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$
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I will design urdf robot models and setup ros2 gazebo simulations
Mechanical Design Engineer
I am a Mechanical Design Engineer with expertise in full-cycle product development, from conceptual sketching to high-fidelity 3D modeling in SolidWorks. I specialize in structural and thermal validat...
About this Gig
Looking to transition your mechanical design into an autonomous, simulation-ready robot? As a Mechanical & Robotics Engineer, I specialize in bridging the gap between hardware physics and intelligent software.
What I Offer:
- CAD to URDF/Xacro: Seamless conversion of SolidWorks models with precise joints, links, and collision tags.
- Gazebo Simulation: Creating realistic physics environments, custom worlds, and integrating sensor plugins (LiDAR, IMU, depth cameras).
- Autonomy & Navigation: Full configuration of the ROS2 Nav2 stack, SLAM Toolbox mapping, and AMCL localization for AMRs/AGVs.
- Control Pipelines: Configuring ros2_control for differential drive or robotic arms.
Why Choose Me? Because I understand both the mechanical engineering and the software stack, I ensure your simulation matches real-world physical dynamics perfectly.
️ NOTE: Every robotics project is unique. Please message me before ordering to discuss your specifications!
Control type:
Industrial Robots
•
Mobile Robots (AGVs)
Device brands:
ABB
•
KUKA
•
Universal Robots
Programming language:
C/C++
•
Python
Software:
Other
My Portfolio
FAQ
Q1: How do you handle complex mass properties and inertial tensors during the SolidWorks to URDF conversion?
I don’t use generic defaults. I calculate precise mass, center of mass (CoM), and the rotational inertia tensor matrix (I_xx, I_xy, I_xz, etc.) directly from your SolidWorks physical material properties. If you use simplified CAD models, I analytically estimate the bounds to ensure Gazebo’s
Q2: Which ROS2 versions and middleware (RMW) implementations do you support?
I primarily develop for ROS2 Humble Hawksbill and Jazzy Jalisco on Ubuntu 22.04/24.04 LTS, but I can adapt to older Foxy or Galactic setups if your legacy system requires it. I configure layouts natively compatible with standard RMW implementations like CycloneDDS and FastDDS.
Q3: What approach do you take to prevent wheel slippage or erratic physics behavior in Gazebo?
I calibrate the specific <gazebo> reference tags for friction (mu_1, mu_2) and surface stiffness (kp, kd). Combined with fine-tuned PID gains in the ros2_control YAML configuration, this ensures stable odometry and realistic ground-contact dynamics.
Q4: Can you configure custom sensor arrays and TF trees?
Yes. I integrate GPU-accelerated ray plugins for 3D LiDARs, depth cameras, and IMUs. I map their exact coordinate frames into a clean TF tree structure, ensuring perfectly synchronized data streams for reliable SLAM and Nav2 data fusion.
