This article provides a brief overview of the process of exporting your robot from Solidworks. For more detailed instructions, refer to the next article: Exporting A Solidworks Model To Gazebo.
An overview of the process of exporting a Solidworks model to Gazebo
Once you have made your robot model in Solidworks, there is some more information you must provide through the following steps:
- Set the robot name and frame-of-reference in the "Manage Robot" window. Steps 2-6 will also be done from the "Manage Robot" window.
- Add/remove links and connect/disconnect links with joints.
- Create collision models as a new Solidworks Configuration.
- Set each link by selecting SolidWorks components and setting various property values. For more info about selecting components, see the article Assigning components to links.
- Set each joint by setting its type and various property values. For a list of currently supported joints and their properties, see the article Setting joint
- Add attachments, which may be actuators (e.g. piston) or sensors (e.g. gyro). For info about currently supported attachments, see the article Adding Motors and Sensors to a model.
- Verify that the necessary info has been provided, and export your robot from the "Export" window.
- Transfer your robot files in your computer to access in Gazebo. For more info, see the article Importing a Model into Gazebo
Exporter settings are settings that are used for all assemblies/robots:
- Enable FRCSim Components - Check to enable addition of FRCsim attachments and sensors like motors, gyros, etc and for the option to export your robot in a world with an FRC Field.
- Enable Debug Mode - Check to disable certain safety checks and enable all side tags.