A simple example for designing a servo motor in solidworks and simulating it in gazebo.
The package contains :
-> Gazebo package.
-> Solidworks assembly model.
You can watch the demo video here.
# Solidworks The file consists of the assembly of the servo motors, clamp and the end effector. This requires the; ‘sw2urdf’ plugin to convert the solidworks to a gazebo based package. I will also be going over the conversion of the solidworks file into Gazebo package.
# Gazebo The file consists of necessary launch files, controller files and python example script in the directories launch, config and scripts respectively. I will also be providing descriptions of the directories for better explanation.
The prerequisits for this package is having:
->Catkin
-> ROS-Melodic (all packages installed)
### Disclaimer:
The PID values are not perfectly tuned so when selecting values values between 0 to 1.57 which corresponds to angle of rotation in radians for the joint, the model stutters. However if 0 or 1.57 i.e the maximum values are selected for the endeffector to actuate to, there is no stutter thus showing that PID values are not tuned.