SW2GZ

SolidWorks → ROS 2 + Gz Sim Exporter

Turn a SolidWorks assembly into a ready-to-launch ROS 2 package or Gz Sim model — meshes, URDF/Xacro, SDF, and launch files generated for you.

flowchart LR
    A[SolidWorks<br/>model] -->|SW2GZ| B{Pick mode}
    B --> C[Robot Package<br/>URDF · launch · control]
    B --> D[SDF Model]
    B --> E[SDF World]
    C --> G[ros2 launch → Gz Sim]
    D --> G
    E --> G
    style A fill:#e3242b,stroke:#fff,color:#fff
    style B fill:#FB8C00,stroke:#fff,color:#fff
    style G fill:#22314E,stroke:#fff,color:#fff

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Install

1. Download the latest SW2GZ-Setup installer from the Releases page.
2. Run it as administrator.
3. In SolidWorks, open Tools → Add-Ins and enable SW2GZ.

Installs alongside the original SW2URDF add-in — both can run together.

Usage

1. Open an assembly in SolidWorks.
2. Tools → SW2GZ → Export to ROS 2 / Gz.
3. Pick a mode, ROS 2 distro, Gz version, and output folder.
4. Configure the link tree, then Finish Export.
5. Build and launch:

cd <output>/<robot>_ws && colcon build
ros2 launch <robot>_description gz_sim.launch.py

Export modes

Mode	What you get
Robot Package	Full ROS 2 package: URDF/Xacro, launch files, ros2_control config, RViz, a world
SDF Model	Standalone Gz model: model.config, model.sdf, meshes
SDF World	Standalone Gz world with physics, sun, and ground plane

Supported targets

ROS 2 distro and Gz version are paired automatically:

ROS 2 Distro	Gz Version
Humble	Fortress
Jazzy	Harmonic (default)
Kilted	Ionic
Rolling	Harmonic

Example

examples/three_dof_arm_ros2/ is a package SW2GZ produced from the bundled 3-DOF arm (Jazzy + Harmonic).

More

• Build from source: BUILD.md
• Contributing & internals: CONTRIBUTING.md
• Release history: CHANGELOG.md

Credits

A modernized derivative of solidworks_urdf_exporter by Stephen Brawner. The ROS 2 + Gz Sim port, new writers, installer, and tooling are by Aryan Arlikar.

License

MIT — see LICENSE. Third-party components: THIRD-PARTY-LICENSES.md.

"SolidWorks" is a trademark of Dassault Systèmes; SW2GZ is independent and not affiliated with or endorsed by Dassault Systèmes.