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I think that you should export SolidWorks-model in Collada(*.dae) format. For example, An article is explained here( http://projectsfromhellandmore.blogspot.com/2013/01/solidworks-and-collada.html). If you don't know urdf, please look over a base model of the turtlebot model (For example, /opt/ros/hydro/share/turtlebot_description/urdf/stacks/circles.urdf.xacro). I hope your work will go well.

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