package (need URDF file) for ABB IRB4600-60/2.05? OR What is the way to get .stl files for collision of links of robot (ABB IRB4600)?

Question

I am new to ROS. I am trying to develop the URDF file for ABB IRB4600-60/2.05 robot but i am not understanding how to create collision models (meshes > collision (.stl files). Please let me know the way ..should i need to develop by own through CAD software ?

Thanks !

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Originally posted by Muneeb on ROS Answers with karma: 31 on 2017-02-17

Post score: 0

Answer 1

Creating collision meshes is relatively simple: in most ROS description or ROS-Industrial support packages they are simple the convex hulls of the normal (or visual) messages.

You can create convex hulls using a nr of meshing tools. Two frequently used ones are Meshlab and Blender.

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Originally posted by gvdhoorn with karma: 86574 on 2017-02-18

This answer was ACCEPTED on the original site

Post score: 0

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Original comments

Comment by Muneeb on 2017-02-21:
Thanks for your response ..It is quite simple by using convex hull option in meshlab tool .. One can find 'convex hull' option in meshlab (Filters > Remeshing, Simplification and Reconstructiion > convex hull)