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所在平台: Udemy |
课程主页: https://www.udemy.com/course/fusion-360-to-urdf/
课程评论：没有评论
**课程名称：Fusion 360 至 URDF** **课程概述：** 本课程将通过实例和正确的方法，教授如何使用开源的 Fusion 360 插件将 Fusion 360 CAD 模型转换为 URDF (Unified Robot Description Format)。您将学习如何设置正确的装配格式以导出机器人模型到 URDF，包括组件命名、机器人轴设置等最佳实践。此外，课程还将深入探讨 fusion2urdf 插件相关的常见错误及其解决方案。 **课程内容分为两大部分：** 1. **Fusion 360 模型到 URDF：** 重点讲解如何将 Fusion 360 模型转换为 URDF，包括 3D 模型组件、装配关节等相关知识。 2. **URDF ROS (可选部分)：** 该部分为选修内容，适合已有相关基础的学员。将涵盖 URDF 在 ROS (Robot Operating System) 中的应用。 **课程流程：** 本课程采用实践驱动的教学方法，通过不同的机器人模型来讲解概念。课程将以一个自主移动机器人 (AMR) 为例，在 Fusion 360 中对其组件进行装配、赋予质量，并将其导出为 URDF 模型。在可选部分，我们将构建导出的机器人 ROS 包，然后在 ROS 中进行调式，纠正 URDF 错误并在 rviz 中进行可视化。最后，将在 Gazebo 模拟器中加载机器人，并使用 teleop ROS 包测试机器人运动。 **学习目标：** * 深入理解 URDF (Unified Robot Description Format)。 * 掌握 Fusion 360 中导出 URDF 的装配格式。 * 学习如何创建组件，避免产生嵌套组件。 * 了解设置关节对齐为零的方法。 * 学习生成高质量 URDF 文件的最佳实践。 * 学会遵循 fusion2urdf 插件指南进行机器人组件装配。 * 掌握解决 URDF 导出错误的技巧。 * 学习如何为 URDF 的 inertia 标签设置权重及其重要性。 * （可选）学习构建 URDF ROS 包。 * （可选）学习纠正 ROS launch 文件中的 controller_manager 接口错误。 * （可选）学习纠正 URDF 中关节运动方向错误，并在 rviz 中可视化。 * （可选）学习在 Gazebo 中测试机器人运动并进行错误纠正。
Overview:In this course, you will learn about urdf (unified robot description format) with help of examples and correct method to convert a fusion 360 CAD model to urdf using opensource fusion 360 plugins. You will learn to set correct assembly format to export robot model to urdf and also about some good practices like method to name model components, setting up robot axis as per ros urdf conversions. As well as you will understand the errors related to fusion2urdf plugin and their solution.This course is divided into 2 parts:Fusion 360 model to URDF: You will learn to convert Fusion 360 model to urdf and stuff related to 3d model components, assembly joints etc.URDF ROS [Optional Parts]: These parts will be option and will be for those who fulfill the prerequisites. This part covers urdf ros related stuff.Course Flow:This course has used a practical approach of explanation. In this course will use different kind of robot model to explain the concepts. And throughout this course will use an AMR [autonomous mobile robot] and assemble it components in fusion 360 than assign mass to components and export it urdf model. In the optional part, we will build exported robot package in ros than will correct errors in urdf and visualize it in rviz. At the end will spawn the robot in gazebo simulator and will test robot motion using teleop ros package.What You Will Learn:Understanding of URDF. Understanding of assembly format in Fusion to export urdf.Creating Component from bodies such that no nested component is created.Methods to set joint alignments to zeros.Learnt about good practices to generated good urdf files.Assembly robot component without violating fusion2urdf plugin guidelines.Method to solve errors while exporting urdf.Method to assign weight and its importance in urdf inertia tag.[Optional part] build urdf ros pakages.[Optional part] correct error related to controller_manager ros interface while launch gazebo.[Optional part] correcting joint motion direction errors in urdf and visualizing it in rviz.[Option part] testing robot motion in gazebo as well correcting errors in it.
