Iโm excited to announce Version 4.0; ๐๐ต๐ฒ ๐ฏ๐ถ๐ด๐ด๐ฒ๐๐ ๐๐ฝ๐ฑ๐ฎ๐๐ฒ ๐๐ฒ๐.
๐ฉ๐ฐ transforms the tool ๐ณ๐ฟ๐ผ๐บ ๐ฎ ๐จ๐ฅ๐๐ ๐ด๐ฒ๐ป๐ฒ๐ฟ๐ฎ๐๐ผ๐ฟ into a ๐ณ๐๐น๐น ๐ฟ๐ผ๐ฏ๐ผ๐ ๐ฑ๐ฒ๐๐ถ๐ด๐ป-๐๐ผ-๐๐ถ๐บ๐๐น๐ฎ๐๐ถ๐ผ๐ป ๐ฝ๐ถ๐ฝ๐ฒ๐น๐ถ๐ป๐ฒ: pick a chassis, add sensors, tune the controller, and drive it live in Gazebo; all from one window, with zero hand-written XML. The guided 9-step PyQt5 wizard gets your robot simulated and moving in minutes.
๐ช๐ต๐ฎ๐โ๐ ๐ก๐ฒ๐ ๐ถ๐ป ๐ฉ๐ฐ?
๐ญ. ๐ฆ๐ถ๐
๐ฟ๐ผ๐๐ฎ_๐ฐ๐ผ๐ป๐๐ฟ๐ผ๐น ๐๐ผ๐ป๐๐ฟ๐ผ๐น๐น๐ฒ๐ฟ๐
Each backed by a real plugin, auto-configured from your geometry, with only valid options shown for your chassis:
โข 2-Wheeled + Caster โ Differential Drive
โข 3-Wheeled (Tricycle) โ Tricycle / Tricycle-Steering
โข 4-Wheeled โ Skid-Steer Differential / Mecanum Drive / Ackermann Steering
๐ฎ. ๐๐๐ป๐ฎ๐บ๐ถ๐ฐ ๐ ๐๐น๐๐ถ-๐ฆ๐ฒ๐ป๐๐ผ๐ฟ ๐ฆ๐๐๐๐ฒ๐บ
Add any number of LiDARs and cameras, each fully configurable. Every sensor appears instantly in the live 3D preview, and all topics are bridged to ROS 2 automatically.
๐ฏ. ๐๐ผ๐ป๐๐ฟ๐ผ๐น๐น๐ฒ๐ฟ ๐ง๐๐ป๐ฒ๐ฟ ๐๐ถ๐๐ต ๐๐๐๐ผ-๐ฆ๐๐ด๐ด๐ฒ๐๐
Fine-tune velocity/acceleration limits and publish rates manually; or let physics-based Auto-Suggest fill them from your chassis geometry.
๐ฐ. ๐๐ฎ๐ฟ๐ฑ๐๐ฎ๐ฟ๐ฒ ๐๐ป๐๐ฒ๐ฟ๐ณ๐ฎ๐ฐ๐ฒ ๐ฆ๐ฒ๐น๐ฒ๐ฐ๐๐ถ๐ผ๐ป
Target Gazebo simulation, mock hardware for controller testing, or a custom ros2_control plugin for real robot deployment.
๐ฑ. ๐๐๐ถ๐น๐-๐ถ๐ป ๐ง๐ฒ๐น๐ฒ๐ผ๐ฝ๐ฒ๐ฟ๐ฎ๐๐ถ๐ผ๐ป
Hit Launch Simulation and drive with the on-screen D-pad or keyboard; no extra terminals. Includes emergency stop and Strafe Mode for mecanum robots.
๐ฒ. ๐ฃ๐ฟ๐ฒ๐๐ฒ๐๐ & ๐ฆ๐ฒ๐๐๐ถ๐ผ๐ป๐
Save full robot configs as reusable presets, or snapshot the entire wizard state (including manual URDF edits) to resume exactly where you left off.
๐๐น๐๐ผ ๐ถ๐ป ๐ฉ๐ฐ: dual Humble/Jazzy support with runtime auto-detection, geometry-driven kinematics written straight into the controller YAML, and ๐ฑ๐๐ฎ๐น .๐๐ฟ๐ฑ๐ณ + .๐๐ฟ๐ฑ๐ณ.๐
๐ฎ๐ฐ๐ฟ๐ผ output.
๐ช๐ต๐ฎ๐โ๐ ๐ก๐ฒ๐
๐?
SLAM and Nav2 are already in progress, with fleet management and more robot models on the roadmap.
This is an open-source project; ๐ฐ๐ผ๐ป๐๐ฟ๐ถ๐ฏ๐๐๐ถ๐ผ๐ป๐ are very welcome! 
๐๐ถ๐๐๐๐ฏ: GitHub - ali-pahlevani/Mobile_Robot_URDF_Maker: This is a workspace where you can easily and using its wizard, make your own mobile robot URDF file in minutes. Let's try it! ยท GitHub