文件，然后创建rviz/urdf.rviz，下面进行详细说明：
（1）修改CMakeLists.txt为以下内容，其中第2行改为自己的包名：

CMake
1cmake_minimum_required(VERSION 3.5)
2project(robotarm)
3if(NOT CMAKE_C_STANDARD)
4  set(CMAKE_C_STANDARD 99)
5endif()
6 
7if(NOT CMAKE_CXX_STANDARD)
8  set(CMAKE_CXX_STANDARD 14)
9endif()
10 
11if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
12  add_compile_options(-Wall -Wextra -Wpedantic)
13endif()
14 
15find_package(ament_cmake REQUIRED)
16 
17if(BUILD_TESTING)
18  find_package(ament_lint_auto REQUIRED)
19  ament_lint_auto_find_test_dependencies()
20endif()
21 
22install(DIRECTORY
23  meshes urdf textures config launch rviz
24  DESTINATION share/${PROJECT_NAME}/
25)
26ament_package()
27

（2）修改package.xml文件，同样，其中第3行根据自己包名修改：

xml
1<?xml version="1.0"?>
2<package format="3">
3  <name>robotarm</name>
4  <version>0.1.0</version>
5  <description>wangeden's robot arm description package</description>
6  <maintainer email="wangedenx@outlook.com">cxy</maintainer>
7  <license>BSD</license>
8  <buildtool_depend>ament_cmake</buildtool_depend>
9  <test_depend>ament_lint_auto</test_depend>
10  <test_depend>ament_lint_common</test_depend>
11  <exec_depend>joint_state_publisher</exec_depend>
12  <exec_depend>joint_state_publisher_gui</exec_depend>
13  <exec_depend>robot_state_publisher</exec_depend>
14  <exec_depend>rviz2</exec_depend>
15  <exec_depend>xacro</exec_depend>
16  <export>
17    <build_type>ament_cmake</build_type>
18  </export>
19</package>
20

（3）将launch目录下的display.launch和gezebo.launch修改为display.launch.py和gezebo.launch.py，然后修改内容：

display.launch.py修改为如下内容，第12行改为自己包名，第37行改为自己的urdf文件名；

python
1import os
2from ament_index_python.packages import get_package_share_directory
3from launch import LaunchDescription
4from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
5from launch.conditions import IfCondition
6from launch.launch_description_sources import PythonLaunchDescriptionSource
7from launch.substitutions import LaunchConfiguration, PythonExpression
8from launch_ros.actions import Node
9def generate_launch_description():
10    # Get the launch directory
11    bringup_dir = get_package_share_directory('robotarm')
12    launch_dir = os.path.join(bringup_dir, 'launch')
13    # Launch configuration variables specific to simulation
14    rviz_config_file = LaunchConfiguration('rviz_config_file')
15    use_robot_state_pub = LaunchConfiguration('use_robot_state_pub')
16    use_joint_state_pub = LaunchConfiguration('use_joint_state_pub')
17    use_rviz = LaunchConfiguration('use_rviz')
18    urdf_file= LaunchConfiguration('urdf_file')
19    declare_rviz_config_file_cmd = DeclareLaunchArgument(
20        'rviz_config_file',
21        default_value=os.path.join(bringup_dir, 'rviz', 'urdf.rviz'),
22        description='Full path to the RVIZ config file to use')  
23    declare_use_robot_state_pub_cmd = DeclareLaunchArgument(
24        'use_robot_state_pub',
25        default_value='True',
26        description='Whether to start the robot state publisher')
27    declare_use_joint_state_pub_cmd = DeclareLaunchArgument(
28        'use_joint_state_pub',
29        default_value='True',
30        description='Whether to start the joint state publisher')
31    declare_use_rviz_cmd = DeclareLaunchArgument(
32        'use_rviz',
33        default_value='True',
34        description='Whether to start RVIZ')
35    declare_urdf_cmd = DeclareLaunchArgument(
36        'urdf_file',
37        default_value=os.path.join(bringup_dir, 'urdf', 'robotarm.urdf'),
38        description='Whether to start RVIZ')
39    start_robot_state_publisher_cmd = Node(
40        condition=IfCondition(use_robot_state_pub),
41        package='robot_state_publisher',
42        executable='robot_state_publisher',
43        name='robot_state_publisher',
44        output='screen',
45        #parameters=[{'use_sim_time': use_sim_time}],
46        arguments=[urdf_file])
47    start_joint_state_publisher_cmd = Node(
48        condition=IfCondition(use_joint_state_pub),
49        package='joint_state_publisher_gui',
50        executable='joint_state_publisher_gui',
51        name='joint_state_publisher_gui',
52        output='screen',
53        arguments=[urdf_file])
54    rviz_cmd = Node(
55        condition=IfCondition(use_rviz),
56        package='rviz2',
57        executable='rviz2',
58        name='rviz2',
59        arguments=['-d', rviz_config_file],
60        output='screen')
61    # Create the launch description and populate
62    ld = LaunchDescription()
63    # Declare the launch options
64    ld.add_action(declare_rviz_config_file_cmd)
65    ld.add_action(declare_urdf_cmd)
66    ld.add_action(declare_use_robot_state_pub_cmd)
67    ld.add_action(declare_use_joint_state_pub_cmd)
68    ld.add_action(declare_use_rviz_cmd)
69    # Add any conditioned actions
70    ld.add_action(start_joint_state_publisher_cmd)
71    ld.add_action(start_robot_state_publisher_cmd)
72    ld.add_action(rviz_cmd)
73    return ld
74

gezebo.launch.py修改为如下内容，第10行改为自己包名，第21行改为自己的urdf文件名；

python
1from launch import LaunchDescription
2from launch_ros.actions import Node
3from ament_index_python.packages import get_package_share_directory
4from launch.actions import IncludeLaunchDescription
5from launch.launch_description_sources import PythonLaunchDescriptionSource
6import os
7 
8def generate_launch_description():
9    # 获取当前包路径
10    robot_package_dir = get_package_share_directory('robotarm')
11 
12    # 启动 Gazebo 空世界
13    gazebo_ros_package_dir = get_package_share_directory('gazebo_ros')
14    empty_world_launch = IncludeLaunchDescription(
15        PythonLaunchDescriptionSource(
16            os.path.join(gazebo_ros_package_dir, 'launch', 'empty_world.launch.py')
17        )
18    )
19 
20    # 加载 URDF 文件路径（需要提前用 xacro 生成）
21    urdf_file_path = os.path.join(robot_package_dir, 'urdf', 'robotarm.urdf')
22 
23    # 启动 Gazebo 模型生成器节点
24    spawn_entity_node = Node(
25        package='gazebo_ros',
26        executable='spawn_entity.py',
27        name='spawn_model',
28        arguments=[
29            '-entity', 'robot',
30            '-file', urdf_file_path,
31            '-topic', 'robot_description'
32        ],
33        output='screen'
34    )
35 
36    # 静态 TF 发布器：base_link -> base_footprint
37    tf_footprint_base_node = Node(
38        package='tf2_ros',
39        executable='static_transform_publisher',
40        name='tf_footprint_base',
41        arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_footprint']
42    )
43 
44    return LaunchDescription([
45        empty_world_launch,
46        spawn_entity_node,
47        tf_footprint_base_node
48    ])
49

（4）创建rviz/urdf.rviz，并填写一下内容：

rviz
1Panels:
2  - Class: rviz_common/Displays
3    Name: Displays
4  - Class: rviz_common/Views
5    Name: Views
6Visualization Manager:
7  Class: ""
8  Displays:
9    - Class: rviz_default_plugins/Grid
10      Name: Grid
11      Value: true
12    - Alpha: 0.8
13      Class: rviz_default_plugins/RobotModel
14      Description Source: Topic
15      Description Topic:
16        Value: /robot_description
17      Enabled: true
18      Name: RobotModel
19      Value: true
20    - Class: rviz_default_plugins/TF
21      Name: TF
22      Value: true
23  Global Options:
24    Fixed Frame: base_link
25    Frame Rate: 30
26  Name: root
27  Tools:
28    - Class: rviz_default_plugins/MoveCamera
29  Value: true
30  Views:
31    Current:
32      Class: rviz_default_plugins/Orbit
33      Distance: 1.7
34      Name: Current View
35      Pitch: 0.33
36      Value: Orbit (rviz)
37      Yaw: 5.5
38Window Geometry:
39  Height: 800
40  Width: 1200
41

♪⁶ 3.编译运行

然后会到工作空间目录，重新进行编译：

bash
1cd ~/ros2_ws_robotarm
2colcon build
3

source一下环境，然后就能运行了：

bash
1source /opt/ros/humble/setup.bash
2source ~/ros2_ws_robotarm/install/setup.bash
3ros2 launch robotarm display.launch.py
4

效果如下：

Pasted image 20251221005251.png

CMake

1cmake_minimum_required(VERSION 3.5)
2project(robotarm)
3if(NOT CMAKE_C_STANDARD)
4  set(CMAKE_C_STANDARD 99)
5endif()
6 
7if(NOT CMAKE_CXX_STANDARD)
8  set(CMAKE_CXX_STANDARD 14)
9endif()
10 
11if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
12  add_compile_options(-Wall -Wextra -Wpedantic)
13endif()
14 
15find_package(ament_cmake REQUIRED)
16 
17if(BUILD_TESTING)
18  find_package(ament_lint_auto REQUIRED)
19  ament_lint_auto_find_test_dependencies()
20endif()
21 
22install(DIRECTORY
23  meshes urdf textures config launch rviz
24  DESTINATION share/${PROJECT_NAME}/
25)
26ament_package()
27

xml

1<?xml version="1.0"?>
2<package format="3">
3  <name>robotarm</name>
4  <version>0.1.0</version>
5  <description>wangeden's robot arm description package</description>
6  <maintainer email="wangedenx@outlook.com">cxy</maintainer>
7  <license>BSD</license>
8  <buildtool_depend>ament_cmake</buildtool_depend>
9  <test_depend>ament_lint_auto</test_depend>
10  <test_depend>ament_lint_common</test_depend>
11  <exec_depend>joint_state_publisher</exec_depend>
12  <exec_depend>joint_state_publisher_gui</exec_depend>
13  <exec_depend>robot_state_publisher</exec_depend>
14  <exec_depend>rviz2</exec_depend>
15  <exec_depend>xacro</exec_depend>
16  <export>
17    <build_type>ament_cmake</build_type>
18  </export>
19</package>
20

python

1import os
2from ament_index_python.packages import get_package_share_directory
3from launch import LaunchDescription
4from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
5from launch.conditions import IfCondition
6from launch.launch_description_sources import PythonLaunchDescriptionSource
7from launch.substitutions import LaunchConfiguration, PythonExpression
8from launch_ros.actions import Node
9def generate_launch_description():
10    # Get the launch directory
11    bringup_dir = get_package_share_directory('robotarm')
12    launch_dir = os.path.join(bringup_dir, 'launch')
13    # Launch configuration variables specific to simulation
14    rviz_config_file = LaunchConfiguration('rviz_config_file')
15    use_robot_state_pub = LaunchConfiguration('use_robot_state_pub')
16    use_joint_state_pub = LaunchConfiguration('use_joint_state_pub')
17    use_rviz = LaunchConfiguration('use_rviz')
18    urdf_file= LaunchConfiguration('urdf_file')
19    declare_rviz_config_file_cmd = DeclareLaunchArgument(
20        'rviz_config_file',
21        default_value=os.path.join(bringup_dir, 'rviz', 'urdf.rviz'),
22        description='Full path to the RVIZ config file to use')  
23    declare_use_robot_state_pub_cmd = DeclareLaunchArgument(
24        'use_robot_state_pub',
25        default_value='True',
26        description='Whether to start the robot state publisher')
27    declare_use_joint_state_pub_cmd = DeclareLaunchArgument(
28        'use_joint_state_pub',
29        default_value='True',
30        description='Whether to start the joint state publisher')
31    declare_use_rviz_cmd = DeclareLaunchArgument(
32        'use_rviz',
33        default_value='True',
34        description='Whether to start RVIZ')
35    declare_urdf_cmd = DeclareLaunchArgument(
36        'urdf_file',
37        default_value=os.path.join(bringup_dir, 'urdf', 'robotarm.urdf'),
38        description='Whether to start RVIZ')
39    start_robot_state_publisher_cmd = Node(
40        condition=IfCondition(use_robot_state_pub),
41        package='robot_state_publisher',
42        executable='robot_state_publisher',
43        name='robot_state_publisher',
44        output='screen',
45        #parameters=[{'use_sim_time': use_sim_time}],
46        arguments=[urdf_file])
47    start_joint_state_publisher_cmd = Node(
48        condition=IfCondition(use_joint_state_pub),
49        package='joint_state_publisher_gui',
50        executable='joint_state_publisher_gui',
51        name='joint_state_publisher_gui',
52        output='screen',
53        arguments=[urdf_file])
54    rviz_cmd = Node(
55        condition=IfCondition(use_rviz),
56        package='rviz2',
57        executable='rviz2',
58        name='rviz2',
59        arguments=['-d', rviz_config_file],
60        output='screen')
61    # Create the launch description and populate
62    ld = LaunchDescription()
63    # Declare the launch options
64    ld.add_action(declare_rviz_config_file_cmd)
65    ld.add_action(declare_urdf_cmd)
66    ld.add_action(declare_use_robot_state_pub_cmd)
67    ld.add_action(declare_use_joint_state_pub_cmd)
68    ld.add_action(declare_use_rviz_cmd)
69    # Add any conditioned actions
70    ld.add_action(start_joint_state_publisher_cmd)
71    ld.add_action(start_robot_state_publisher_cmd)
72    ld.add_action(rviz_cmd)
73    return ld
74

python

1from launch import LaunchDescription
2from launch_ros.actions import Node
3from ament_index_python.packages import get_package_share_directory
4from launch.actions import IncludeLaunchDescription
5from launch.launch_description_sources import PythonLaunchDescriptionSource
6import os
7 
8def generate_launch_description():
9    # 获取当前包路径
10    robot_package_dir = get_package_share_directory('robotarm')
11 
12    # 启动 Gazebo 空世界
13    gazebo_ros_package_dir = get_package_share_directory('gazebo_ros')
14    empty_world_launch = IncludeLaunchDescription(
15        PythonLaunchDescriptionSource(
16            os.path.join(gazebo_ros_package_dir, 'launch', 'empty_world.launch.py')
17        )
18    )
19 
20    # 加载 URDF 文件路径（需要提前用 xacro 生成）
21    urdf_file_path = os.path.join(robot_package_dir, 'urdf', 'robotarm.urdf')
22 
23    # 启动 Gazebo 模型生成器节点
24    spawn_entity_node = Node(
25        package='gazebo_ros',
26        executable='spawn_entity.py',
27        name='spawn_model',
28        arguments=[
29            '-entity', 'robot',
30            '-file', urdf_file_path,
31            '-topic', 'robot_description'
32        ],
33        output='screen'
34    )
35 
36    # 静态 TF 发布器：base_link -> base_footprint
37    tf_footprint_base_node = Node(
38        package='tf2_ros',
39        executable='static_transform_publisher',
40        name='tf_footprint_base',
41        arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_footprint']
42    )
43 
44    return LaunchDescription([
45        empty_world_launch,
46        spawn_entity_node,
47        tf_footprint_base_node
48    ])
49

rviz

1Panels:
2  - Class: rviz_common/Displays
3    Name: Displays
4  - Class: rviz_common/Views
5    Name: Views
6Visualization Manager:
7  Class: ""
8  Displays:
9    - Class: rviz_default_plugins/Grid
10      Name: Grid
11      Value: true
12    - Alpha: 0.8
13      Class: rviz_default_plugins/RobotModel
14      Description Source: Topic
15      Description Topic:
16        Value: /robot_description
17      Enabled: true
18      Name: RobotModel
19      Value: true
20    - Class: rviz_default_plugins/TF
21      Name: TF
22      Value: true
23  Global Options:
24    Fixed Frame: base_link
25    Frame Rate: 30
26  Name: root
27  Tools:
28    - Class: rviz_default_plugins/MoveCamera
29  Value: true
30  Views:
31    Current:
32      Class: rviz_default_plugins/Orbit
33      Distance: 1.7
34      Name: Current View
35      Pitch: 0.33
36      Value: Orbit (rviz)
37      Yaw: 5.5
38Window Geometry:
39  Height: 800
40  Width: 1200
41

Eden的笔记

♪³ 在ros2中检查：

♪⁶ 0.安装ros2，使用鱼香ROS一键安装

♪⁶ 1.创建ros2工作空间：

♪⁶ 2.移植SolidWorks的导出的ros包并修改相关配置

♪⁶ 3.编译运行

Wang Eden

Article Statistics

URDF导出改ROS2包

♪³ 在ros2中检查：

♪⁶ 0.安装ros2，使用鱼香ROS一键安装

♪⁶ 1.创建ros2工作空间：

♪⁶ 2.移植SolidWorks的导出的ros包并修改相关配置

♪⁶ 3.编译运行

Wang Eden

Article Statistics