From 5f068c763cb066c91ed96800a87695c9e632dd95 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E5=88=98=E5=BF=97=E9=80=9A?= <953598974@qq.com>
Date: Thu, 26 Aug 2021 19:40:52 +0800
Subject: [PATCH] =?UTF-8?q?=E6=96=B0=E5=A2=9Egazebo=5Fdemo1=E5=8A=9F?=
=?UTF-8?q?=E8=83=BD=E5=8C=85?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
gazebo_demo1/CMakeLists.txt | 42 ++
.../config/joint_names_gazebo_demo1.yaml | 53 +++
gazebo_demo1/export.log | 182 +++++++++
gazebo_demo1/launch/display.launch | 10 +
gazebo_demo1/launch/gazebo.launch | 43 +++
gazebo_demo1/meshes/LB_LINK.STL | Bin 0 -> 5484 bytes
gazebo_demo1/meshes/LF_LINK.STL | Bin 0 -> 5484 bytes
gazebo_demo1/meshes/RB_LINK.STL | Bin 0 -> 5484 bytes
gazebo_demo1/meshes/RF_LINK.STL | Bin 0 -> 5484 bytes
gazebo_demo1/meshes/base_link.STL | Bin 0 -> 684 bytes
gazebo_demo1/package.xml | 21 +
gazebo_demo1/src/gazebo_demo1.cpp | 49 +++
gazebo_demo1/urdf/.gazebo_demo1.urdf | 342 +++++++++++++++++
gazebo_demo1/urdf/gazebo_demo1.urdf | 342 +++++++++++++++++
gazebo_demo1/urdf/gazebo_demo1.urdf.xacro | 362 ++++++++++++++++++
gazebo_demo1/urdf/gazebo_demo2.csv | 6 +
16 files changed, 1452 insertions(+)
create mode 100644 gazebo_demo1/CMakeLists.txt
create mode 100644 gazebo_demo1/config/joint_names_gazebo_demo1.yaml
create mode 100644 gazebo_demo1/export.log
create mode 100644 gazebo_demo1/launch/display.launch
create mode 100644 gazebo_demo1/launch/gazebo.launch
create mode 100644 gazebo_demo1/meshes/LB_LINK.STL
create mode 100644 gazebo_demo1/meshes/LF_LINK.STL
create mode 100644 gazebo_demo1/meshes/RB_LINK.STL
create mode 100644 gazebo_demo1/meshes/RF_LINK.STL
create mode 100644 gazebo_demo1/meshes/base_link.STL
create mode 100644 gazebo_demo1/package.xml
create mode 100644 gazebo_demo1/src/gazebo_demo1.cpp
create mode 100644 gazebo_demo1/urdf/.gazebo_demo1.urdf
create mode 100644 gazebo_demo1/urdf/gazebo_demo1.urdf
create mode 100644 gazebo_demo1/urdf/gazebo_demo1.urdf.xacro
create mode 100644 gazebo_demo1/urdf/gazebo_demo2.csv
diff --git a/gazebo_demo1/CMakeLists.txt b/gazebo_demo1/CMakeLists.txt
new file mode 100644
index 0000000..d9400b3
--- /dev/null
+++ b/gazebo_demo1/CMakeLists.txt
@@ -0,0 +1,42 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(gazebo_demo1)
+
+add_compile_options(-std=c++11)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+find_package(catkin REQUIRED COMPONENTS
+ roslaunch
+ controller_manager
+ gazebo_ros
+ gazebo_ros_control
+ joint_state_publisher
+ robot_state_publisher
+ roscpp
+ rospy
+ rviz
+ xacro
+ kdl_parser
+ tf
+ sensor_msgs
+ std_msgs
+ trac_ik_lib
+ serial
+)
+
+include_directories(
+ include
+ ${catkin_INCLUDE_DIRS}
+ ${orocos_kdl_INCLUDE_DIRS}
+)
+
+add_executable(gazebo_demo1 src/gazebo_demo1.cpp)
+target_link_libraries(gazebo_demo1 ${catkin_LIBRARIES} ${orocos_kdl_LIBRARIES})
+
+foreach(dir config launch meshes urdf)
+ install(DIRECTORY ${dir}/
+ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
+endforeach(dir)
diff --git a/gazebo_demo1/config/joint_names_gazebo_demo1.yaml b/gazebo_demo1/config/joint_names_gazebo_demo1.yaml
new file mode 100644
index 0000000..b810d92
--- /dev/null
+++ b/gazebo_demo1/config/joint_names_gazebo_demo1.yaml
@@ -0,0 +1,53 @@
+gazebo_demo1:
+
+ # Publish all joint states -----------------------------------
+
+ joint_state_controller:
+
+ type: joint_state_controller/JointStateController
+
+ publish_rate: 50
+
+
+
+ # Position Controllers ---------------------------------------
+
+ lf_position_con:
+
+ type: position_controllers/JointPositionController
+
+ joint: LF_JOINT
+
+ #pid: {p: 1.0, i: 0.01, d: 0.0}
+
+ lb_position_con:
+
+ type: position_controllers/JointPositionController
+
+ joint: LB_JOINT
+
+ #pid: {p: 1.0, i: 0.01, d: 0.0}
+
+ rf_position_con:
+
+ type: position_controllers/JointPositionController
+
+ joint: RF_JOINT
+
+ #pid: {p: 1.0, i: 0.01, d: 0.0}
+
+ rb_position_con:
+
+ type: position_controllers/JointPositionController
+
+ joint: RB_JOINT
+
+ #pid: {p: 1.0, i: 0.01, d: 0.0}
+
+
+
+gazebo_demo1/gazebo_ros_control/pid_gains:
+ LF_JOINT: {p: 1.0, i: 0.0, d: 0.0}
+ LB_JOINT: {p: 1.0, i: 0.0, d: 0.0}
+ RF_JOINT: {p: 1.0, i: 0.0, d: 0.0}
+ RB_JOINT: {p: 1.0, i: 0.0, d: 0.0}
diff --git a/gazebo_demo1/export.log b/gazebo_demo1/export.log
new file mode 100644
index 0000000..c1f01c7
--- /dev/null
+++ b/gazebo_demo1/export.log
@@ -0,0 +1,182 @@
+2021-08-24 10:46:42,896 INFO Logger.cs: 70 -
+--------------------------------------------------------------------------------
+2021-08-24 10:46:42,947 INFO Logger.cs: 71 - Logging commencing for SW2URDF exporter
+2021-08-24 10:46:42,950 INFO Logger.cs: 73 - Commit version 1.5.1-0-g916b5db
+2021-08-24 10:46:42,951 INFO Logger.cs: 74 - Build version 1.5.7152.31018
+2021-08-24 10:46:42,978 INFO SwAddin.cs: 250 - Adding Assembly export to file menu
+2021-08-24 10:46:42,979 INFO SwAddin.cs: 253 - Adding Part export to file menu
+2021-08-24 10:46:43,010 INFO SwAddin.cs: 218 - Connecting plugin to SolidWorks
+2021-08-24 11:18:05,520 INFO SwAddin.cs: 271 - Assembly export called for file gazebo_demo1.SLDASM
+2021-08-24 11:18:12,570 INFO SwAddin.cs: 290 - Saving assembly
+2021-08-24 11:18:12,666 INFO SwAddin.cs: 293 - Opening property manager
+2021-08-24 11:18:12,702 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from gazebo_demo1.SLDASM
+2021-08-24 11:18:12,721 INFO ExportHelperExtension.cs: 1142 - Found 48 in gazebo_demo1.SLDASM
+2021-08-24 11:18:12,722 INFO ExportHelperExtension.cs: 1152 - Found 5 features of type [CoordSys] in gazebo_demo1.SLDASM
+2021-08-24 11:18:12,722 INFO ExportHelperExtension.cs: 1155 - Proceeding through assembly components
+2021-08-24 11:18:12,724 INFO ExportHelperExtension.cs: 1167 - 5 components to check
+2021-08-24 11:18:12,726 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from tui-2
+2021-08-24 11:18:12,726 INFO ExportHelperExtension.cs: 1142 - Found 27 in tui-2
+2021-08-24 11:18:12,727 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in tui-2
+2021-08-24 11:18:12,728 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from 零件-1
+2021-08-24 11:18:12,729 INFO ExportHelperExtension.cs: 1142 - Found 27 in 零件-1
+2021-08-24 11:18:12,730 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in 零件-1
+2021-08-24 11:18:12,730 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from tui-1
+2021-08-24 11:18:12,731 INFO ExportHelperExtension.cs: 1142 - Found 27 in tui-1
+2021-08-24 11:18:12,732 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in tui-1
+2021-08-24 11:18:12,732 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from tui-3
+2021-08-24 11:18:12,733 INFO ExportHelperExtension.cs: 1142 - Found 27 in tui-3
+2021-08-24 11:18:12,735 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in tui-3
+2021-08-24 11:18:12,736 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from tui-4
+2021-08-24 11:18:12,737 INFO ExportHelperExtension.cs: 1142 - Found 27 in tui-4
+2021-08-24 11:18:12,737 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in tui-4
+2021-08-24 11:18:12,740 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from gazebo_demo1.SLDASM
+2021-08-24 11:18:12,740 INFO ExportHelperExtension.cs: 1142 - Found 48 in gazebo_demo1.SLDASM
+2021-08-24 11:18:12,742 INFO ExportHelperExtension.cs: 1152 - Found 5 features of type [RefAxis] in gazebo_demo1.SLDASM
+2021-08-24 11:18:12,742 INFO ExportHelperExtension.cs: 1155 - Proceeding through assembly components
+2021-08-24 11:18:12,743 INFO ExportHelperExtension.cs: 1167 - 5 components to check
+2021-08-24 11:18:12,744 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from tui-2
+2021-08-24 11:18:12,744 INFO ExportHelperExtension.cs: 1142 - Found 27 in tui-2
+2021-08-24 11:18:12,745 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in tui-2
+2021-08-24 11:18:12,746 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from 零件-1
+2021-08-24 11:18:12,776 INFO ExportHelperExtension.cs: 1142 - Found 27 in 零件-1
+2021-08-24 11:18:12,777 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in 零件-1
+2021-08-24 11:18:12,777 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from tui-1
+2021-08-24 11:18:12,778 INFO ExportHelperExtension.cs: 1142 - Found 27 in tui-1
+2021-08-24 11:18:12,779 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in tui-1
+2021-08-24 11:18:12,780 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from tui-3
+2021-08-24 11:18:12,781 INFO ExportHelperExtension.cs: 1142 - Found 27 in tui-3
+2021-08-24 11:18:12,782 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in tui-3
+2021-08-24 11:18:12,783 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from tui-4
+2021-08-24 11:18:12,784 INFO ExportHelperExtension.cs: 1142 - Found 27 in tui-4
+2021-08-24 11:18:12,785 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in tui-4
+2021-08-24 11:18:13,048 INFO SwAddin.cs: 316 - Loading config tree
+2021-08-24 11:18:13,056 INFO ExportPropertyManagerExtension.cs: 597 - Starting new configuration
+2021-08-24 11:18:13,060 INFO SwAddin.cs: 321 - Showing property manager
+2021-08-24 11:18:49,720 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2021-08-24 11:19:19,387 INFO ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2021-08-24 11:19:19,755 INFO ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2021-08-24 11:19:20,153 INFO ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2021-08-24 11:19:20,474 INFO ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2021-08-24 11:19:44,572 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2021-08-24 11:19:47,266 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2021-08-24 11:20:42,987 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2021-08-24 11:21:10,789 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2021-08-24 11:21:12,555 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2021-08-24 11:21:14,627 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2021-08-24 11:21:32,259 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2021-08-24 11:21:33,923 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2021-08-24 11:21:48,992 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2021-08-24 11:21:50,592 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2021-08-24 11:21:52,410 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2021-08-24 11:22:08,999 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2021-08-24 11:22:25,120 INFO ExportPropertyManager.cs: 456 - Configuration saved
+2021-08-24 11:22:25,379 INFO ExportHelperExtension.cs: 338 - Creating joint LF_LINK
+2021-08-24 11:22:25,696 WARN ExportHelperExtension.cs: 342 - Creating joint from parent base_link to child LF_LINK failed
+2021-08-24 11:22:25,700 INFO ExportHelperExtension.cs: 338 - Creating joint LB_LINK
+2021-08-24 11:22:25,729 WARN ExportHelperExtension.cs: 342 - Creating joint from parent base_link to child LB_LINK failed
+2021-08-24 11:22:25,732 INFO ExportHelperExtension.cs: 338 - Creating joint RF_LINK
+2021-08-24 11:22:25,761 WARN ExportHelperExtension.cs: 342 - Creating joint from parent base_link to child RF_LINK failed
+2021-08-24 11:22:25,764 INFO ExportHelperExtension.cs: 338 - Creating joint RB_LINK
+2021-08-24 11:22:25,796 WARN ExportHelperExtension.cs: 342 - Creating joint from parent base_link to child RB_LINK failed
+2021-08-24 11:22:25,958 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from gazebo_demo1.SLDASM
+2021-08-24 11:22:25,965 INFO ExportHelperExtension.cs: 1142 - Found 49 in gazebo_demo1.SLDASM
+2021-08-24 11:22:25,966 INFO ExportHelperExtension.cs: 1152 - Found 5 features of type [CoordSys] in gazebo_demo1.SLDASM
+2021-08-24 11:22:25,967 INFO ExportHelperExtension.cs: 1155 - Proceeding through assembly components
+2021-08-24 11:22:25,967 INFO ExportHelperExtension.cs: 1167 - 5 components to check
+2021-08-24 11:22:25,968 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from tui-2
+2021-08-24 11:22:25,968 INFO ExportHelperExtension.cs: 1142 - Found 27 in tui-2
+2021-08-24 11:22:25,969 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in tui-2
+2021-08-24 11:22:25,969 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from 零件-1
+2021-08-24 11:22:25,969 INFO ExportHelperExtension.cs: 1142 - Found 27 in 零件-1
+2021-08-24 11:22:25,969 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in 零件-1
+2021-08-24 11:22:25,970 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from tui-1
+2021-08-24 11:22:25,970 INFO ExportHelperExtension.cs: 1142 - Found 27 in tui-1
+2021-08-24 11:22:25,971 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in tui-1
+2021-08-24 11:22:25,971 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from tui-3
+2021-08-24 11:22:25,971 INFO ExportHelperExtension.cs: 1142 - Found 27 in tui-3
+2021-08-24 11:22:25,972 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in tui-3
+2021-08-24 11:22:25,972 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from tui-4
+2021-08-24 11:22:25,973 INFO ExportHelperExtension.cs: 1142 - Found 27 in tui-4
+2021-08-24 11:22:25,974 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in tui-4
+2021-08-24 11:22:25,979 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from gazebo_demo1.SLDASM
+2021-08-24 11:22:25,980 INFO ExportHelperExtension.cs: 1142 - Found 49 in gazebo_demo1.SLDASM
+2021-08-24 11:22:25,980 INFO ExportHelperExtension.cs: 1152 - Found 5 features of type [RefAxis] in gazebo_demo1.SLDASM
+2021-08-24 11:22:25,981 INFO ExportHelperExtension.cs: 1155 - Proceeding through assembly components
+2021-08-24 11:22:25,981 INFO ExportHelperExtension.cs: 1167 - 5 components to check
+2021-08-24 11:22:25,982 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from tui-2
+2021-08-24 11:22:25,982 INFO ExportHelperExtension.cs: 1142 - Found 27 in tui-2
+2021-08-24 11:22:25,982 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in tui-2
+2021-08-24 11:22:25,983 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from 零件-1
+2021-08-24 11:22:26,001 INFO ExportHelperExtension.cs: 1142 - Found 27 in 零件-1
+2021-08-24 11:22:26,001 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in 零件-1
+2021-08-24 11:22:26,002 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from tui-1
+2021-08-24 11:22:26,002 INFO ExportHelperExtension.cs: 1142 - Found 27 in tui-1
+2021-08-24 11:22:26,003 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in tui-1
+2021-08-24 11:22:26,003 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from tui-3
+2021-08-24 11:22:26,003 INFO ExportHelperExtension.cs: 1142 - Found 27 in tui-3
+2021-08-24 11:22:26,004 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in tui-3
+2021-08-24 11:22:26,004 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from tui-4
+2021-08-24 11:22:26,005 INFO ExportHelperExtension.cs: 1142 - Found 27 in tui-4
+2021-08-24 11:22:26,005 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in tui-4
+2021-08-24 11:22:26,119 INFO ExportPropertyManager.cs: 1184 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2021-08-24 11:23:32,446 INFO AssemblyExportForm.cs: 254 - Completing URDF export
+2021-08-24 11:23:32,452 INFO Serialization.cs: 275 - URDF Configuration found
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+2021-08-24 11:23:49,039 INFO AssemblyExportForm.cs: 308 - Saving URDF package to C:\Users\Zhitong\Desktop\gazebo_demo2
+2021-08-24 11:23:49,043 INFO ExportHelper.cs: 147 - Beginning the export process
+2021-08-24 11:23:49,045 INFO ExportHelper.cs: 153 - Creating package directories with name gazebo_demo2 and save path C:\Users\Zhitong\Desktop
+2021-08-24 11:23:50,444 INFO ExportHelper.cs: 162 - Creating CMakeLists.txt at C:\Users\Zhitong\Desktop\gazebo_demo2\CMakeLists.txt
+2021-08-24 11:23:50,445 INFO ExportHelper.cs: 166 - Creating joint names config at C:\Users\Zhitong\Desktop\gazebo_demo2\config\joint_names_gazebo_demo2.yaml
+2021-08-24 11:23:50,448 INFO ExportHelper.cs: 170 - Creating package.xml at C:\Users\Zhitong\Desktop\gazebo_demo2\package.xml
+2021-08-24 11:23:50,450 INFO PackageXMLWriter.cs: 21 - Creating package.xml at C:\Users\Zhitong\Desktop\gazebo_demo2\package.xml
+2021-08-24 11:23:50,456 INFO ExportHelper.cs: 177 - Creating RVIZ launch file in C:\Users\Zhitong\Desktop\gazebo_demo2\launch\
+2021-08-24 11:23:50,460 INFO ExportHelper.cs: 182 - Creating Gazebo launch file in C:\Users\Zhitong\Desktop\gazebo_demo2\launch\
+2021-08-24 11:23:50,462 INFO ExportHelper.cs: 187 - Saving existing STL preferences
+2021-08-24 11:23:50,463 INFO ExportHelper.cs: 451 - Saving users preferences
+2021-08-24 11:23:50,465 INFO ExportHelper.cs: 190 - Modifying STL preferences
+2021-08-24 11:23:50,466 INFO ExportHelper.cs: 465 - Setting STL preferences
+2021-08-24 11:23:50,475 INFO ExportHelper.cs: 196 - Found 0 hidden components
+2021-08-24 11:23:50,475 INFO ExportHelper.cs: 197 - Hiding all components
+2021-08-24 11:23:50,598 INFO ExportHelper.cs: 204 - Beginning individual files export
+2021-08-24 11:23:50,602 INFO ExportHelper.cs: 270 - Exporting link: base_link
+2021-08-24 11:23:50,602 INFO ExportHelper.cs: 272 - Link base_link has 4 children
+2021-08-24 11:23:50,603 INFO ExportHelper.cs: 270 - Exporting link: LF_LINK
+2021-08-24 11:23:50,604 INFO ExportHelper.cs: 272 - Link LF_LINK has 0 children
+2021-08-24 11:23:50,611 INFO ExportHelper.cs: 318 - LF_LINK: Exporting STL with coordinate frame 坐标系2
+2021-08-24 11:23:50,612 INFO ExportHelper.cs: 323 - LF_LINK: Reference geometry name
+2021-08-24 11:23:50,692 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gazebo_demo2\meshes\LF_LINK.STL
+2021-08-24 11:23:50,803 INFO ExportHelper.cs: 406 - Removing SW header in STL file
+2021-08-24 11:23:50,806 INFO ExportHelper.cs: 270 - Exporting link: LB_LINK
+2021-08-24 11:23:50,807 INFO ExportHelper.cs: 272 - Link LB_LINK has 0 children
+2021-08-24 11:23:50,809 INFO ExportHelper.cs: 318 - LB_LINK: Exporting STL with coordinate frame 坐标系3
+2021-08-24 11:23:50,810 INFO ExportHelper.cs: 323 - LB_LINK: Reference geometry name
+2021-08-24 11:23:51,159 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gazebo_demo2\meshes\LB_LINK.STL
+2021-08-24 11:23:51,241 INFO ExportHelper.cs: 406 - Removing SW header in STL file
+2021-08-24 11:23:51,242 INFO ExportHelper.cs: 270 - Exporting link: RF_LINK
+2021-08-24 11:23:51,243 INFO ExportHelper.cs: 272 - Link RF_LINK has 0 children
+2021-08-24 11:23:51,243 INFO ExportHelper.cs: 318 - RF_LINK: Exporting STL with coordinate frame 坐标系4
+2021-08-24 11:23:51,244 INFO ExportHelper.cs: 323 - RF_LINK: Reference geometry name
+2021-08-24 11:23:51,340 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gazebo_demo2\meshes\RF_LINK.STL
+2021-08-24 11:23:51,423 INFO ExportHelper.cs: 406 - Removing SW header in STL file
+2021-08-24 11:23:51,425 INFO ExportHelper.cs: 270 - Exporting link: RB_LINK
+2021-08-24 11:23:51,426 INFO ExportHelper.cs: 272 - Link RB_LINK has 0 children
+2021-08-24 11:23:51,427 INFO ExportHelper.cs: 318 - RB_LINK: Exporting STL with coordinate frame 坐标系5
+2021-08-24 11:23:51,427 INFO ExportHelper.cs: 323 - RB_LINK: Reference geometry name
+2021-08-24 11:23:51,521 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gazebo_demo2\meshes\RB_LINK.STL
+2021-08-24 11:23:51,587 INFO ExportHelper.cs: 406 - Removing SW header in STL file
+2021-08-24 11:23:51,588 INFO ExportHelper.cs: 318 - base_link: Exporting STL with coordinate frame 坐标系1
+2021-08-24 11:23:51,589 INFO ExportHelper.cs: 323 - base_link: Reference geometry name
+2021-08-24 11:23:51,673 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gazebo_demo2\meshes\base_link.STL
+2021-08-24 11:23:51,724 INFO ExportHelper.cs: 406 - Removing SW header in STL file
+2021-08-24 11:23:51,724 INFO ExportHelper.cs: 145 - Showing all components except previously hidden components
+2021-08-24 11:23:51,926 INFO ExportHelper.cs: 145 - Resetting STL preferences
+2021-08-24 11:23:51,927 INFO ExportHelper.cs: 479 - Returning STL preferences to user preferences
+2021-08-24 11:23:51,928 INFO ExportHelper.cs: 228 - Writing URDF file to C:\Users\Zhitong\Desktop\gazebo_demo2\urdf\gazebo_demo2.urdf
+2021-08-24 11:23:52,001 INFO CSVImportExport.cs: 32 - Writing CSV file C:\Users\Zhitong\Desktop\gazebo_demo2\urdf\gazebo_demo2.csv
+2021-08-24 11:23:52,037 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2021-08-24 11:23:52,038 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2021-08-24 11:23:52,038 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2021-08-24 11:23:52,040 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2021-08-24 11:23:52,041 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2021-08-24 11:23:52,042 INFO ExportHelper.cs: 234 - Copying log file
+2021-08-24 11:23:52,048 INFO ExportHelper.cs: 440 - Copying C:\Users\Zhitong\sw2urdf_logs\sw2urdf.log to C:\Users\Zhitong\Desktop\gazebo_demo2\export.log
diff --git a/gazebo_demo1/launch/display.launch b/gazebo_demo1/launch/display.launch
new file mode 100644
index 0000000..8488aa9
--- /dev/null
+++ b/gazebo_demo1/launch/display.launch
@@ -0,0 +1,10 @@
+
+
+
+
+
+
+
+
+
+
diff --git a/gazebo_demo1/launch/gazebo.launch b/gazebo_demo1/launch/gazebo.launch
new file mode 100644
index 0000000..a0321ae
--- /dev/null
+++ b/gazebo_demo1/launch/gazebo.launch
@@ -0,0 +1,43 @@
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diff --git a/gazebo_demo1/meshes/LB_LINK.STL b/gazebo_demo1/meshes/LB_LINK.STL
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diff --git a/gazebo_demo1/meshes/base_link.STL b/gazebo_demo1/meshes/base_link.STL
new file mode 100644
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diff --git a/gazebo_demo1/package.xml b/gazebo_demo1/package.xml
new file mode 100644
index 0000000..d2483eb
--- /dev/null
+++ b/gazebo_demo1/package.xml
@@ -0,0 +1,21 @@
+
+ gazebo_demo1
+ 1.0.0
+
+
URDF Description package for gazebo_demo1
+
This package contains configuration data, 3D models and launch files
+for gazebo_demo1 robot