Lesson 6: Configure URDF File Generated from SOLIDWORKS for ROS, Gazebo & Moveit Setup Assistant

The completely customized ROS Package that I am configuring can be found in descrition of Lesson 9:    • Lesson 9: Building Catkin Workspace and La...  
You can use this customized package for lesson 10.

The guide document used in this tutorial: https://github.com/ageofrobotics/impo...


This tutorial series in created for those, who want to simulate their own robotic Arm in ROS using Movit, Rviz and Gazebo. But, as per my experience, there are no or insufficient tutorials/guides, which can help to getting started from scratch.

I had learnt ROS during my academics and thought it would be great to document my knowledge so that, it can be helpful for other who want to learn ROS.

In this tutorial I have explained everything step by step starting from "Preparing the model for exporting as URDF from SOLIDWORKS" to "Simulating the exported URDF it in ROS".

You need to follow each and every tutorial to successfully simulate your robot arm. Though, I have not explained the technical details in deep, I have added some useful links in the PDF document for your reference. You can use those links to learn about the topics.

It was not possible to make a single video, as it is a very long but simple process. Once you start doing it, you will start understanding automatically.

All the video lessons are uploaded on YouTube here:    • ROS For Beginers: Simulate Your Custom Rob...  

The full learning path for this series:
Lesson 1: Assemble the Robotic Arm Properly in SOLIDWORKS:    • lesson 1: Assembly Guid for The Robot Mode...  
Lesson 2: Set the zero positions of th joints and set axis systems:    • Lesson 2: Positioning the joint to zero an...  
Lesson 3: Export the URDF file from SOLIDWORKS:    • lesson 3 : Exporting URDF file for ROS usi...  
Lesson 4: Send the Exported Package (URDF) to Linux and Create new Catkin Workspace:    • Lesson 4: Copy Robotic Arm Package created...  
Lesson 5: Add Your URDF Package to Catkin Workspace and add dependencies:    • Lesson 5:  Adding URDF package to CATKIN W...  
Lesson 6: Modify the URDF file to make it suitable for Simulation:    • Lesson 6: Configure URDF File Generated fr...  
Lesson 7: Create a JointTrajectoryController to control your robotic arm's joints:    • Lesson 7: Writing ROS Joint Trajectory Con...  
Lesson 8: Create a ".Launch" file to load your URDF and controllers in Gazebo:    • Lesson 8: Writing Launch File to Launch UR...  
Lesson 9: Build the Catkin Workspace and launch the URDF for 1st time in Gazebo:    • Lesson 9: Building Catkin Workspace and La...  
Lesson 10: Create a Miveit Package to manipulate(Adding Motion) your robotic arm using "Moveit Setup Assistant":    • Lesson 10: Use Moveit Setup Assistant to C...  
Lesson 11: Testing the Moveit Package by launching the default launch files:    • Lesson 11: Checking the Moveit Manipulatio...  
Lesson 12: Replace the faulty ROS Controller YAML file with New ROS Controller file:    • Lesson 12: Create New ROS Controller for T...  
Lesson 13: Create a ".launch" file to load full simulation:    • Lesson 13: Create New Launch File to Load ...  
Lesson 14: Launch the simulation and plan some motion:    • Lesson 14: Launching Final Moveit Manipula...  
Lesson 15.1: Set the Predefined Position of Robotic Arm Using Python:   • Lesson 15.1 - Use Python Script to Move Yo...  
Lesson 15.2: Configure the yhton File to set redefined postions:   • Lesson 15.2 - Configure the Python File to...  
Lesson 16: Print pose of end effector using python:   • Lesson 16: Print The End Effector Position...  

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