// 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();
}
// 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()
{
//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();
}
//Recursive method for exporting each link (and writing it to the URDF)
public string exportFiles(link Link, URDFPackage package, int count)
{
progressBar.UpdateProgress(count);
progressBar.UpdateTitle("Exporting mesh: " + Link.name);
// Iterate through each child and export its files
foreach (link child in Link.Children)
{
count += 1;
if (!child.isFixedFrame)
{
string filename = exportFiles(child, package, count);
child.Visual.Geometry.Mesh.filename = filename;
child.Collision.Geometry.Mesh.filename = filename;
}
}
// Copy the texture file (if it was specified) to the textures directory
if (!Link.isFixedFrame && Link.Visual.Material.Texture.wFilename != "")
{
if (System.IO.File.Exists(Link.Visual.Material.Texture.wFilename))
{
Link.Visual.Material.Texture.filename =
package.TexturesDirectory + Path.GetFileName(Link.Visual.Material.Texture.wFilename);
string textureSavePath =
package.WindowsTexturesDirectory + Path.GetFileName(Link.Visual.Material.Texture.wFilename);
System.IO.File.Copy(Link.Visual.Material.Texture.wFilename, textureSavePath, true);
}
}
// Create the mesh filenames. SolidWorks likes to use / but that will get messy in filenames so use _ instead
string linkName = Link.name.Replace('/', '_');
string meshFileName = package.MeshesDirectory + linkName + ".STL";
string windowsMeshFileName = package.WindowsMeshesDirectory + linkName + ".STL";
// Export STL
saveSTL(Link, windowsMeshFileName);
return(meshFileName);
}
// 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
manifestWriter manifestWriter = new manifestWriter(windowsManifestFileName);
manifest Manifest = new manifest(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();
}
//Recursive method for exporting each link (and writing it to the URDF)
public string exportFiles(link Link, URDFPackage package, int count)
{
progressBar.UpdateProgress(count);
progressBar.UpdateTitle("Exporting mesh: " + Link.name);
// Iterate through each child and export its files
foreach (link child in Link.Children)
{
count += 1;
if (!child.isFixedFrame)
{
string filename = exportFiles(child, package, count);
child.Visual.Geometry.Mesh.filename = filename;
child.Collision.Geometry.Mesh.filename = filename;
}
}
// Copy the texture file (if it was specified) to the textures directory
if (!Link.isFixedFrame && Link.Visual.Material.Texture.wFilename != "")
{
if (System.IO.File.Exists(Link.Visual.Material.Texture.wFilename))
{
Link.Visual.Material.Texture.filename = package.TexturesDirectory + Path.GetFileName(Link.Visual.Material.Texture.wFilename);
string textureSavePath = package.WindowsTexturesDirectory + Path.GetFileName(Link.Visual.Material.Texture.wFilename);
System.IO.File.Copy(Link.Visual.Material.Texture.wFilename, textureSavePath, true);
}
}
// Create the mesh filenames. SolidWorks likes to use / but that will get messy in filenames so use _ instead
string linkName = Link.name.Replace('/', '_');
string meshFileName = package.MeshesDirectory + linkName + ".STL";
string windowsMeshFileName = package.WindowsMeshesDirectory + linkName + ".STL";
// Export STL
saveSTL(Link, windowsMeshFileName);
return meshFileName;
}
// 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();
}
