Reorganize Repo into smaller metapackages

[wmmc88]

We want to clean up the organization of our ROS repository:

• uwrt_mars_rover:
  • uwrt_mars_rover_arm:
  • uwrt_mars_rover_arm_controllers:
    • cartesian_controller
    • preset_pose_controller
  • uwrt_mars_rover_arm_hw
  • uwrt_mars_rover_arm_msgs
  • uwrt_mars_rover_autonomy:
  • uwrt_mars_rover_autonomy_controllers:
    • neopixel_controller
    • led_matrix_controller
  • uwrt_mars_rover_autonomy_hw
  • uwrt_mars_rover_autonomy_msgs
  • uwrt_mars_rover_drivetrain:
  • uwrt_mars_rover_drivetrain_controllers:
    • diff_drive_position_controller
  • uwrt_mars_rover_drivetrain_hw
  • uwrt_mars_rover_drivetrain_msgs
  • uwrt_mars_rover_science:
  • uwrt_mars_rover_science_controllers:
    • geneva_indexer_controller
  • uwrt_mars_rover_science_hw
  • uwrt_mars_rover_bringup
  • uwrt_mars_rover_description -> this contains all the urdfs and launch files for urdfs
  • uwrt_mars_rover_control -> contains all high level ros_control stuff. (ie. combined robot hw node + control loop + high level launch w/ config selection)
  • uwrt_mars_rover_utils -> will contain uwrt_mars_rover_hw_bridge library

bold is metapkg. This will be tackled in smaller prs.

---

• [ ] port neopixel to roscontrol interface, move neopixel msgs to autonomy_msgs pkg, remove top level msgs pkg

[wmmc88]

@azumnanji @hamzaMahdi @akeaveny @younesr1 any thoughts or additions?

[akeaveny]

Where will the msgs sit? Also, I have uwrt_arm_rover_simulation pkg in uwrt_arm rn.

[wmmc88]

@akeaveny what does the sim package contain? could it just be merged into a top level sim @azumnanji ?

i think for msgs, if we're doing this smaller metapkg thing, we have msgs split into their respective subsystem metapkg

[akeaveny]

The sim pkg contains some basic launch files for gazebo config (e.g. spawn for x, y, yaw, etc..).

[azumnanji]

sim pkg could be at top level - should have no effect on aidan's current package

[wmmc88]

@azumnanji is it ok to have a standalone arm urdf in uwrt_mars_rover/uwrt_mars_rover_arm/uwrt_mars_rover_arm_description and then pull in that urdf in the top level description pkg (uwrt_mars_rover/uwrt_mars_rover_description)?

[wmmc88]

layout for this issue has been merged in #108. leaving this issue pinned for now as a reference for developing the packages (some are just empty placeholder folders rn.)