Arm+Core Integration - #8
Open
ds196 wants to merge 36 commits into
Open
Conversation
Preview in RViz: `ros2 launch rover_description display.launch.py` Simulate in Gazebo: `ros2 launch rover_description gazebo.launch.py`
Reduces the size of core_description from 35M to 13M, and updates it to the current main assembly. Adds models from CAD for the antenna mast, camera mount, GPS antenna, and ZED. Also cleans up the base_link/dummy_base_link situation; base_link is now in the correct coordinate frame directly from CAD. Retains Gazebo sensor functionality.
ds196
marked this pull request as ready for review
May 17, 2026 19:29
Contributor
Author
|
Honestly kinda works, IK isn't the most polished but it all works in gazebo |
ryleu
approved these changes
May 18, 2026
ryleu
left a comment
ryleu
left a comment
Contributor
There was a problem hiding this comment.
i aint reviewing ts
hope it works 👍
…on (also basically rewrite all of the launches)
Testbed works mostly in Gazebo but doesn't really drive right...
ruff check --fix
It seems like Fortress (what we use on Humble) is the last version of Gazebo to offer compatibility with the old "Ignition" naming, while also accepting the new "Gazebo sim" naming. See https://gazebosim.org/docs/jetty/migration_from_ignition/
…ap topics correctly Verified that topics connect properly, including Anchor and Headless. Needs testing on hardware.
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Pretty major refactor. Attempting to integrate Arm and Core ros2_control into both Gazebo and real life. Also adds
testbed_description.