// Used only by the part exporter
public void exportLink(bool zIsUp)
{
createBaseRefOrigin(zIsUp);
MathTransform coordSysTransform =
ActiveSWModel.Extension.GetCoordinateSystemTransformByName("Origin_global");
Matrix <double> GlobalTransform = ops.getTransformation(coordSysTransform);
localizeLink(mRobot.BaseLink, GlobalTransform);
//Creating package directories
URDFPackage package = new URDFPackage(mPackageName, mSavePath);
package.createDirectories();
string meshFileName = package.MeshesDirectory + mRobot.BaseLink.name + ".STL";
string windowsMeshFileName = package.WindowsMeshesDirectory + mRobot.BaseLink.name + ".STL";
string windowsURDFFileName = package.WindowsRobotsDirectory + mRobot.name + ".urdf";
string windowsManifestFileName = package.WindowsPackageDirectory + "manifest.xml";
//Creating manifest file
PackageXMLWriter manifestWriter = new PackageXMLWriter(windowsManifestFileName);
PackageXML Manifest = new PackageXML(mRobot.name);
Manifest.writeElement(manifestWriter);
//Customizing STL preferences to how I want them
saveUserPreferences();
setSTLExportPreferences();
setLinkSpecificSTLPreferences("", mRobot.BaseLink.STLQualityFine, ActiveSWModel);
int errors = 0;
int warnings = 0;
//Saving part as STL mesh
ActiveSWModel.Extension.SaveAs(windowsMeshFileName, (int)swSaveAsVersion_e.swSaveAsCurrentVersion,
(int)swSaveAsOptions_e.swSaveAsOptions_Silent, null, ref errors, ref warnings);
mRobot.BaseLink.Visual.Geometry.Mesh.filename = meshFileName;
mRobot.BaseLink.Collision.Geometry.Mesh.filename = meshFileName;
correctSTLMesh(windowsMeshFileName);
mRobot.BaseLink.Visual.Material.Texture.filename =
package.TexturesDirectory + Path.GetFileName(mRobot.BaseLink.Visual.Material.Texture.wFilename);
string textureSavePath =
package.WindowsTexturesDirectory + Path.GetFileName(mRobot.BaseLink.Visual.Material.Texture.wFilename);
if (mRobot.BaseLink.Visual.Material.Texture.wFilename != "")
{
System.IO.File.Copy(mRobot.BaseLink.Visual.Material.Texture.wFilename, textureSavePath, true);
}
//Writing URDF to file
URDFWriter uWriter = new URDFWriter(windowsURDFFileName);
//mRobot.addLink(mLink);
mRobot.writeURDF(uWriter.writer);
resetUserPreferences();
}
// Beginning method for exporting the full package
public void ExportRobot(bool exportSTL = true)
{
//Setting up the progress bar
logger.Info("Beginning the export process");
int progressBarBound = Common.GetCount(URDFRobot.BaseLink);
iSwApp.GetUserProgressBar(out progressBar);
progressBar.Start(0, progressBarBound, "Creating package directories");
//Creating package directories
logger.Info("Creating package directories with name " + PackageName + " and save path " + SavePath);
URDFPackage package = new URDFPackage(PackageName, SavePath);
package.CreateDirectories();
URDFRobot.Name = PackageName;
string windowsURDFFileName = package.WindowsRobotsDirectory + URDFRobot.Name + ".urdf";
string windowsCSVFileName = package.WindowsRobotsDirectory + URDFRobot.Name + ".csv";
string windowsPackageXMLFileName = package.WindowsPackageDirectory + "package.xml";
//Create CMakeLists
logger.Info("Creating CMakeLists.txt at " + package.WindowsCMakeLists);
package.CreateCMakeLists();
//Create Config joint names, not sure how this is used...
logger.Info("Creating joint names config at " + package.WindowsConfigYAML);
package.CreateConfigYAML(URDFRobot.GetJointNames(false));
//Creating package.xml file
logger.Info("Creating package.xml at " + windowsPackageXMLFileName);
PackageXMLWriter packageXMLWriter = new PackageXMLWriter(windowsPackageXMLFileName);
PackageXML packageXML = new PackageXML(PackageName);
packageXML.WriteElement(packageXMLWriter);
//Creating RVIZ launch file
Rviz rviz = new Rviz(PackageName, URDFRobot.Name + ".urdf");
logger.Info("Creating RVIZ launch file in " + package.WindowsLaunchDirectory);
rviz.WriteFiles(package.WindowsLaunchDirectory);
//Creating Gazebo launch file
Gazebo gazebo = new Gazebo(URDFRobot.Name, PackageName, URDFRobot.Name + ".urdf");
logger.Info("Creating Gazebo launch file in " + package.WindowsLaunchDirectory);
gazebo.WriteFile(package.WindowsLaunchDirectory);
//Customizing STL preferences to how I want them
logger.Info("Saving existing STL preferences");
SaveUserPreferences();
logger.Info("Modifying STL preferences");
SetSTLExportPreferences();
//Saving part as STL mesh
AssemblyDoc assyDoc = (AssemblyDoc)ActiveSWModel;
List <string> hiddenComponents = Common.FindHiddenComponents(assyDoc.GetComponents(false));
logger.Info("Found " + hiddenComponents.Count + " hidden components " + String.Join(", ", hiddenComponents));
logger.Info("Hiding all components");
ActiveSWModel.Extension.SelectAll();
ActiveSWModel.HideComponent2();
bool success = false;
try
{
logger.Info("Beginning individual files export");
ExportFiles(URDFRobot.BaseLink, package, 0, exportSTL);
success = true;
}
catch (Exception e)
{
logger.Error("An exception was thrown attempting to export the URDF", e);
}
finally
{
logger.Info("Showing all components except previously hidden components");
Common.ShowAllComponents(ActiveSWModel, hiddenComponents);
logger.Info("Resetting STL preferences");
ResetUserPreferences();
}
if (!success)
{
MessageBox.Show("Exporting the URDF failed unexpectedly. Email your maintainer " +
"with the log file found at " + Logger.GetFileName());
return;
}
logger.Info("Writing URDF file to " + windowsURDFFileName);
URDFWriter uWriter = new URDFWriter(windowsURDFFileName);
URDFRobot.WriteURDF(uWriter.writer);
ImportExport.WriteRobotToCSV(URDFRobot, windowsCSVFileName);
logger.Info("Copying log file");
CopyLogFile(package);
logger.Info("Resetting STL preferences");
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();
}
