Modeling Robots in Rviz

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Introduction

This page details the process for generating a model for use in Rviz to represent a robot. This is more complicated than simply slapping a Solidworks model onto a coordinate frame, as robots often contain moving parts with their own coordinate frames and transforms, often related to the main model through some sensor feedback. As an example, a roomba has two wheels, each with an encoder. In this case, the model would have a main base and two separate wheels, each updated based on their individual encoder values. The updates of the wheels would then update the base's position with respect to the ground. The following documentation shows how to generate this model, using Solidworks, URDF files, and coordinate transforms.

Setup/Installation

Solidworks URDF Plugin

Read about and download Solidworks URDF Exporter Plugin here (link)

Process

1. Solidworks Model & URDF File
   Create the simplest CAD model possible and generate a urdf file following the urdf plugin tutorials. (link) Also helpful to read the ROS tutorials on hand-generating URDF files, but don't do this yourself! (link)
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Troubleshooting

If you have issues relating to your specific topic, document them here.

Helpful Links

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