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.
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.
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)
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.