// 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(); }