Simple example of getting a CAD model (e.g. STP) into Gazebo.
First convert the CAD file format to a mesh file format (e.g. STL or Collada), for example by using FreeCAD (see also here).
Also create a simple convex mesh as collision object (e.g. using Blender modifiers or MeshLab's "Convex Hull" filter) or use a / several geometric primitive(s) as <collision>.
Layout suggestion for model "cool gadget":
- cool_gadget/
- materials/ Gazebo: OGRE materials
- meshes/ Mesh formats (.dae, .stl, .iv)
- modeling/ CAD software files
- solids/ CAD formats (.step, .dxf)
- model.config Gazebo: Metainformation about cool_gadget
- model.sdf Gazebo: SDF (describes links (collision, visual) connected by joints togehter with plugins)
The only files mandatory to make the model work in Gazebo (and publish it to rviz) or to convert it to URDF are:
- model.sdf
- model.config
- meshes/
Add the following line to your ~./bashrc, but replace full_path_to_this_repository with the actual absolute path to the directory containing this README.md.
export GAZEBO_MODEL_PATH="$GAZEBO_MODEL_PATH:full_path_to_this_repository"
Then start gazebo (e.g. roslaunch gazebo_ros empty_world.launch) in a new terminal. The example model "Monitor" should be available from the Insert tab.