2026 · Robotics / ROS 2 / Simulation
Fusion2ROS
A Fusion add-in and Windows-to-WSL bridge that derive robot descriptions and stack configuration from CAD instead of maintaining parallel hand-written models.
Problem
A CAD model, URDF, controller configuration, simulator, planner configuration and navigation stack commonly drift apart when each is maintained by hand.
What I built
- A dependency-free RobotModel schema shared by Fusion's embedded Python, plain tests and WSL tools.
- Pure generators for ROS package files, with a Fusion command interface for extraction and generation.
- Bridge and doctor tooling that syncs to WSL and verifies the environment with a real throwaway colcon build.
Technical approach
Geometry, joints and mass properties are extracted into a shared model; independent generators then create only the requested package sections. Structural and URDF validation run before opt-in build and launch actions.
What I learned
The reusable abstraction is the robot model, not the export format. Keeping generator functions free of Fusion and ROS imports makes the core testable in a normal Python environment.
Let’s connect
I’m always open to discussing robotics, autonomous systems, or new projects. Just reach out!
