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Refactor Drive Launch Files #6

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5d72b20
refactor all drive launch files to better handle seperation of concer…
mdurrani808 Nov 17, 2025
ecd2d1a
remove old simulation files
mdurrani808 Nov 17, 2025
6e09093
almost working but it doesn't move
mdurrani808 Nov 17, 2025
9e95ba0
eugh
mdurrani808 Nov 18, 2025
6fd2f19
getting closer to working
mdurrani808 Nov 18, 2025
d17a843
its alive
mdurrani808 Nov 18, 2025
0a0a580
fixed mismatched tag
mdurrani808 Nov 18, 2025
7a4dd97
Merge branch 'main' into refactor-drive-launch
mdurrani808 Nov 18, 2025
3cc31f9
fix suspension naming
mdurrani808 Nov 20, 2025
1fb0a58
fixed merge conflcits
mdurrani808 Nov 20, 2025
059f9dc
fix bad merge
mdurrani808 Nov 20, 2025
de3dd06
make athena-drive less bad
mdurrani808 Nov 20, 2025
b3c8f60
update the launch files to be in a more standard style
mdurrani808 Nov 20, 2025
792b455
more cleanup
mdurrani808 Nov 20, 2025
d687a68
fix sim bringup
mdurrani808 Nov 23, 2025
e644fd1
handle review
mdurrani808 Nov 29, 2025
4ef3ada
Merge branch 'main' into refactor-drive-launch
mdurrani808 Nov 29, 2025
a8b3059
rename to rviz launch
mdurrani808 Nov 29, 2025
8826734
added odrive and rmd dependencies
mdurrani808 Dec 2, 2025
728d56f
maybe this works
mdurrani808 Dec 2, 2025
86eb244
maybe fix the remappings
mdurrani808 Dec 2, 2025
91dbc1d
Merge branch 'main' into refactor-drive-launch
mdurrani808 Dec 3, 2025
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4 changes: 0 additions & 4 deletions src/bringup/package.xml
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Expand Up @@ -14,10 +14,6 @@
<exec_depend>rclpy</exec_depend>
<exec_depend>controller_manager_msgs</exec_depend>

<exec_depend>arm_bringup</exec_depend>
<exec_depend>drive_bringup</exec_depend>
<exec_depend>science_bringup</exec_depend>

<export>
<build_type>ament_cmake</build_type>
</export>
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35 changes: 0 additions & 35 deletions src/description/config/athena_drive_sim_controllers.yaml
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This file was deleted.

1 change: 0 additions & 1 deletion src/description/launch/display.launch.py
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Expand Up @@ -24,7 +24,6 @@ def generate_launch_description():
PathJoinSubstitution([FindExecutable(name="xacro")]),
" ",
robot_description_path,
" use_mock_hardware:=true",
]
)

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9 changes: 3 additions & 6 deletions src/description/urdf/athena_arm.urdf.xacro
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Expand Up @@ -3,10 +3,7 @@

<!-- Launch file arguments -->
<xacro:arg name="prefix" default=""/>
<xacro:arg name="use_mock_hardware" default="false"/>
<xacro:arg name="mock_sensor_commands" default="false"/>
<xacro:arg name="sim_gazebo_classic" default="true"/>
<xacro:arg name="sim_gazebo" default="true"/>
<xacro:arg name="use_sim" default="false"/>
<xacro:arg name="simulation_controllers" default=""/>

<!-- Macro Imports -->
Expand Down Expand Up @@ -40,10 +37,10 @@
<xacro:description/>


<xacro:if value="$(arg use_mock_hardware)"> <!-- MOCK -->
<xacro:if value="$(arg use_sim)">
<xacro:mock_ros2_control name="mock"/>
</xacro:if>
<xacro:unless value="$(arg use_mock_hardware)"> <!-- HARDWARE -->
<xacro:unless value="$(arg use_sim)">
<xacro:smc_ros2_control name="smc"/>
<xacro:talon_ros2_control name="talon"/>
<xacro:rmd_ros2_control name="rmd"/>
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13 changes: 5 additions & 8 deletions src/description/urdf/athena_drive.urdf.xacro
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Expand Up @@ -4,9 +4,8 @@
<!-- Use this if parameters are set from the launch file, otherwise delete -->
<xacro:arg name="prefix" default=""/>

<xacro:arg name="use_mock_hardware" default="false"/>
<xacro:arg name="mock_sensor_commands" default="false"/>
<xacro:arg name="sim_gazebo" default="true"/>

<xacro:arg name="use_sim" default="false"/>
<xacro:arg name="simulation_controllers" default=""/>


Expand Down Expand Up @@ -37,16 +36,14 @@
<!-- Contains description of drive -->
<xacro:description/>

<xacro:if value="$(arg use_mock_hardware)">
<xacro:if value="$(arg use_sim)">
<xacro:athena_drive_ros2_control
name="athena_drive"
prefix="$(arg prefix)"
use_mock_hardware="$(arg use_mock_hardware)"
mock_sensor_commands="$(arg mock_sensor_commands)"
sim_gazebo="$(arg sim_gazebo)"
use_sim="true"
simulation_controllers="$(arg simulation_controllers)"/>
</xacro:if>
<xacro:unless value="$(arg use_mock_hardware)">
<xacro:unless value="$(arg use_sim)">
<xacro:odrive_ros2_control name="odrive"/>
<xacro:rmd_ros2_control name="rmd"/>
</xacro:unless>
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243 changes: 107 additions & 136 deletions src/description/urdf/athena_drive/athena_drive_macro.ros2_control.xacro
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@@ -1,141 +1,112 @@
<?xml version="1.0" encoding="UTF-8"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro">

<xacro:macro name="athena_drive_ros2_control" params="
<xacro:macro name="athena_drive_ros2_control" params="
name
prefix
use_mock_hardware:=false
mock_sensor_commands:=false
sim_gazebo:=false
simulation_controllers"
>

<ros2_control name="${name}" type="system">
<hardware>
<xacro:if value="${sim_gazebo}">
<plugin>gz_ros2_control/GazeboSimSystem</plugin>
</xacro:if>

<xacro:if value="${use_mock_hardware and not sim_gazebo}">
<plugin>mock_components/GenericSystem</plugin>
<param name="mock_sensor_commands">${mock_sensor_commands}</param>
</xacro:if>

<xacro:unless value="${use_mock_hardware or sim_gazebo}">
<plugin>mock_components/GenericSystem</plugin>
</xacro:unless>
</hardware>

<joint name="${prefix}suspension_front_left_joint">
<command_interface name="position">
<param name="min">-1.0471975512</param>
<param name="max">1.0471975512</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
</joint>

<joint name="${prefix}suspension_front_right_joint">
<command_interface name="position">
<param name="min">-1.0471975512</param>
<param name="max">1.0471975512</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
</joint>

<joint name="${prefix}steer_fl_joint">
<command_interface name="position">
<param name="min">0</param>
<param name="max">6.2832</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
</joint>

<joint name="${prefix}steer_fr_joint">
<command_interface name="position">
<param name="min">0</param>
<param name="max">6.2832</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
</joint>

<joint name="${prefix}steer_br_joint">
<command_interface name="position">
<param name="min">0</param>
<param name="max">6.28318530718</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
</joint>

<joint name="${prefix}steer_bl_joint">
<command_interface name="position">
<param name="min">0</param>
<param name="max">6.2832</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
</joint>


<joint name="${prefix}propulsion_fl_joint">
<command_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
</joint>

<joint name="${prefix}propulsion_fr_joint">
<command_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
</joint>


<joint name="${prefix}propulsion_br_joint">
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
</joint>


<joint name="${prefix}propulsion_bl_joint">
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
</ros2_control>

<xacro:if value="$(arg sim_gazebo)">
<gazebo>
<plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
<xacro:if value="${simulation_controllers != ''}">
<parameters>${simulation_controllers}</parameters>
</xacro:if>
<controller_manager_node_name>${prefix}controller_manager</controller_manager_node_name>
</plugin>
</gazebo>
</xacro:if>

</xacro:macro>
prefix use_sim:=false
simulation_controllers">

<ros2_control name="${name}" type="system">
<hardware>
<xacro:if value="$(arg use_sim)">
<plugin>gz_ros2_control/GazeboSimSystem</plugin>
</xacro:if>

<xacro:unless value="$(arg use_sim)">
<plugin>mock_components/GenericSystem</plugin>
</xacro:unless>
</hardware>

<joint name="${prefix}steer_fl_joint">
<command_interface name="position">
<param name="min">0</param>
<param name="max">6.2832</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
</joint>

<joint name="${prefix}steer_fr_joint">
<command_interface name="position">
<param name="min">0</param>
<param name="max">6.2832</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
</joint>

<joint name="${prefix}steer_br_joint">
<command_interface name="position">
<param name="min">0</param>
<param name="max">6.28318530718</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
</joint>

<joint name="${prefix}steer_bl_joint">
<command_interface name="position">
<param name="min">0</param>
<param name="max">6.2832</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
</joint>


<joint name="${prefix}propulsion_fl_joint">
<command_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
</joint>

<joint name="${prefix}propulsion_fr_joint">
<command_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
</joint>


<joint name="${prefix}propulsion_br_joint">
<command_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
</joint>


<joint name="${prefix}propulsion_bl_joint">
<command_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
</ros2_control>

<xacro:if value="$(arg use_sim)">
<gazebo>
<plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
<xacro:if value="${simulation_controllers != ''}">
<parameters>${simulation_controllers}</parameters>
</xacro:if>
<controller_manager_node_name>${prefix}controller_manager</controller_manager_node_name>
</plugin>
</gazebo>
</xacro:if>

</xacro:macro>
</robot>
6 changes: 3 additions & 3 deletions src/description/urdf/athena_drive/athena_drive_macro.xacro
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Expand Up @@ -177,7 +177,7 @@
<child link="${prefix}base_link"/>
</joint>
<!-- joint 1 -->
<joint name="${prefix}suspension_left_joint" type="revolute">
<joint name="${prefix}suspension_front_left_joint" type="revolute">
<origin xyz="0 0 0.3" rpy="${pi} 0 0"/>
<parent link="${prefix}base_link"/>
<child link="${prefix}link1"/>
Expand Down Expand Up @@ -217,7 +217,7 @@
<limit effort="0" lower="${radians(-120)}" upper="${radians(120)}" velocity="${radians(540)}"/>
</joint>
<!-- joint 6 -->
<joint name="${prefix}suspension_right_joint" type="revolute">
<joint name="${prefix}suspension_front_right_joint" type="revolute">
<origin xyz="0.125 0 0" rpy="0 ${-pi/2} 0"/>
<parent link="${prefix}link5"/>
<child link="${prefix}link6"/>
Expand All @@ -226,7 +226,7 @@
</joint>

<!-- tool frame - fixed frame -->
<joint name="${prefix}suspension_right_joint-tool0" type="fixed">
<joint name="${prefix}suspension_front_right_joint-tool0" type="fixed">
<parent link="${prefix}link6"/>
<child link="${prefix}tool0"/>
<origin xyz="0 0 -0.115" rpy="0 ${-pi} ${-pi/2}"/>
Expand Down
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