fusion2urdf ROS2_c++ package

Inspired by syuntoku14/fusion2urdf and dheena2k2/fusion2urdf-ros2, this repertoire is ADDIN, who converts it into a ROS2 c++ package and edited to export description package suited for ROS2 ament_cmake type build. Check out syuntoku14/fusion2urdf for converting fusion360 model to robot description package of ROS1.

Difference

• ROS2 C++ Package
• Color reflection
  

rviz

If you urdf conversion in xacro, it can be used in unity, omniverse

Unity

Omniverse

Installation

Run the following command in your shell.

Windows (In PowerShell)

cd <path to fusion2urdf-ros2cpp>
Copy-Item ".\URDF_Exporter_Ros2cpp\" -Destination "${env:APPDATA}\Autodesk\Autodesk Fusion 360\API\Scripts\" -Recurse

macOS (In bash or zsh)

cd <path to fusion2urdf-ros2cpp>
cp -r ./URDF_Exporter_Ros2cpp "$HOME/Library/Application Support/Autodesk/Autodesk Fusion 360/API/Scripts/"

What is this script?

This is a fusion 360 script to export urdf from fusion 360 directly.

This exports:

• .urdf file of your model
• .launch.py files to simulate your robot on gazebo and rviz
• .stl files of your model

In your ROS environment

Place the generated _description package directory in your own ROS workspace. "model_ws" is used in this example. Then, run catkin_make in catkin_ws.

cd ~/model_ws/
colcon build

Now you can see your robot in rviz by using the following command.

Open a new terminal

cd ~/model_ws/
source install/setup.bash
ros2 launch (whatever your robot_name is)_description display.launch.py

If you want to simulate your robot on gazebo, just run

ros2 launch (whatever your robot_name is)_description gazebo.launch.py

Enjoy your Fusion 360 and ROS2 life!