New CAD-to-URDF tool automates Gazebo verification pipeline
Stop debugging URDFs for hours – this tool verifies every robot before output.
Sleem45's new tool automates converting CAD models (STEP, SolidWorks, Onshape assemblies) into fully functional URDFs with automatic Gazebo simulation verification. The generation process doesn't stop at file output; it runs a complete verification pipeline: import CAD, generate URDF, build the package, launch Gazebo, verify controllers activate, check TF tree completeness, and validate joint states. If any stage fails, the tool reports exactly where (e.g., "Build failed" or "Controller failed to activate") instead of returning a generic success.
This addresses a major pain point for robotics developers: many CAD-to-URDF converters produce files that still require hours of debugging for controllers, TF trees, and launch configs before the robot moves in simulation. By baking verification into generation, Sleem45 ensures the output is immediately usable. The developer is seeking community feedback on which CAD formats cause most trouble and whether an automated verification pipeline would be useful.
- Supports STEP, SolidWorks assemblies, and Onshape as CAD sources
- Generates inferred joints, collision geometry, inertia estimation, and a complete ROS 2 simulation package
- Automated verification pipeline checks build, controller activation, TF tree, and joint states – reports specific failure stages
Why It Matters
Cuts hours of debugging from robot simulation bring-up, letting engineers focus on design and control.