IoT & Hardware
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You're reading from  Mastering ROS for Robotics Programming

Product typeBook
Published inDec 2015
Reading LevelIntermediate
PublisherPackt
ISBN-139781783551798
Edition1st Edition
Languages
C++
Tools
Ubuntu ServerROS
Concepts
Robotics
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Author (1)
Lentin Joseph
Lentin Joseph
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Lentin Joseph

Lentin Joseph is an author and robotics entrepreneur from India. He runs a robotics software company called Qbotics Labs in India. He has 7 years of experience in the robotics domain primarily in ROS, OpenCV, and PCL. He has authored four books in ROS, namely, Learning Robotics using Python, Mastering ROS for Robotics Programming, ROS Robotics Projects, and Robot Operating System for Absolute Beginners. He is currently pursuing his master's in Robotics from India and is also doing research at Robotics Institute, CMU, USA.
Read more about Lentin Joseph

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Creating the COLLADA file of a robot to work with OpenRave

In this section, we can discuss how to convert the robot URDF model to the collada file (.dae) format to work with OpenRave. There is a ROS package called collada_urdf, which contains nodes to convert URDF into collada files. The URDF file of ABB-IRB 6640 model is on abb_irb6600_support/urdf folder named irb6640.urdf. Copy this file into your working folder and run the following command for the conversion:

Start roscore
$ roscore

Run the conversion command. We need to mention the URDF file and the output DAE file:

$ rosrun collada_urdf urdf_to_collada irb6640.urdf irb6640.dae

Tip

In most of the cases, this command fails because most of the URDF file contains STL meshes and it may not convert into DAE as we expected. If the robot meshes in, in DAE format, it will work fine. If it happens, follow this procedure:

  • Install Meshlab tool for viewing and editing meshes using the following command:

  • Open meshes present at abb_irb6600_support...

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Mastering ROS for Robotics Programming
Published in: Dec 2015Publisher: PacktISBN-13: 9781783551798
© 2015 Packt Publishing Limited All Rights Reserved

Author (1)

author image
Lentin Joseph

Lentin Joseph is an author and robotics entrepreneur from India. He runs a robotics software company called Qbotics Labs in India. He has 7 years of experience in the robotics domain primarily in ROS, OpenCV, and PCL. He has authored four books in ROS, namely, Learning Robotics using Python, Mastering ROS for Robotics Programming, ROS Robotics Projects, and Robot Operating System for Absolute Beginners. He is currently pursuing his master's in Robotics from India and is also doing research at Robotics Institute, CMU, USA.
Read more about Lentin Joseph

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