# Released v1.0.0. FreeCAD - OVERCROSS (generating ROS 2 package by CAD)

**URL:** <https://discourse.openrobotics.org/t/released-v1-0-0-freecad-overcross-generating-ros-2-package-by-cad/37127>\
**Category:** ROS General\
**Tags:** ros2, rviz, gazebo\
**Created:** [April 12, 2024, 4:53pm UTC](https://discourse.openrobotics.org/t/released-v1-0-0-freecad-overcross-generating-ros-2-package-by-cad/37127 "2024-04-12T16:53:32Z")\
**Posts on this page:** 6\
**Page:** 1

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**Author:** ![fenixionsoul](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/fenixionsoul/32/22355_2.png) [@fenixionsoul](https://discourse.openrobotics.org/u/fenixionsoul)\
**Post date:** [April 12, 2024, 4:53pm UTC](https://discourse.openrobotics.org/t/released-v1-0-0-freecad-overcross-generating-ros-2-package-by-cad/37127/1 "2024-04-12T16:53:32Z")

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[FreeCAD OVERCROSS](https://github.com/drfenixion/freecad.overcross)  
is a fork of [FreeCAD CROSS](https://github.com/galou/freecad.cross).

Main additions of OVERCROSS are:

1. Material selection of link or whole robot
2. Auto calculation of mass and inertia
3. Launcher for Gazebo
4. New some icons and icons reordering
5. Bug fixes
6. Others

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**Author:** ![Athidhi\_Vijai](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/athidhi_vijai/32/18750_2.png) [@Athidhi\_Vijai](https://discourse.openrobotics.org/u/Athidhi_Vijai)\
**Post date:** [April 13, 2024, 5:44am UTC](https://discourse.openrobotics.org/t/released-v1-0-0-freecad-overcross-generating-ros-2-package-by-cad/37127/2 "2024-04-13T05:44:46Z")

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Thank you for it  
and can you please guide me to use this  
i have designed a 4 wheel robot and i would like to simulate in Gazebo and moveit  
can you please guide me step by step how to use this workBench

thanks a lot in advance and by heart I appreciate your efforts

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**Author:** ![fenixionsoul](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/fenixionsoul/32/22355_2.png) [@fenixionsoul](https://discourse.openrobotics.org/u/fenixionsoul)\
**Post date:** [April 13, 2024, 9:54pm UTC](https://discourse.openrobotics.org/t/released-v1-0-0-freecad-overcross-generating-ros-2-package-by-cad/37127/3 "2024-04-13T21:54:36Z")

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> [@Athidhi\_Vijai](#):
>
> can you please guide me to use this

I made big article with a lot of screenshots. About how to make 4 wheels robot by OVERCROSS and generate ROS 2 package.

But now it only on russian language and is only available to donors. Although the screenshots highlight the places where you need to click.

[https://vk.com/@-219386643-overcross-robot-po-shagam-do-ros-2-paketa-mnogo-skrinshoto](https://vk.com/@-219386643-overcross-robot-po-shagam-do-ros-2-paketa-mnogo-skrinshoto)

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**Author:** ![Athidhi\_Vijai](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/athidhi_vijai/32/18750_2.png) [@Athidhi\_Vijai](https://discourse.openrobotics.org/u/Athidhi_Vijai)\
**Post date:** [April 14, 2024, 7:50am UTC](https://discourse.openrobotics.org/t/released-v1-0-0-freecad-overcross-generating-ros-2-package-by-cad/37127/4 "2024-04-14T07:50:21Z")

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Thank you, thank you very much

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**Author:** ![fenixionsoul](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/fenixionsoul/32/22355_2.png) [@fenixionsoul](https://discourse.openrobotics.org/u/fenixionsoul)\
**Post date:** [April 14, 2024, 10:30am UTC](https://discourse.openrobotics.org/t/released-v1-0-0-freecad-overcross-generating-ros-2-package-by-cad/37127/5 "2024-04-14T10:30:16Z")

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Btw, there is some documentation [https://github.com/drfenixion/freecad.overcross/wiki](https://github.com/drfenixion/freecad.overcross/wiki)

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**Author:** ![system](https://us1.discourse-cdn.com/flex022/uploads/ros/original/3X/b/6/b607ee3cc8e908b1b613bd74a683d749fea635a1.svg) [@system](https://discourse.openrobotics.org/u/system)\
**Post date:** [May 14, 2024, 10:30am UTC](https://discourse.openrobotics.org/t/released-v1-0-0-freecad-overcross-generating-ros-2-package-by-cad/37127/6 "2024-05-14T10:30:43Z")

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