Update sam_bot_description for the new Gazebo (#102)

* Update DiffDrive, and IMU for new Gazebo

Update nav2_params.yaml

Update to use stamped twist messages

Add SDF description

Signed-off-by: Aarav Gupta <amronos275@gmail.com>

* Add plugins to world file

Signed-off-by: Aarav Gupta <amronos275@gmail.com>

* Fix/Update sensors and add them to SDF also

Signed-off-by: Aarav Gupta <amronos275@gmail.com>

* Update robot footprint

Signed-off-by: Aarav Gupta <amronos275@gmail.com>

* Update imu_sensor frame_id

Signed-off-by: Aarav Gupta <amronos275@gmail.com>

* Make caster close to frictionless

Signed-off-by: Aarav Gupta <amronos275@gmail.com>

* Implement review comments

Signed-off-by: Aarav Gupta <amronos275@gmail.com>

* Add argument for using ekf

Signed-off-by: Aarav Gupta <amronos275@gmail.com>

* Some fixes

Signed-off-by: Aarav Gupta <amronos275@gmail.com>

* Update sam_bot_description/launch/display.launch.py

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Aarav Gupta <amronos275@gmail.com>

* Add needed dependencies to package.xml

Signed-off-by: Aarav Gupta <amronos275@gmail.com>

* Rename urdf_config.rviz to config.rviz

Signed-off-by: Aarav Gupta <amronos275@gmail.com>

* Small argument description fix

Signed-off-by: Aarav Gupta <amronos275@gmail.com>

* Fix ekf config

Signed-off-by: Aarav Gupta <amronos275@gmail.com>

* Remove Gazebo specific things from URDF

Signed-off-by: Aarav Gupta <amronos275@gmail.com>

* Implement review comments

Signed-off-by: Aarav Gupta <amronos275@gmail.com>

* Small code style fix

Signed-off-by: Aarav Gupta <amronos275@gmail.com>

---------

Signed-off-by: Aarav Gupta <amronos275@gmail.com>
Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

Author: Amronos

sam_bot_description/config/bridge_config.yaml

@@ -0,0 +1,57 @@
+---
+- ros_topic_name: "/clock"
+  gz_topic_name: "/clock"
+  ros_type_name: "rosgraph_msgs/msg/Clock"
+  gz_type_name: "gz.msgs.Clock"
+  direction: GZ_TO_ROS
+
+- ros_topic_name: "/demo/imu"
+  gz_topic_name: "/demo/imu"
+  ros_type_name: "sensor_msgs/msg/Imu"
+  gz_type_name: "gz.msgs.IMU"
+  direction: GZ_TO_ROS
+
+# Topic published by DiffDrive plugin
+- ros_topic_name: "/demo/odom"
+  gz_topic_name: "/demo/odom"
+  ros_type_name: "nav_msgs/msg/Odometry"
+  gz_type_name: "gz.msgs.Odometry"
+  direction: GZ_TO_ROS
+
+# Topic published by JointStatePublisher plugin
+- ros_topic_name: "/joint_states"
+  gz_topic_name: "/joint_states"
+  ros_type_name: "sensor_msgs/msg/JointState"
+  gz_type_name: "gz.msgs.Model"
+  direction: GZ_TO_ROS
+
+# Topic subscribed to by DiffDrive plugin
+- ros_topic_name: "/demo/cmd_vel"
+  gz_topic_name: "/demo/cmd_vel"
+  ros_type_name: "geometry_msgs/msg/TwistStamped"
+  gz_type_name: "gz.msgs.Twist"
+  direction: ROS_TO_GZ
+
+- ros_topic_name: "/scan"
+  gz_topic_name: "/scan"
+  ros_type_name: "sensor_msgs/msg/LaserScan"
+  gz_type_name: "gz.msgs.LaserScan"
+  direction: GZ_TO_ROS
+
+- ros_topic_name: "/scan/points"
+  gz_topic_name: "/scan/points"
+  ros_type_name: "sensor_msgs/msg/PointCloud2"
+  gz_type_name: "gz.msgs.PointCloudPacked"
+  direction: GZ_TO_ROS
+
+- ros_topic_name: "/depth_camera/camera_info"
+  gz_topic_name: "/depth_camera/camera_info"
+  ros_type_name: "sensor_msgs/msg/CameraInfo"
+  gz_type_name: "gz.msgs.CameraInfo"
+  direction: GZ_TO_ROS
+
+- ros_topic_name: "/depth_camera/points"
+  gz_topic_name: "/depth_camera/points"
+  ros_type_name: "sensor_msgs/msg/PointCloud2"
+  gz_type_name: "gz.msgs.PointCloudPacked"
+  direction: GZ_TO_ROS

sam_bot_description/config/ekf.yaml

@@ -1,5 +1,5 @@
 ### ekf config file ###
-ekf_filter_node:
+ekf_node:
     ros__parameters:
 # The frequency, in Hz, at which the filter will output a position estimate. Note that the filter will not begin
 # computation until it receives at least one message from one of the inputs. It will then run continuously at the
@@ -33,15 +33,15 @@ ekf_filter_node:
         world_frame: odom           # Defaults to the value of odom_frame if unspecified
 
         odom0: demo/odom
-        odom0_config: [true,  true,  true,
-                       false, false, false,
+        odom0_config: [false, false, false,
                        false, false, false,
+                       true, true, false,
                        false, false, true,
                        false, false, false]
 
         imu0: demo/imu
         imu0_config: [false, false, false,
-                      true,  true,  true,
                       false, false, false,
                       false, false, false,
+                      false, false, true,
                       false, false, false]