// Beginning method for exporting the full package
public void exportRobot()
{
//Setting up the progress bar
int progressBarBound = Common.getCount(mRobot.BaseLink);
progressBar.Start(0, progressBarBound, "Creating package directories");
//Creating package directories
URDFPackage package = new URDFPackage(mPackageName, mSavePath);
package.createDirectories();
mRobot.name = mPackageName;
string windowsURDFFileName = package.WindowsRobotsDirectory + mRobot.name + ".URDF";
string windowsManifestFileName = package.WindowsPackageDirectory + "manifest.xml";
//Creating manifest file
manifestWriter manifestWriter = new manifestWriter(windowsManifestFileName);
manifest Manifest = new manifest(mPackageName);
Manifest.writeElement(manifestWriter);
//Creating RVIZ launch file
Rviz rviz = new Rviz(mPackageName, mRobot.name + ".URDF");
rviz.writeFiles(package.WindowsLaunchDirectory);
//Creating Gazebo launch file
Gazebo gazebo = new Gazebo(this.mRobot.name, this.mPackageName, mRobot.name + ".URDF");
gazebo.writeFile(package.WindowsLaunchDirectory);
//Customizing STL preferences to how I want them
saveUserPreferences();
setSTLExportPreferences();
//Saving part as STL mesh
AssemblyDoc assyDoc = (AssemblyDoc)ActiveSWModel;
List <string> hiddenComponents = Common.findHiddenComponents(assyDoc.GetComponents(false));
ActiveSWModel.Extension.SelectAll();
ActiveSWModel.HideComponent2();
string filename = exportFiles(mRobot.BaseLink, package, 0);
mRobot.BaseLink.Visual.Geometry.Mesh.filename = filename;
mRobot.BaseLink.Collision.Geometry.Mesh.filename = filename;
Common.showAllComponents(ActiveSWModel, hiddenComponents);
//Writing URDF to file
URDFWriter uWriter = new URDFWriter(windowsURDFFileName);
mRobot.writeURDF(uWriter.writer);
resetUserPreferences();
progressBar.End();
}
// Beginning method for exporting the full package
public void exportRobot()
{
//Setting up the progress bar
int progressBarBound = Common.getCount(mRobot.BaseLink);
progressBar.Start(0, progressBarBound, "Creating package directories");
//Creating package directories
URDFPackage package = new URDFPackage(mPackageName, mSavePath);
package.createDirectories();
mRobot.name = mPackageName;
string windowsURDFFileName = package.WindowsRobotsDirectory + mRobot.name + ".URDF";
string windowsManifestFileName = package.WindowsPackageDirectory + "manifest.xml";
//Creating manifest file
manifestWriter manifestWriter = new manifestWriter(windowsManifestFileName);
manifest Manifest = new manifest(mPackageName);
Manifest.writeElement(manifestWriter);
//Creating RVIZ launch file
Rviz rviz = new Rviz(mPackageName, mRobot.name + ".URDF");
rviz.writeFiles(package.WindowsLaunchDirectory);
//Creating Gazebo launch file
Gazebo gazebo = new Gazebo(this.mRobot.name, this.mPackageName, mRobot.name + ".URDF");
gazebo.writeFile(package.WindowsLaunchDirectory);
//Customizing STL preferences to how I want them
saveUserPreferences();
setSTLExportPreferences();
//Saving part as STL mesh
AssemblyDoc assyDoc = (AssemblyDoc)ActiveSWModel;
List<string> hiddenComponents = Common.findHiddenComponents(assyDoc.GetComponents(false));
ActiveSWModel.Extension.SelectAll();
ActiveSWModel.HideComponent2();
string filename = exportFiles(mRobot.BaseLink, package, 0);
mRobot.BaseLink.Visual.Geometry.Mesh.filename = filename;
mRobot.BaseLink.Collision.Geometry.Mesh.filename = filename;
Common.showAllComponents(ActiveSWModel, hiddenComponents);
//Writing URDF to file
URDFWriter uWriter = new URDFWriter(windowsURDFFileName);
mRobot.writeURDF(uWriter.writer);
resetUserPreferences();
progressBar.End();
}
// Beginning method for exporting the full package
public void exportRobot()
{
//Setting up the progress bar
System.Diagnostics.Debug.WriteLine("Beginning the export process");
int progressBarBound = Common.getCount(mRobot.BaseLink);
progressBar.Start(0, progressBarBound, "Creating package directories");
//Creating package directories
System.Diagnostics.Debug.WriteLine("Creating package directories");
URDFPackage package = new URDFPackage(mPackageName, mSavePath);
package.createDirectories();
mRobot.name = mPackageName;
string windowsURDFFileName = package.WindowsRobotsDirectory + mRobot.name + ".urdf";
string windowsPackageXMLFileName = package.WindowsPackageDirectory + "package.xml";
//Create CMakeLists
System.Diagnostics.Debug.WriteLine("Creating CMakeLists.txt at " + package.WindowsCMakeLists);
package.createCMakeLists();
//Create Config joint names, not sure how this is used...
System.Diagnostics.Debug.WriteLine("Creating joint names config at " + package.WindowsConfigYAML);
package.createConfigYAML(mRobot.getJointNames(false));
//Creating package.xml file
PackageXMLWriter packageXMLWriter = new PackageXMLWriter(windowsPackageXMLFileName);
PackageXML packageXML = new PackageXML(mPackageName);
packageXML.writeElement(packageXMLWriter);
//Creating RVIZ launch file
Rviz rviz = new Rviz(mPackageName, mRobot.name + ".urdf");
System.Diagnostics.Debug.WriteLine("Creating RVIZ launch file");
rviz.writeFiles(package.WindowsLaunchDirectory);
//Creating Gazebo launch file
System.Diagnostics.Debug.WriteLine("Creating Gazebo launch file");
Gazebo gazebo = new Gazebo(this.mRobot.name, this.mPackageName, mRobot.name + ".urdf");
gazebo.writeFile(package.WindowsLaunchDirectory);
//Customizing STL preferences to how I want them
saveUserPreferences();
setSTLExportPreferences();
//Saving part as STL mesh
AssemblyDoc assyDoc = (AssemblyDoc)ActiveSWModel;
List <string> hiddenComponents = Common.findHiddenComponents(assyDoc.GetComponents(false));
ActiveSWModel.Extension.SelectAll();
ActiveSWModel.HideComponent2();
string filename = exportFiles(mRobot.BaseLink, package, 0);
mRobot.BaseLink.Visual.Geometry.Mesh.filename = filename;
mRobot.BaseLink.Collision.Geometry.Mesh.filename = filename;
Common.showAllComponents(ActiveSWModel, hiddenComponents);
//Writing URDF to file
URDFWriter uWriter = new URDFWriter(windowsURDFFileName);
mRobot.writeURDF(uWriter.writer);
resetUserPreferences();
progressBar.End();
}