Artifacts:

UR10 Onshape Doc: https://cad.onshape.com/documents/477412938980f72db4fe4e1b/w/7e3e53ef63b73f4830a90dc6/e/7bbcdda50ead5f31ed3a5a03 UR10

Pointer Tool Onshape Doc: https://cad.onshape.com/documents/45f3222b3f5cd7aa1a1cfa85/v/701aedb3ff9da25be82efb79/e/0af4651a6bb5a95a79c89888 Pointer Tool

Github repo: https://github.com/agillies8/urdf_viewer

Goal

This is a template recipe for getting an assembly from Onshape into ROS2 as a robot model, visualizing it with Rviz and viewing its transforms and joint range of motion.

Background: What is a URDF?

Step 1: Structuring an Onshape Assembly for export

Step 2: Using the Onshape to Robot exporter

Step 3: Launching the robot arm URDF and viewing with Rviz

Step 4: Launching and connecting multiple robots