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Add localizer package back in and add base-link in properly #15

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Merged
mdurrani808 merged 11 commits into from
Dec 30, 2025
Merged

Add localizer package back in and add base-link in properly #15

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3092635
added dependencies script and requirements.txt
mdurrani808 Dec 23, 2025
fdf6d2b
add localizer package back in and add base-link in properly
mdurrani808 Dec 7, 2025
3202d8b
added geographic lib to dependencies.sh
mdurrani808 Dec 23, 2025
4046408
add parameters and proper imu and gps transforms for localizer
mdurrani808 Dec 24, 2025
01d1bb5
add ground truth odometry
mdurrani808 Dec 24, 2025
8dcb0a9
fix world loading and sensors
mdurrani808 Dec 26, 2025
cd98c31
removed test package, added node functionality, renamed to just local…
mdurrani808 Dec 26, 2025
28f09d2
make more realistic
mdurrani808 Dec 26, 2025
3a4690e
Merge branch 'main' into base-link
mdurrani808 Dec 29, 2025
1abb2d4
Merge branch 'main' into base-link
mdurrani808 Dec 29, 2025
7717d9e
remove old .rviz file
mdurrani808 Dec 30, 2025
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2 changes: 2 additions & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -207,3 +207,5 @@ cython_debug/
*.out
*.app

.DS_Store
*.mcap
2 changes: 2 additions & 0 deletions dependencies.sh
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Expand Up @@ -4,6 +4,8 @@ set -euo pipefail

pkgs=(
python3-colcon-common-extensions
libgeographic-dev
geographiclib-tools
)

for pkg in "${pkgs[@]}"; do
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2 changes: 2 additions & 0 deletions src/description/CMakeLists.txt
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Expand Up @@ -11,9 +11,11 @@ install(DIRECTORY
config
launch
meshes
models
rviz
ros2_control
urdf
worlds
DESTINATION share/${PROJECT_NAME}/
)

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8 changes: 4 additions & 4 deletions src/description/rviz/athena_drive.rviz
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Expand Up @@ -62,7 +62,7 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
chassis_base_link:
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Expand Down Expand Up @@ -170,7 +170,7 @@ Visualization Manager:
Frame Timeout: 15
Frames:
All Enabled: true
chassis_base_link:
base_link:
Value: true
propulsion_1_link:
Value: true
Expand Down Expand Up @@ -214,7 +214,7 @@ Visualization Manager:
Show Axes: true
Show Names: true
Tree:
chassis_base_link:
base_link:
suspension_front_left_link:
swerve_mount_1_link:
steer_1_link:
Expand Down Expand Up @@ -242,7 +242,7 @@ Visualization Manager:
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: chassis_base_link
Fixed Frame: base_link
Frame Rate: 30
Name: root
Tools:
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255 changes: 0 additions & 255 deletions src/description/rviz/new_athena_drive.rviz
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This file was deleted.

12 changes: 12 additions & 0 deletions src/description/urdf/athena_drive.urdf.xacro
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Expand Up @@ -14,6 +14,7 @@
<xacro:include filename="$(find description)/urdf/athena_drive/athena_drive_macro.ros2_control.xacro"/>
<xacro:include filename="imu.xacro"/>
<xacro:include filename="gps.xacro"/>
<xacro:include filename="ground_truth_odom.xacro"/>


<!-- Load robot's macro with parameters -->
Expand All @@ -37,6 +38,17 @@
<!-- Contains description of drive -->
<xacro:description/>


<xacro:imu_sensor parent="base_link">
<origin xyz="0 0 0.0" rpy="0 0 0"/>
</xacro:imu_sensor>

<xacro:gps_sensor parent="base_link">
<origin xyz="0 0 0.0" rpy="0 0 0"/>
</xacro:gps_sensor>

<xacro:ground_truth_odometry/>

<xacro:if value="$(arg use_mock_hardware)">
<xacro:athena_drive_ros2_control
name="athena_drive"
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6 changes: 3 additions & 3 deletions src/description/urdf/athena_drive_description.urdf.xacro
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Expand Up @@ -4,7 +4,7 @@
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="description">
<link name="chassis_base_link">
<link name="base_link">
<inertial>
<origin xyz="0.775305042176281 -0.0692748019047986 -0.475175318827691" rpy="0 0 0" />
<mass value="44.0454429414672" />
Expand Down Expand Up @@ -52,7 +52,7 @@

<joint name="suspension_front_left_joint" type="fixed">
<origin xyz="0.61263 0.22146 -0.74592" rpy="1.5708 0 0.094743" />
<parent link="chassis_base_link" />
<parent link="base_link" />
<child link="suspension_front_left_link" />
<axis xyz="0 0 -1" />
<limit lower="-1.0471975512" upper="1.0471975512" effort="200" velocity="3" />
Expand Down Expand Up @@ -325,7 +325,7 @@

<joint name="suspension_front_right_joint" type="fixed">
<origin xyz="0.66803 -0.36146 -0.74592" rpy="1.5708 0 0.094743" />
<parent link="chassis_base_link" />
<parent link="base_link" />
<child link="suspension_front_right_link" />
<axis xyz="0 0 1" />
<limit lower="-1.0471975512" upper="1.0471975512" effort="200" velocity="3" />
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