Manual Drive sim integration and SDF creation.

src/description/models/terrain_world/model.config

@@ -0,0 +1,10 @@
+<?xml version="1.0"?>
+<model>
+  <name>terrain_world</name>
+  <version>1.0</version>
+  <sdf version="1.7">model.sdf</sdf>
+  <author>
+    <name>Rishav Nair</name>
+  </author>
+  <description>Terrain imported from Blender (.glb)</description>
+</model>

src/description/models/terrain_world/model.sdf

@@ -0,0 +1,34 @@
+<?xml version="1.0"?>
+<sdf version="1.7">
+  <model name="terrain_world">
+    <static>true</static>
+    <link name="terrain_world_link">
+      <visual name="terrain_world_visual">
+        <geometry>
+          <mesh>
+            <uri>model://terrain_world/meshes/terrain.dae</uri>
+          </mesh>
+        </geometry>
+        <!-- <material>
+          <script>
+            <uri>model://terrain/meshes/scripts</uri>
+            <name>RepeatedSand/Diffuse</name>
+          </script> 
+        </material> -->
+        <material>
+          <ambient>0.85 0.76 0.52 1</ambient>
+          <diffuse>0.85 0.76 0.52 1</diffuse>
+          <specular>0.0 0.0 0.0 1</specular>
+        </material>
+
+      </visual>
+      <collision name="terrain_world_collision">
+        <geometry>
+          <mesh>
+            <uri>model://terrain_world/meshes/terrain.dae</uri>
+          </mesh>
+        </geometry>
+      </collision>
+    </link>
+  </model>
+</sdf>

src/description/urdf/athena_drive.urdf.xacro

@@ -34,7 +34,11 @@
   <!-- Import odrive ros2_control description -->
   <xacro:include filename="$(find description)/ros2_control/drive/drive.odrive.ros2_control.xacro" />
 
+<<<<<<< HEAD
   <!-- Contains description of drive -->
+=======
+
+>>>>>>> a44562b (Fixed simulation bugs to enable rover control in gazebo)
   <xacro:description/>
 
   <xacro:if value="$(arg use_mock_hardware)">

src/description/urdf/athena_drive_description.urdf.xacro

@@ -116,7 +116,7 @@
             <parent link="swerve_mount_1_link" />
             <child link="steer_1_link" />
             <axis xyz="0 1 0" />
-            <limit lower="0" upper="6.2832" effort="200" velocity="3" />
+            <limit lower="-3.1416" upper="3.1416" effort="200" velocity="3" />
         </joint>
 
         <link name="wheel_bracket_1_link">
@@ -237,7 +237,7 @@
             <parent link="swerve_mount_4_link" />
             <child link="steer_4_link" />
             <axis xyz="0 1 0" />
-            <limit lower="0" upper="6.2832" effort="200" velocity="3" />
+            <limit lower="-3.1416" upper="3.1416" effort="200" velocity="3" />
         </joint>
 
         <link name="wheel_bracket_4_link">
@@ -389,7 +389,7 @@
             <parent link="swerve_mount_2_link" />
             <child link="steer_2_link" />
             <axis xyz="0 1 0" />
-            <limit lower="0" upper="6.2832" effort="200" velocity="3" />
+            <limit lower="-3.1416" upper="3.1416" effort="200" velocity="3" />
         </joint>
 
         <link name="wheel_bracket_2_link">
@@ -510,7 +510,7 @@
             <parent link="swerve_mount_3_link" />
             <child link="steer_3_link" />
             <axis xyz="0 1 0" />
-            <limit lower="0" upper="6.28318530718" effort="200" velocity="3" />
+            <limit lower="-3.1416" upper="3.1416" effort="200" velocity="3" />
         </joint>
 
         <link name="wheel_bracket_3_link">

src/description/worlds/terrain_world.sdf

@@ -0,0 +1,21 @@
+<?xml version="1.0" ?>
+<sdf version="1.7">
+  <world name="default">
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+          <range>1000</range>
+          <constant>0.9</constant>
+          <linear>0.01</linear>
+          <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+    </light>
+    <include>
+      <uri>model://terrain_world</uri>
+    </include>
+  </world>
+</sdf>

src/simulation/launch/bringup.launch.py

@@ -27,6 +27,11 @@
         default_value='empty.sdf',
         description='Gazebo world file to load'
     ),
+    DeclareLaunchArgument(
+        'world_name',
+        default_value='default',  
+        description='Name of the world inside Gazebo'
+    ),
 ]
 
 def generate_launch_description():
@@ -54,7 +59,8 @@ def generate_launch_description():
         launch_arguments=[
             ('namespace', LaunchConfiguration('namespace')),
             ('rviz', LaunchConfiguration('rviz')),
-            ('use_sim_time', LaunchConfiguration('use_sim_time'))
+            ('use_sim_time', LaunchConfiguration('use_sim_time')),
+            ('world_name', LaunchConfiguration('world_name'))
         ]
     )
 

src/subsystems/drive/drive_bringup/CMakeLists.txt

@@ -18,6 +18,7 @@ install(
 
 install(PROGRAMS
   scripts/controller_switcher.py
+  scripts/twist_stamper.py
   DESTINATION lib/${PROJECT_NAME}
 )
 

src/subsystems/drive/drive_bringup/launch/athena_drive.launch.py

@@ -348,6 +348,17 @@ def generate_launch_description():
         parameters = [teleop_twist_config],
     )
 
+    twist_stamper_node = Node(
+        package="drive_bringup",
+        executable="twist_stamper.py",
+        name="twist_stamper",
+        output="screen",
+        parameters=[{
+            "in_topic": "/cmd_vel",
+            "out_topic": "/ackermann_steering_controller/reference",
+        }]
+    )
+
 
     return LaunchDescription(
         declared_arguments + 
@@ -356,6 +367,7 @@ def generate_launch_description():
             robot_state_pub_node,
             joystick_publisher,
             teleop_twist_joy,
+            twist_stamper_node,
             joint_state_publisher,
             # delay_can_node_after_control_node,
             delay_joint_state_broadcaster_spawner_after_ros2_control_node,

src/subsystems/drive/drive_bringup/scripts/twist_stamper.py

@@ -0,0 +1,34 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import TwistStamped
+
+class TwistRelay(Node):
+    def __init__(self):
+        super().__init__('twist_relay')
+        self.declare_parameter('in_topic', '/cmd_vel')
+        self.declare_parameter('out_topic', '/ackermann_steering_controller/reference')
+
+        in_topic  = self.get_parameter('in_topic').value
+        out_topic = self.get_parameter('out_topic').value
+
+        self.pub = self.create_publisher(TwistStamped, out_topic, 10)
+        self.sub = self.create_subscription(TwistStamped, in_topic, self.cb, 10)
+
+        self.get_logger().info(
+            f"Relaying TwistStamped '{in_topic}' → '{out_topic}'"
+        )
+
+    def cb(self, msg: TwistStamped):
+        # Just forward the message as-is
+        self.pub.publish(msg)
+
+def main():
+    rclpy.init()
+    node = TwistRelay()
+    rclpy.spin(node)
+    node.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()