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Added ground truth tf publisher, updated URDF to follow proper coordinate conventions #26

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Merged
mdurrani808 merged 3 commits into from
Jan 15, 2026
Merged

Added ground truth tf publisher, updated URDF to follow proper coordinate conventions #26

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ad4a00d
Update description and simulation configurations
mdurrani808 Jan 11, 2026
04b5c3e
removed old xacro file
mdurrani808 Jan 11, 2026
ecfc249
Merge branch 'main' into description-and-simulation
mdurrani808 Jan 15, 2026
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34 changes: 24 additions & 10 deletions src/description/config/athena_drive_sim_controllers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -14,29 +14,43 @@ controller_manager:

ackermann_steering_controller:
ros__parameters:

# Joint names
rear_wheels_names: ["propulsion_fl_joint", "propulsion_fr_joint"]

front_wheels_names: ["steer_fl_joint", "steer_fr_joint"]

# Vehicle dimensions
wheelbase: 0.8382
front_wheel_track: 0.6604
rear_wheel_track: 0.6604
wheelbase: 0.8382
front_wheels_radius: 0.254
rear_wheels_radius: 0.254

# Steering configuration
front_steering: true

# Control parameters
use_stamped_vel: true
publish_rate: 50.0

odom_frame_id: "odom"
base_frame_id: "base_link"
publish_odom: true
publish_odom_tf: true
open_loop: false
reduce_wheel_speed_until_steering_reached: false
velocity_rolling_window_size: 10
reference_timeout: 0.2

# Frame IDs
base_frame_id: "base_footprint"
odom_frame_id: "odom"

# Odometry configuration
enable_odom_tf: false
position_feedback: false

# Covariance
twist_covariance_diagonal: [0.0, 7.0, 14.0, 21.0, 28.0, 35.0]
pose_covariance_diagonal: [0.0, 7.0, 14.0, 21.0, 28.0, 35.0]


rear_steer_position_controller:
ros__parameters:
joints:
- steer_br_joint
- steer_bl_joint
interface_name: position
interface_name: position
10 changes: 5 additions & 5 deletions src/description/urdf/athena_drive.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -40,15 +40,15 @@
<xacro:description/>


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

<xacro:ground_truth_odometry/>
<xacro:ground_truth_odometry robot_base_frame="base_footprint"/>

<xacro:depth_camera parent_link="base_link">
<origin xyz="0.75 0 -0.37" rpy="0 0 0"/>
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