Is there auto dimension command in solid works?

Yes. 

In drawing sheet, select dimension (from Annotation / Sketch).

Then at left side tab: DimXpert / Autodimension will appear.

Select Auto dimension and click on drawing view. Dimensions shall be generated automatically.

I recomment to use manual dimensioning esc if you proceed with auto drawing generation in varients. Auto Dimension is not very conveient still good enough.

From drawing sheet then Auto dimension

yes there is