I created a rover Gazebo simulation_vr : ros2_foxy

[dongjineee]

I created a rover Gazebo simulation.

TODO:

1. Smooth servo motor controller movement
2. Add odometry model
3. Add world

[Achllle]

Amazing, thank you for making this PR, it will be helpful to a lot of people! I'd love to give this a try!

If you have any instructions on how you generated the URDF and some of these files in the first place, that would be very helpful for maintaining it

[dongjineee]

Hi, I'm sorry, but I paused OSR-Gazebo for a moment because, I have other tasks to attend to

Let me briefly explain the method I used.

• We have the object file for the rover within Onshape.
• We can disassemble that object file into its individual components. for example, rocker bogie1,2,3 and box etc..
• However, if we directly use it as a URDF after converting it to an STL, there will be significant CPU and GPU usage in RViz or Gazebo due to the file size issue.
• Therefore, I went through the process of reducing the file size of the STL using MeshLab.
• And then, I used the package provided at https://github.com/gstavrinos/calc-inertia to define the inertial properties
• To make the controller similar to the actual rover for better adjustment, I created an additional controller package based on the OSR Rover code.

Current Issue

• In ROS 1, I used position controllers with PID tuning to control the speed of servos for servo control. However, in ROS 2, PID tuning is not available, so we used the trajectory controller instead. BUT when giving linear velocity while moving the servo, it causes bugs.

This issue needs to be resolved first.

[dongjineee]

Hello, I've created a gazebo simulation that can be utilized in the empty world.

Unfortunately, I couldn't include the world as I couldn't find it. However, I plan to load the lunar world used in the NASA Space Challenge later. Additionally, I haven't added odometry yet, but I'll update it once it's added. I've also added the gazebo Readme. Please feel free to let me know if you have any suggestions for improvement.

I'd like to collaborate with interested individuals, so I'll submit a pull request for osr_rover::vr01.