Feat/rover simulation

documents/installation/required_packages.md

@@ -0,0 +1,14 @@
+# Required Packages
+This is a general list of various packages that we know will be need at some point. Run: `sudo apt-get install` followed by the name of the package for each of these.
+Alternatively, use the requirements.bash script in the helper_scripts folder.
+
+# Navigation Packages
+sudo apt-get install ros-humble-navigation2
+sudo apt-get install ros-humble-nav2-bringup
+sudo apt-get install ros-humble-turtlebot3-gazebo
+
+
+# Control Packages
+sudo apt-get install ros-humble-ros2-control
+sudo apt-get install ros-humble-ros2-controllers
+sudo apt-get install ros-humble-gazebo-ros2-control

helper_scripts/requirements.bash

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+# Navigation Packages
+sudo apt-get install ros-humble-navigation2
+sudo apt-get install ros-humble-nav2-bringup
+sudo apt-get install ros-humble-turtlebot3-gazebo
+
+
+# Control Packages
+sudo apt-get install ros-humble-ros2-control
+sudo apt-get install ros-humble-ros2-controllers
+sudo apt-get install ros-humble-gazebo-ros2-control

urc_bringup/CMakeLists.txt

@@ -43,6 +43,8 @@ install(
   DIRECTORY
   launch
   config
+  world
+  rviz
   DESTINATION share/${PROJECT_NAME}/
 )
 

urc_bringup/config/hardware_config.yaml

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+hardware_config:
+  use_simulation: true
+  use_simplified_model: true

urc_bringup/config/ros2_control_simple.yaml

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+controller_manager:
+  ros__parameters:
+    update_rate: 200
+
+    imu_broadcaster:
+      type: urc_controllers/IMUBroadcaster
+
+    status_light_controller:
+      type: urc_controllers/StatusLightController
+
+    rover_drivetrain_controller:
+      type: diff_drive_controller/DiffDriveController
+
+    bms_broadcaster:
+      type: urc_controllers/BMSBroadcaster
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    joint_trajectory_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+joint_state_broadcaster:
+  ros__parameters:
+    type: joint_state_broadcaster/JointStateBroadcaster
+
+imu_broadcaster:
+  ros__parameters:
+    imu_name: imu_sensor
+
+bms_broadcaster:
+  ros__parameters:
+    bms_name: battery_management
+    cell_num: 6
+
+status_light_controller:
+  ros__parameters:
+    status_light_name: status_light
+
+rover_drivetrain_controller:
+  ros__parameters:
+    left_wheel_names:
+      [
+        "left_wheel_joint"
+      ]
+    right_wheel_names:
+      [
+        "right_wheel_joint"
+      ]
+
+    pose_covariance_diagonal:
+      [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]
+    twist_covariance_diagonal:
+      [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]
+
+    position_feedback: false
+    open_loop: false
+
+    wheel_seperation: 0.5
+
+    wheel_radius: 0.20
+    cmd_vel_timeout: 0.5
+    # Velocity and acceleration limits
+    # Whenever a min_* is unspecified, default to -max_*
+    linear:
+      x:
+        has_velocity_limits: true
+        max_velocity: 4.0 # m/s
+        min_velocity: -0.5 # m/s
+        has_acceleration_limits: true
+        max_acceleration: 0.8 # m/s^2
+        min_acceleration: -0.4 # m/s^2
+        has_jerk_limits: true
+        max_jerk: 5.0 # m/s^3
+    angular:
+      z:
+        has_velocity_limits: true
+        max_velocity: 1.7 # rad/s
+        has_acceleration_limits: true
+        max_acceleration: 1.5 # rad/s^2
+        has_jerk_limits: true
+        max_jerk: 2.5 # rad/s^3

urc_bringup/config/ros2_control_walli.yaml

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+controller_manager:
+  ros__parameters:
+    update_rate: 200
+
+    imu_broadcaster:
+      type: urc_controllers/IMUBroadcaster
+
+    status_light_controller:
+      type: urc_controllers/StatusLightController
+
+    rover_drivetrain_controller:
+      type: diff_drive_controller/DiffDriveController
+
+    bms_broadcaster:
+      type: urc_controllers/BMSBroadcaster
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    joint_trajectory_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+joint_state_broadcaster:
+  ros__parameters:
+    type: joint_state_broadcaster/JointStateBroadcaster
+
+imu_broadcaster:
+  ros__parameters:
+    imu_name: imu_sensor
+
+bms_broadcaster:
+  ros__parameters:
+    bms_name: battery_management
+    cell_num: 6
+
+status_light_controller:
+  ros__parameters:
+    status_light_name: status_light
+
+rover_drivetrain_controller:
+  ros__parameters:
+    left_wheel_names:
+      [
+        "left_front_wheel_joint",
+        "left_center_wheel_joint",
+        "left_rear_wheel_joint",
+      ]
+    right_wheel_names:
+      [
+        "right_front_wheel_joint",
+        "right_center_wheel_joint",
+        "right_rear_wheel_joint",
+      ]
+
+    pose_covariance_diagonal:
+      [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]
+    twist_covariance_diagonal:
+      [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]
+
+    position_feedback: false
+    open_loop: false
+
+    wheel_seperation: 0.5
+
+    wheel_radius: 0.20
+    cmd_vel_timeout: 0.5
+    # Velocity and acceleration limits
+    # Whenever a min_* is unspecified, default to -max_*
+    linear:
+      x:
+        has_velocity_limits: true
+        max_velocity: 4.0 # m/s
+        min_velocity: -0.5 # m/s
+        has_acceleration_limits: true
+        max_acceleration: 0.8 # m/s^2
+        min_acceleration: -0.4 # m/s^2
+        has_jerk_limits: true
+        max_jerk: 5.0 # m/s^3
+    angular:
+      z:
+        has_velocity_limits: true
+        max_velocity: 1.7 # rad/s
+        has_acceleration_limits: true
+        max_acceleration: 1.5 # rad/s^2
+        has_jerk_limits: true
+        max_jerk: 2.5 # rad/s^3