Staging checkin

Moved to mechanum controller
Use a single URDF from the robot description
TODO: Wheel physics is not yet correct for mecanum movement.

src/elephant_robotics/agv_pro_bringup/launch/agv_pro_bringup.launch.py

@@ -36,7 +36,7 @@ def generate_launch_description():
     urdf_file = os.path.join(
         get_package_share_directory('agv_pro_description'),
         'urdf',
-        'agv_pro.urdf'
+        'agv_pro.urdf.xacro'
     )
 
     # Pass both namespace and port_name into the xacro processor so that the
@@ -117,9 +117,12 @@ def generate_launch_description():
         output='screen',
     )
 
-    # mecanum_drive_controller subscribes to ~/reference (TwistStamped).
+    # mecanum_drive_controller subscribes to ~/reference (TwistStamped). Remap it
-    # --controller-ros-args remaps it to /cmd_vel so nav2 and teleop work
+    # to the standard /cmd_vel so nav2 and teleop work without extra flags
-    # without extra flags (teleop still needs stamped:=true).
+    # (teleop still needs stamped:=true).
+    # NOTE: the remap key MUST be the private name '~/reference' — a bare
+    # 'reference:=/cmd_vel' is silently ignored and the controller stays on
+    # /mecanum_drive_controller/reference.
     # Delayed slightly so controller_manager is ready before spawning.
     mecanum_drive_controller_spawner = TimerAction(
         period=2.0,
@@ -130,29 +133,13 @@ def generate_launch_description():
                 arguments=[
                     'mecanum_drive_controller',
                     '--controller-manager', 'controller_manager',
-                    '--controller-ros-args', '-r reference:=/cmd_vel',
+                    '--controller-ros-args', '-r ~/reference:=/cmd_vel',
                 ],
                 output='screen',
             )
         ]
     )
 
-    # Relay /cmd_vel (TwistStamped) → /mecanum_drive_controller/reference.
-    # This bridges the standard nav2/teleop topic to the controller's
-    # internal subscription, which ros2_control does not remap at load time.
-    # lazy:=false ensures the subscription exists before any publisher appears.
-    cmd_vel_relay = Node(
-        package='topic_tools',
-        executable='relay',
-        name='cmd_vel_relay',
-        parameters=[{
-            'input_topic':  '/cmd_vel',
-            'output_topic': '/mecanum_drive_controller/reference',
-            'lazy': False,
-        }],
-        output='screen',
-    )
-
     lidar_launchs = [
         include_lidar('lslidar_driver', 'lsn10p_launch.py', enable_lidar, lidar_type, 'n10p'),
         include_lidar('agv_pro_bringup', 'MID360_launch.py', enable_lidar, lidar_type, 'mid360'),
@@ -170,7 +157,6 @@ def generate_launch_description():
             robot_state_pub,
             joint_state_broadcaster_spawner,
             mecanum_drive_controller_spawner,
-            cmd_vel_relay,
             *lidar_launchs,
         ]
     )

src/elephant_robotics/agv_pro_bringup/package.xml

@@ -12,7 +12,6 @@
   <exec_depend>controller_manager</exec_depend>
   <exec_depend>mecanum_drive_controller</exec_depend>
   <exec_depend>joint_state_broadcaster</exec_depend>
-  <exec_depend>topic_tools</exec_depend>
   <exec_depend>agv_pro_hardware</exec_depend>
   <exec_depend>agv_pro_description</exec_depend>
   <exec_depend>rviz2</exec_depend>

src/elephant_robotics/agv_pro_description/launch/agv_pro_display.launch.py

@@ -20,7 +20,7 @@ def generate_launch_description():
     urdf_file = os.path.join(
         get_package_share_directory('agv_pro_description'),
         'urdf',
-        'agv_pro.urdf'
+        'agv_pro.urdf.xacro'
     )
 
     robot_description_content = Command([

src/elephant_robotics/agv_pro_description/urdf/agv_pro.gazebo.xacro

@@ -0,0 +1,41 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <!--
+    Gazebo (gz-sim Harmonic) specific tags. Only included when sim=true.
+    Provides wheel surface friction/material and loads the gz_ros2_control
+    system plugin that hosts the controller_manager inside gz-sim.
+  -->
+  <xacro:macro name="agv_pro_gazebo" params="namespace controllers_file">
+
+    <!-- Per-wheel surface friction + dark material -->
+    <xacro:macro name="wheel_gz" params="link">
+      <gazebo reference="${link}">
+        <mu1>0.8</mu1>
+        <mu2>0.8</mu2>
+        <kp>100000.0</kp>
+        <kd>1.0</kd>
+        <visual>
+          <material>
+            <ambient>0.1 0.1 0.1 1</ambient>
+            <diffuse>0.1 0.1 0.1 1</diffuse>
+            <specular>0.1 0.1 0.1 1</specular>
+          </material>
+        </visual>
+      </gazebo>
+    </xacro:macro>
+
+    <xacro:wheel_gz link="${namespace}left_front_wheel_link"/>
+    <xacro:wheel_gz link="${namespace}right_front_wheel_link"/>
+    <xacro:wheel_gz link="${namespace}left_rear_wheel_link"/>
+    <xacro:wheel_gz link="${namespace}right_rear_wheel_link"/>
+
+    <!-- gz_ros2_control system plugin: hosts the controller_manager in gz-sim -->
+    <gazebo>
+      <plugin filename="gz_ros2_control-system"
+              name="gz_ros2_control::GazeboSimROS2ControlPlugin">
+        <parameters>${controllers_file}</parameters>
+      </plugin>
+    </gazebo>
+  </xacro:macro>
+</robot>

src/elephant_robotics/agv_pro_description/urdf/agv_pro.ros2_control.xacro

@@ -0,0 +1,59 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <!--
+    ros2_control block shared by the physical robot and the Gazebo simulation.
+
+    The only difference between the two is the <hardware> plugin:
+      sim=false  ->  agv_pro_hardware/AgvProHardwareInterface  (real serial base)
+      sim=true   ->  gz_ros2_control/GazeboSimSystem           (Gazebo Harmonic)
+
+    Joint-name note: the URDF joint origins show two wheels are physically at the
+    'wrong' position relative to their names (left_rear is physically front-right,
+    right_front is physically rear-left). The hardware plugin (real) and the
+    mecanum_drive_controller (both) resolve this via the front/rear/left/right
+    parameter mapping.
+  -->
+  <xacro:macro name="agv_pro_ros2_control" params="sim namespace port_name">
+    <ros2_control name="AgvProSystem" type="system">
+      <hardware>
+        <xacro:if value="${sim}">
+          <plugin>gz_ros2_control/GazeboSimSystem</plugin>
+        </xacro:if>
+        <xacro:unless value="${sim}">
+          <plugin>agv_pro_hardware/AgvProHardwareInterface</plugin>
+          <param name="port_name">${port_name}</param>
+          <param name="wheel_radius">0.072</param>
+          <param name="lx">0.172</param>
+          <param name="ly">0.180</param>
+          <!-- Physical wheel position -> URDF joint name mapping -->
+          <param name="front_left_joint">${namespace}left_front_wheel_joint</param>
+          <param name="front_right_joint">${namespace}left_rear_wheel_joint</param>
+          <param name="rear_left_joint">${namespace}right_front_wheel_joint</param>
+          <param name="rear_right_joint">${namespace}right_rear_wheel_joint</param>
+        </xacro:unless>
+      </hardware>
+
+      <joint name="${namespace}left_front_wheel_joint">
+        <command_interface name="velocity"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+      </joint>
+      <joint name="${namespace}left_rear_wheel_joint">
+        <command_interface name="velocity"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+      </joint>
+      <joint name="${namespace}right_front_wheel_joint">
+        <command_interface name="velocity"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+      </joint>
+      <joint name="${namespace}right_rear_wheel_joint">
+        <command_interface name="velocity"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+      </joint>
+    </ros2_control>
+  </xacro:macro>
+</robot>

src/elephant_robotics/agv_pro_description/urdf/agv_pro.urdf.xacro

@@ -1,10 +1,21 @@
 <?xml version="1.0" encoding="utf-8"?>
-<robot name="AGV pro" xmlns:xacro="http://www.ros.org/wiki/xacro">
+<robot name="agv_pro" xmlns:xacro="http://www.ros.org/wiki/xacro">
 
+  <!-- Optional namespace prefix for all link/joint names -->
   <xacro:arg name="namespace" default=""/>
   <xacro:property name="namespace" value="$(arg namespace)"/>
 
+  <!-- Hardware selection: false -> real serial base, true -> Gazebo (gz-sim) -->
+  <xacro:arg name="sim" default="false"/>
+  <xacro:property name="sim" value="$(arg sim)"/>
+
+  <!-- Real-hardware serial port (ignored when sim=true) -->
   <xacro:arg name="port_name" default="/dev/agvpro_controller"/>
+  <xacro:property name="port_name" value="$(arg port_name)"/>
+
+  <!-- Controller params file consumed by gz_ros2_control (sim only) -->
+  <xacro:arg name="controllers_file" default=""/>
+  <xacro:property name="controllers_file" value="$(arg controllers_file)"/>
 
   <link name="${namespace}base_footprint"/>
 
@@ -231,49 +242,14 @@
     <child link="${namespace}imu_link" />
   </joint>
 
-  <!-- ════════════════════════════════════════════════════════════════════════
+  <!-- ros2_control: real hardware or gz_ros2_control depending on 'sim' -->
-       ros2_control hardware interface for the real robot.
+  <xacro:include filename="$(find agv_pro_description)/urdf/agv_pro.ros2_control.xacro"/>
+  <xacro:agv_pro_ros2_control sim="${sim}" namespace="${namespace}" port_name="${port_name}"/>
 
-       Joint-name note: the URDF joint origins show that two wheels are
+  <!-- Gazebo-only tags (friction, material, gz_ros2_control system plugin) -->
-       physically at the 'wrong' position relative to their names:
+  <xacro:if value="${sim}">
-         left_rear_wheel_joint  is physically at front-right (+x, -y)
+    <xacro:include filename="$(find agv_pro_description)/urdf/agv_pro.gazebo.xacro"/>
-         right_front_wheel_joint is physically at rear-left  (-x, +y)
+    <xacro:agv_pro_gazebo namespace="${namespace}" controllers_file="${controllers_file}"/>
-       The hardware plugin and mecanum_drive_controller both use the
+  </xacro:if>
-       front_left/front_right/rear_left/rear_right params to resolve this.
-       ════════════════════════════════════════════════════════════════════════ -->
-  <ros2_control name="AgvProHardwareInterface" type="system">
-    <hardware>
-      <plugin>agv_pro_hardware/AgvProHardwareInterface</plugin>
-      <param name="port_name">$(arg port_name)</param>
-      <param name="wheel_radius">0.072</param>
-      <param name="lx">0.172</param>
-      <param name="ly">0.180</param>
-      <!-- Physical wheel position → URDF joint name mapping -->
-      <param name="front_left_joint">${namespace}left_front_wheel_joint</param>
-      <param name="front_right_joint">${namespace}left_rear_wheel_joint</param>
-      <param name="rear_left_joint">${namespace}right_front_wheel_joint</param>
-      <param name="rear_right_joint">${namespace}right_rear_wheel_joint</param>
-    </hardware>
-    <joint name="${namespace}left_front_wheel_joint">
-      <command_interface name="velocity"/>
-      <state_interface name="position"/>
-      <state_interface name="velocity"/>
-    </joint>
-    <joint name="${namespace}left_rear_wheel_joint">
-      <command_interface name="velocity"/>
-      <state_interface name="position"/>
-      <state_interface name="velocity"/>
-    </joint>
-    <joint name="${namespace}right_front_wheel_joint">
-      <command_interface name="velocity"/>
-      <state_interface name="position"/>
-      <state_interface name="velocity"/>
-    </joint>
-    <joint name="${namespace}right_rear_wheel_joint">
-      <command_interface name="velocity"/>
-      <state_interface name="position"/>
-      <state_interface name="velocity"/>
-    </joint>
-  </ros2_control>
 
 </robot>

src/elephant_robotics/agv_pro_gazebo/CMakeLists.txt

@@ -7,14 +7,13 @@ endif()
 
 # find dependencies
 find_package(ament_cmake REQUIRED)
-find_package(urdf REQUIRED)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
 endif()
 
-install(DIRECTORY meshes urdf launch rviz config worlds
+install(DIRECTORY meshes launch rviz config worlds
   DESTINATION share/${PROJECT_NAME}
 )
 

src/elephant_robotics/agv_pro_gazebo/config/agv_control.yaml

@@ -1,6 +1,6 @@
 controller_manager:
   ros__parameters:
-    update_rate: 100  # 控制器更新频率 (Hz)
+    update_rate: 50  # 控制器更新频率 (Hz) — matches the physical robot (ESP32 auto-report rate)
     use_sim_time: true  # 使用仿真时间
 
     # 定义关节状态广播器
@@ -11,29 +11,36 @@ controller_manager:
     mecanum_drive_controller:
       type: mecanum_drive_controller/MecanumDriveController
 
-# 麦克纳姆四轮驱动控制器配置
+# ─────────────────────────────────────────────────────────────────────────────
+# Mecanum drive controller — kept IN SYNC with the physical robot config at
+# agv_pro_bringup/config/ros2_controllers.yaml. Only the hardware plugin differs
+# (gz_ros2_control/GazeboSimSystem here vs agv_pro_hardware/AgvProHardwareInterface
+# on the real robot); the controller parameters are identical.
+#
+# NOTE: The URDF joint names do not match the physical wheel positions due to a
+# naming inconsistency in the shared robot model. The controller compensates via
+# the front/rear/left/right command-joint mapping below:
+#
+#   Physical position │ URDF joint name
+#   ──────────────────┼────────────────────────────
+#   front-left  (FL)  │ left_front_wheel_joint   ✓
+#   front-right (FR)  │ left_rear_wheel_joint     ← physically front-right
+#   rear-left   (RL)  │ right_front_wheel_joint   ← physically rear-left
+#   rear-right  (RR)  │ right_rear_wheel_joint   ✓
+# ─────────────────────────────────────────────────────────────────────────────
 mecanum_drive_controller:
   ros__parameters:
-    reference_timeout: 0.5
+    front_left_wheel_command_joint_name:  left_front_wheel_joint
+    front_right_wheel_command_joint_name: left_rear_wheel_joint
+    rear_left_wheel_command_joint_name:   right_front_wheel_joint
+    rear_right_wheel_command_joint_name:  right_rear_wheel_joint
 
-    # 命令关节 (velocity command interface)
+    odom_frame_id:  odom
-    front_left_wheel_command_joint_name: left_front_wheel_joint
+    base_frame_id:  base_footprint
-    front_right_wheel_command_joint_name: right_front_wheel_joint
-    rear_left_wheel_command_joint_name: left_rear_wheel_joint
-    rear_right_wheel_command_joint_name: right_rear_wheel_joint
-
-    kinematics:
-      base_frame_offset:
-        x: 0.0
-        y: 0.0
-        theta: 0.0
-      wheels_radius: 0.05  # 轮子半径
-      # lx + ly : 底盘中心到轮子在 X 与 Y 方向投影之和
-      sum_of_robot_center_projection_on_X_Y_axis: 0.35
-
-    base_frame_id: base_link
-    odom_frame_id: odom
     enable_odom_tf: true
 
-    pose_covariance_diagonal: [0.001, 0.001, 99999.0, 99999.0, 99999.0, 0.03]
+    kinematics:
-    twist_covariance_diagonal: [0.001, 0.001, 99999.0, 99999.0, 99999.0, 0.03]
+      wheels_radius: 0.072  # 轮子半径 (wheel centre height above ground)
+      # sum_of_robot_center_projection_on_X_Y_axis = lx + ly (0.172 + 0.180)
+      sum_of_robot_center_projection_on_X_Y_axis: 0.352
+

src/elephant_robotics/agv_pro_gazebo/launch/agv_pro.launch.py

@@ -1,40 +0,0 @@
-import os
- 
-from ament_index_python.packages import get_package_share_directory
- 
-from launch import LaunchDescription
-from launch.substitutions import LaunchConfiguration
-from launch.actions import DeclareLaunchArgument
-from launch_ros.actions import Node
- 
-import xacro
- 
- 
-def generate_launch_description():
- 
-    # Check if we're told to use sim time
-    use_sim_time = LaunchConfiguration('use_sim_time')
- 
-    # Process the URDF file
-    pkg_path = os.path.join(get_package_share_directory('agv_pro_gazebo'))
-    xacro_file = os.path.join(pkg_path,'urdf','agv_pro.xacro')
-    robot_description_config = xacro.process_file(xacro_file)
-    
-    # Create a robot_state_publisher node
-    params = {'robot_description': robot_description_config.toxml(), 'use_sim_time': use_sim_time}
-    node_robot_state_publisher = Node(
-        package='robot_state_publisher',
-        executable='robot_state_publisher',
-        output='screen',
-        parameters=[params]
-    )
- 
-    # Launch!
-    return LaunchDescription([
-        DeclareLaunchArgument(
-            'use_sim_time',
-            default_value='false',
-            description='Use sim time if true'),
- 
-        node_robot_state_publisher
-    ])

src/elephant_robotics/agv_pro_gazebo/launch/agv_pro_display.launch.py

@@ -1,48 +0,0 @@
-import os
-from launch import LaunchDescription
-from launch_ros.actions import Node
-from launch.conditions import IfCondition
-from launch.substitutions import LaunchConfiguration
-from ament_index_python.packages import get_package_share_directory
-
-def generate_launch_description():
-
-    use_rviz = LaunchConfiguration('use_rviz', default='true')
-    rviz_config_dir = os.path.join(
-        get_package_share_directory('agv_pro_gazebo'),
-        'rviz',
-        'agvpro_display.rviz')
-
-    urdf_file = os.path.join(
-        get_package_share_directory('agv_pro_gazebo'),
-        'urdf',
-        'agv_pro.urdf'
-    )
-
-    with open(urdf_file, 'r') as file:
-        robot_description_content = file.read()
-
-    return LaunchDescription([
-
-        Node(
-            package='joint_state_publisher',
-            executable='joint_state_publisher',
-            name='joint_state_publisher'
-        ),
-
-        Node(
-            package='robot_state_publisher',
-            executable='robot_state_publisher',
-            name='robot_state_publisher',
-            parameters=[{'robot_description': robot_description_content}]
-        ),
-        
-        Node(
-            package='rviz2',
-            executable='rviz2',
-            name='rviz2',
-            arguments=['-d', rviz_config_dir],
-            condition=IfCondition(use_rviz),
-            output='screen')
-
-    ])

src/elephant_robotics/agv_pro_gazebo/launch/agv_pro_gazebo.launch.py

@@ -4,12 +4,18 @@ from launch.actions import (
     IncludeLaunchDescription,
     DeclareLaunchArgument,
     RegisterEventHandler,
+    SetEnvironmentVariable,
     TimerAction,
 )
 from launch.conditions import IfCondition
 from launch.event_handlers import OnProcessExit
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import Command, LaunchConfiguration, PythonExpression
+from launch.substitutions import (
+    Command,
+    EnvironmentVariable,
+    LaunchConfiguration,
+    PythonExpression,
+)
 from launch_ros.actions import Node
 from launch_ros.parameter_descriptions import ParameterValue
 from ament_index_python.packages import get_package_share_directory
@@ -17,9 +23,12 @@ from ament_index_python.packages import get_package_share_directory
 
 def generate_launch_description():
     pkg_gazebo = get_package_share_directory('agv_pro_gazebo')
+    pkg_description = get_package_share_directory('agv_pro_description')
     pkg_ros_gz_sim = get_package_share_directory('ros_gz_sim')
 
-    xacro_file = os.path.join(pkg_gazebo, 'urdf', 'agv_pro.xacro')
+    # Shared robot description (agv_pro_description) built for simulation.
+    xacro_file = os.path.join(pkg_description, 'urdf', 'agv_pro.urdf.xacro')
+    controllers_file = os.path.join(pkg_gazebo, 'config', 'agv_control.yaml')
     world_file = os.path.join(pkg_gazebo, 'worlds', 'empty.world')
     rviz_config = os.path.join(pkg_gazebo, 'rviz', 'agvpro_display.rviz')
 
@@ -29,11 +38,29 @@ def generate_launch_description():
 
     robot_description = {
         'robot_description': ParameterValue(
-            Command(['xacro ', xacro_file]), value_type=str
+            Command([
+                'xacro ', xacro_file,
+                ' sim:=true',
+                ' controllers_file:=', controllers_file,
+            ]),
+            value_type=str,
         ),
         'use_sim_time': use_sim_time,
     }
 
+    # Let gz-sim resolve the package:// mesh URIs in the shared description.
+    # URDF->SDF conversion rewrites package://agv_pro_description/... to
+    # model://agv_pro_description/..., which gz finds by searching
+    # GZ_SIM_RESOURCE_PATH for a directory named 'agv_pro_description'.
+    gz_resource_path = SetEnvironmentVariable(
+        name='GZ_SIM_RESOURCE_PATH',
+        value=[
+            os.path.dirname(pkg_description),
+            ':',
+            EnvironmentVariable('GZ_SIM_RESOURCE_PATH', default_value=''),
+        ],
+    )
+
     # Start gz-sim (Gazebo Harmonic) with the world.
     # '-s' (server only) is added when headless:=true.
     gz_args = PythonExpression([
@@ -88,12 +115,17 @@ def generate_launch_description():
         output='screen',
     )
 
+    # Remap the controller's reference topic (~/reference) to the standard
+    # /cmd_vel so teleop and nav2 (which publish geometry_msgs/TwistStamped)
+    # drive the robot directly. NOTE: the remap key must be the private name
+    # '~/reference' — a bare 'reference:=/cmd_vel' is silently ignored.
     mecanum_drive_controller_spawner = Node(
         package='controller_manager',
         executable='spawner',
         arguments=[
             'mecanum_drive_controller',
             '--controller-manager', '/controller_manager',
+            '--controller-ros-args', '-r ~/reference:=/cmd_vel',
         ],
         output='screen',
     )
@@ -124,6 +156,7 @@ def generate_launch_description():
             default_value='false',
             description='Run gz-sim without the GUI (server only)',
         ),
+        gz_resource_path,
         gz_sim,
         robot_state_publisher,
         clock_bridge,

src/elephant_robotics/agv_pro_gazebo/launch/teleop_launch.py

@@ -13,12 +13,12 @@ def generate_launch_description():
             prefix='xterm -e',  # 或 'gnome-terminal --' 替换为你的终端命令
             # mecanum_drive_controller expects a stamped reference; teleop must
             # publish geometry_msgs/TwistStamped with a fresh timestamp.
+            # It publishes on the standard /cmd_vel topic, which the sim launch
+            # feeds to the controller (spawner remap + cmd_vel_relay), mirroring
+            # the physical robot.
             parameters=[{
                 'stamped': True,
                 'frame_id': 'base_link',
             }],
-            remappings=[
-                ('/cmd_vel', '/mecanum_drive_controller/reference'),
-            ]
         )
     ])

src/elephant_robotics/agv_pro_gazebo/launch/test.launch.py

@@ -1,35 +0,0 @@
-import os
-from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch_ros.actions import Node
-from launch.substitutions import Command
-from ament_index_python.packages import get_package_share_directory
-
-def generate_launch_description():
-    pkg_dir = get_package_share_directory('agv_pro_description')
-    xacro_file = os.path.join(pkg_dir, 'urdf', 'minimal_robot.xacro')
-    world_file = os.path.join(pkg_dir, 'worlds', 'empty.world')
-
-    robot_description = {'robot_description': Command(['xacro ', xacro_file])}
-
-    return LaunchDescription([
-        IncludeLaunchDescription(
-            PythonLaunchDescriptionSource(
-                os.path.join(get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')
-            ),
-            launch_arguments={'world': world_file}.items()
-        ),
-        Node(
-            package='robot_state_publisher',
-            executable='robot_state_publisher',
-            parameters=[robot_description],
-            output='screen'
-        ),
-        Node(
-            package='gazebo_ros',
-            executable='spawn_entity.py',
-            arguments=['-topic', 'robot_description', '-entity', 'minimal_bot'],
-            output='screen'
-        )
-    ])

src/elephant_robotics/agv_pro_gazebo/package.xml

@@ -13,6 +13,8 @@
   <buildtool_depend>xacro</buildtool_depend>
   
   <!-- Runtime dependencies -->
+  <!-- Shared robot description (single source of truth for sim + real) -->
+  <depend>agv_pro_description</depend>
   <!-- Gazebo (gz-sim Harmonic) integration for ROS 2 Jazzy -->
   <exec_depend>ros_gz_sim</exec_depend>
   <exec_depend>ros_gz_bridge</exec_depend>

src/elephant_robotics/agv_pro_gazebo/urdf/agv_pro.xacro

@@ -1,90 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="agv_pro">
-
-  <!-- Define vehicle dimensions -->
-  <xacro:property name="vehicle_width" value="0.36"/>  <!-- 车辆宽度 -->
-  <xacro:property name="wheel_radius" value="0.05"/>    <!-- 轮子半径 -->
-
-  <!-- Gazebo-specific properties -->
-  <xacro:property name="wheel_damping" value="0.1"/>
-  <xacro:property name="wheel_axis" value="0 1 0"/>
-
-  <!-- Base footprint -->
-  <link name="base_footprint"/>
-
-  <joint name="base_joint" type="fixed">
-    <parent link="base_footprint"/>
-    <child link="base_link" />
-    <origin xyz="0 0 0.020" rpy="0 0 0"/>
-  </joint>
-
-  <link name="base_link">
-    <inertial>
-      <origin xyz="-0.0076254 -0.00023134 0.06693" rpy="0 0 0" />
-      <mass value="19.236" />
-      <inertia ixx="0.14436" ixy="0.0012037" ixz="0.0019458" iyy="0.24191" iyz="0.0044629" izz="0.33755" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="file://$(find agv_pro_gazebo)/meshes/base_link.stl" />
-      </geometry>
-      <material name=""/>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="file://$(find agv_pro_gazebo)/meshes/base_link.stl" />
-      </geometry>
-    </collision>
-  </link>
-
-  <!-- Include wheel macros & controller definitions -->
-  <xacro:include filename="$(find agv_pro_gazebo)/urdf/parts/wheel_macro.xacro"/>
-
-  <!-- Wheels definition -->
-  <!-- Right Rear Wheel -->
-  <xacro:wheel name="right_rear_wheel" mesh="file://$(find agv_pro_gazebo)/meshes/wheel_rb_link.stl" origin_xyz="-0.1718 -0.1799 0.05188" origin_rpy="0 0 0" mass="0.21659" ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07" iyy="0.00097519" iyz="-2.3635E-07" izz="0.00051178"/>
-
-  <!-- Right Front Wheel -->
-  <xacro:wheel name="right_front_wheel" mesh="file://$(find agv_pro_gazebo)/meshes/wheel_rf_link.stl" origin_xyz="-0.17181 0.1799 0.051884" origin_rpy="0 0 0" mass="0.21659" ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07" iyy="0.00097519" iyz="-2.3635E-07" izz="0.00051178"/>
-
-  <!-- Left Front Wheel -->
-  <xacro:wheel name="left_front_wheel" mesh="file://$(find agv_pro_gazebo)/meshes/wheel_lf_link.stl" origin_xyz="0.17128 0.1799 0.052" origin_rpy="0 0 0" mass="0.3015" ixx="0.00052475" ixy="-2.2533E-07" ixz="-4.1904E-07" iyy="0.00099948" iyz="7.5332E-08" izz="0.00052362"/>
-
-  <!-- Left Rear Wheel -->
-  <xacro:wheel name="left_rear_wheel" mesh="file://$(find agv_pro_gazebo)/meshes/wheel_lb_link.stl" origin_xyz="0.17128 -0.1799 0.052" origin_rpy="0 0 0" mass="0.29613" ixx="0.00051227" ixy="-2.0628E-07" ixz="-4.9074E-07" iyy="0.0009752" iyz="1.173E-07" izz="0.00051131"/>
-
-
-  <!-- Lidar definition -->
-  <link name="laser_link">
-    <inertial>
-      <origin xyz="-0.0035142 -2.8248E-05 0.0010013" rpy="0 0 0" />
-      <mass value="0.049095" />
-      <inertia ixx="2.0572E-05" ixy="8.5013E-08" ixz="2.0871E-07" iyy="2.0483E-05" iyz="-4.2154E-09" izz="3.4612E-05" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="file://$(find agv_pro_gazebo)/meshes/laser_link.stl" />
-      </geometry>
-      <material name=""/>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="file://$(find agv_pro_gazebo)/meshes/laser_link.stl" />
-      </geometry>
-    </collision>
-  </link>
-
-  <joint name="lidar_joint" type="fixed">
-    <origin xyz="0.17891 0 0.20928" rpy="0 0 0" />
-    <parent link="base_link" />
-    <child link="laser_link" />
-  </joint>
-
-  <!-- Include ros2_controller.xacro to define controllers -->
-  <xacro:include filename="$(find agv_pro_gazebo)/urdf/ros2_controller.xacro"/>
-  <xacro:ros2_controller/>
-</robot>

src/elephant_robotics/agv_pro_gazebo/urdf/minimal_robot.xacro

@@ -1,91 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="agv_pro">
-
-  <!-- Gazebo-specific properties -->
-  <xacro:property name="wheel_damping" value="0.1"/>
-  <xacro:property name="wheel_axis" value="0 1 0"/>
-
-  <!-- Base footprint -->
-  <link name="base_footprint"/>
-
-  <joint name="base_joint" type="fixed">
-    <parent link="base_footprint"/>
-    <child link="base_link" />
-    <origin xyz="0 0 0.020" rpy="0 0 0"/>
-  </joint>
-
-  <link name="base_link">
-    <inertial>
-      <origin xyz="-0.0076254 -0.00023134 0.06693" rpy="0 0 0" />
-      <mass value="19.236" />
-      <inertia ixx="0.14436" ixy="0.0012037" ixz="0.0019458" iyy="0.24191" iyz="0.0044629" izz="0.33755" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="model://agv_pro_description/meshes/base_link.stl" />
-      </geometry>
-      <material name="">
-        <color rgba="1 1 1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="model://agv_pro_description/meshes/base_link.stl" />
-      </geometry>
-    </collision>
-  </link>
-
-  <gazebo reference="base_link">
-    <material>Gazebo/White</material>
-    <mu1>1.0</mu1>
-    <mu2>1.0</mu2>
-    <kp>100000.0</kp>
-    <kd>1.0</kd>
-  </gazebo>
-
-  <!-- Include wheel macros & plugin -->
-  <xacro:include filename="$(find agv_pro_description)/urdf/parts/wheel_macro.xacro"/>
-  <xacro:include filename="$(find agv_pro_description)/urdf/parts/gazebo_control_plugin.xacro"/>
-
-  <!-- All four wheels with corrected mesh paths -->
-  <xacro:wheel name="right_rear_wheel" mesh="model://agv_pro_description/meshes/wheel_rb_link.stl" origin_xyz="-0.1718 -0.1799 0.05188" origin_rpy="0 0 0" mass="0.21659" ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07" iyy="0.00097519" iyz="-2.3635E-07" izz="0.00051178"/>
-  <xacro:wheel name="right_front_wheel" mesh="model://agv_pro_description/meshes/wheel_rf_link.stl" origin_xyz="-0.17181 0.1799 0.051884" origin_rpy="0 0 0" mass="0.21659" ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07" iyy="0.00097519" iyz="-2.3635E-07" izz="0.00051178"/>
-  <xacro:wheel name="left_front_wheel" mesh="model://agv_pro_description/meshes/wheel_lf_link.stl" origin_xyz="0.17128 0.1799 0.052" origin_rpy="0 0 0" mass="0.3015" ixx="0.00052475" ixy="-2.2533E-07" ixz="-4.1904E-07" iyy="0.00099948" iyz="7.5332E-08" izz="0.00052362"/>
-  <xacro:wheel name="left_rear_wheel" mesh="model://agv_pro_description/meshes/wheel_lb_link.stl" origin_xyz="0.17128 -0.1799 0.052" origin_rpy="0 0 0" mass="0.29613" ixx="0.00051227" ixy="-2.0628E-07" ixz="-4.9074E-07" iyy="0.0009752" iyz="1.173E-07" izz="0.00051131"/>
-
-  <!-- Lidar -->
-  <link name="laser_link">
-    <inertial>
-      <origin xyz="-0.0035142 -2.8248E-05 0.0010013" rpy="0 0 0" />
-      <mass value="0.049095" />
-      <inertia ixx="2.0572E-05" ixy="8.5013E-08" ixz="2.0871E-07" iyy="2.0483E-05" iyz="-4.2154E-09" izz="3.4612E-05" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="model://agv_pro_description/meshes/laser_link.stl" />
-      </geometry>
-      <material name="">
-        <color rgba="1 1 1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="model://agv_pro_description/meshes/laser_link.stl" />
-      </geometry>
-    </collision>
-  </link>
-
-  <joint name="lidar_joint" type="fixed">
-    <origin xyz="0.17891 0 0.20928" rpy="0 0 0" />
-    <parent link="base_link" />
-    <child link="laser_link" />
-  </joint>
-
-  <!-- 插件调用 -->
-  <xacro:gazebo_control_plugin/>
-
-</robot>

src/elephant_robotics/agv_pro_gazebo/urdf/parts/gazebo_control_plugin.xacro

@@ -1,29 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:macro name="gazebo_control_plugin">
-    <gazebo>
-      <!-- 使用全向控制插件 -->
-      <plugin filename="libgazebo_ros_planar_move.so" name="mecanum_drive_controller">
-        <ros>
-          <remapping>cmd_vel:=/cmd_vel</remapping>
-          <remapping>odom:=/odom</remapping>
-        </ros>
-
-        <!-- 配置全向控制 -->
-        <frontLeftJoint>front_left_wheel_joint</frontLeftJoint>    <!-- 前左轮 -->
-        <frontRightJoint>front_right_wheel_joint</frontRightJoint>  <!-- 前右轮 -->
-        <rearLeftJoint>rear_left_wheel_joint</rearLeftJoint>        <!-- 后左轮 -->
-        <rearRightJoint>rear_right_wheel_joint</rearRightJoint>     <!-- 后右轮 -->
-        <wheelDiameter>0.1</wheelDiameter>   <!-- 轮子直径 -->
-        <wheelSeparation>0.36</wheelSeparation>  <!-- 轮距（车辆宽度） -->
-
-        <torque>20</torque>  <!-- 轮子扭矩 -->
-        <topicName>cmd_vel</topicName>  <!-- 控制命令话题 -->
-        <odometryFrame>odom</odometryFrame>  <!-- 里程计坐标系 -->
-        <odometryTopic>odom</odometryTopic>  <!-- 里程计话题 -->
-        <robotBaseFrame>base_footprint</robotBaseFrame>  <!-- 机器人基础坐标系 -->
-        <publishOdomTF>true</publishOdomTF>  <!-- 发布里程计变换 -->
-      </plugin>
-    </gazebo>
-  </xacro:macro>
-</robot>

src/elephant_robotics/agv_pro_gazebo/urdf/parts/wheel_macro.xacro

@@ -1,64 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
-
-  <xacro:macro name="wheel" params="name mesh origin_xyz origin_rpy mass ixx ixy ixz iyy iyz izz">
-
-    <link name="${name}_link">
-      <inertial>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <mass value="${mass}" />
-        <inertia ixx="${ixx}" ixy="${ixy}" ixz="${ixz}" iyy="${iyy}" iyz="${iyz}" izz="${izz}" />
-      </inertial>
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="${mesh}" />
-        </geometry>
-        <material name="gray">
-          <color rgba="0.3 0.3 0.3 1"/>
-        </material>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="${mesh}" />
-        </geometry>
-      </collision>
-    </link>
-
-    <joint name="${name}_joint" type="continuous">
-      <origin xyz="${origin_xyz}" rpy="${origin_rpy}" />
-      <parent link="base_link" />
-      <child link="${name}_link" />
-      <axis xyz="0 1 0"/>
-      <dynamics damping="0.1"/>
-    </joint>
-
-    <!-- Correct transmission for ROS2 -->
-    <transmission name="${name}_trans">
-      <type>transmission_interface/SimpleTransmission</type>
-      <joint name="${name}_joint">
-        <hardwareInterface>hardware_interface/velocity</hardwareInterface>
-      </joint>
-      <actuator name="${name}_motor">
-        <mechanicalReduction>1</mechanicalReduction>
-        <hardwareInterface>hardware_interface/velocity</hardwareInterface>
-      </actuator>
-    </transmission>
-
-    <gazebo reference="${name}_link">
-      <mu1>0.8</mu1>
-      <mu2>0.8</mu2>
-      <kp>100000.0</kp>
-      <kd>1.0</kd>
-      <visual>
-        <material>
-          <ambient>0.1 0.1 0.1 1</ambient>
-          <diffuse>0.1 0.1 0.1 1</diffuse>
-          <specular>0.1 0.1 0.1 1</specular>
-        </material>
-      </visual>
-    </gazebo>
-
-  </xacro:macro>
-</robot>

src/elephant_robotics/agv_pro_gazebo/urdf/ros2_controller.xacro

@@ -1,43 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-    <xacro:macro name="ros2_controller">
-        <!-- ros2_control hardware description for gz-sim (Gazebo Harmonic) -->
-        <ros2_control name="GazeboSimSystem" type="system">
-            <hardware>
-                <plugin>gz_ros2_control/GazeboSimSystem</plugin>
-            </hardware>
-
-            <joint name="left_front_wheel_joint">
-                <command_interface name="velocity"/>
-                <state_interface name="position"/>
-                <state_interface name="velocity"/>
-            </joint>
-
-            <joint name="right_front_wheel_joint">
-                <command_interface name="velocity"/>
-                <state_interface name="position"/>
-                <state_interface name="velocity"/>
-            </joint>
-
-            <joint name="left_rear_wheel_joint">
-                <command_interface name="velocity"/>
-                <state_interface name="position"/>
-                <state_interface name="velocity"/>
-            </joint>
-
-            <joint name="right_rear_wheel_joint">
-                <command_interface name="velocity"/>
-                <state_interface name="position"/>
-                <state_interface name="velocity"/>
-            </joint>
-        </ros2_control>
-
-        <!-- gz_ros2_control system plugin: hosts the controller_manager inside gz-sim -->
-        <gazebo>
-            <plugin filename="gz_ros2_control-system"
-                    name="gz_ros2_control::GazeboSimROS2ControlPlugin">
-                <parameters>$(find agv_pro_gazebo)/config/agv_control.yaml</parameters>
-            </plugin>
-        </gazebo>
-    </xacro:macro>
-</robot>