Unity导入URDF模型(turtlebot3 waffle pi为例)

Myth丶恋晨 2023-09-23 16:29 73阅读 0赞

本篇文章介绍Unity下如何导入机器人的URDF模型，主要参考官方教程：[https://github.com/Unity-Technologies/Unity-Robotics-Hub/blob/main/tutorials/urdf\_importer/urdf\_tutorial.md][https_github.com_Unity-Technologies_Unity-Robotics-Hub_blob_main_tutorials_urdf_importer_urdf_tutorial.md]  
  关于导入的机器人模型选择了turtlebot3 waffle pi作为示例

## 1.Unity中导入URDF Importer的包 ##

![在这里插入图片描述][f38271dfbf6742309a167873f7debfad.png]  
  如果按照URL导入就输入下面这个：

https://github.com/Unity-Technologies/URDF-Importer.git?path=/com.unity.robotics.urdf-importer#v0.5.2

有的时候网络不好，就手动从本地磁盘导入：  
  在这个网址下载源码包，然后把选择磁盘导入，选择com.unity.robotics.urdf-importer目录下的package.json导入即可：[Unity-Technologies/URDF-Importer: URDF importer (github.com)][Unity-Technologies_URDF-Importer_ URDF importer _github.com]  
![在这里插入图片描述][b35e6752660740429f0111e0c5f428b6.png]

## 2.ros生成.urdf(根据.urdf.xacro) ##

ps:所以前提是先有模型的urdf.xacro文件，然后按照命令生成urdf文件  
![在这里插入图片描述][1b4d2d5c26a2439c9b1e3d5bfb66dd24.png]  
![在这里插入图片描述][81cec51a47fc4fa99f07b328098732eb.png]

## 3.Unity中文件配置 ##

#### 3.1在Unity下Assets文件夹下生成一个urdf文件夹，并在urdf下导入turtlebot3\_description文件夹。 ####

其他机器人也一样，会有一些相关的mesh配套文件。  
ps：turtlebot3\_description来源：[turtlebot3/turtlebot3\_description at master · ROBOTIS-GIT/turtlebot3 (github.com)][turtlebot3_turtlebot3_description at master _ ROBOTIS-GIT_turtlebot3 _github.com]

#### 3.2 鼠标右击urdf文件，选择”Import Robot from Selected URDF file” ####

![在这里插入图片描述][2234d0c8cfd44a28bcaec95ff476a129.png]  
  选择你主要的轴(Y轴或者Z轴)，然后”import URDF”  
![在这里插入图片描述][672625093ef74d4e87c359902b1022a8.png]  
  然后在试图界面中就能看到模型啦，生成结果如下：  
![在这里插入图片描述][af9d6e47a6494e2eb8a4cf7d7d4aec79.png]

[https_github.com_Unity-Technologies_Unity-Robotics-Hub_blob_main_tutorials_urdf_importer_urdf_tutorial.md]: https://github.com/Unity-Technologies/Unity-Robotics-Hub/blob/main/tutorials/urdf_importer/urdf_tutorial.md
[f38271dfbf6742309a167873f7debfad.png]: https://img-blog.csdnimg.cn/f38271dfbf6742309a167873f7debfad.png
[Unity-Technologies_URDF-Importer_ URDF importer _github.com]: https://github.com/Unity-Technologies/URDF-Importer
[b35e6752660740429f0111e0c5f428b6.png]: https://img-blog.csdnimg.cn/b35e6752660740429f0111e0c5f428b6.png
[1b4d2d5c26a2439c9b1e3d5bfb66dd24.png]: https://img-blog.csdnimg.cn/1b4d2d5c26a2439c9b1e3d5bfb66dd24.png
[81cec51a47fc4fa99f07b328098732eb.png]: https://img-blog.csdnimg.cn/81cec51a47fc4fa99f07b328098732eb.png
[turtlebot3_turtlebot3_description at master _ ROBOTIS-GIT_turtlebot3 _github.com]: https://github.com/ROBOTIS-GIT/turtlebot3/tree/master/turtlebot3_description
[2234d0c8cfd44a28bcaec95ff476a129.png]: https://img-blog.csdnimg.cn/2234d0c8cfd44a28bcaec95ff476a129.png
[672625093ef74d4e87c359902b1022a8.png]: https://img-blog.csdnimg.cn/672625093ef74d4e87c359902b1022a8.png
[af9d6e47a6494e2eb8a4cf7d7d4aec79.png]: https://img-blog.csdnimg.cn/af9d6e47a6494e2eb8a4cf7d7d4aec79.png