Add gripper control for simulation.

Also add caching to the apt-get installs

.devcontainer/jazzy/Dockerfile.jazzy

@@ -1,3 +1,4 @@
+# syntax=docker/dockerfile:1.7-labs
 FROM osrf/ros:jazzy-desktop-full
 ARG USERNAME=USERNAME
 ARG USER_UID=1000
@@ -19,13 +20,15 @@ RUN groupadd --gid $USER_GID $USERNAME \
     && rm -rf /var/lib/apt/lists/*
 
 # Make sure the base image is completely up to date
-RUN apt-get update \
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGETARCH} \
+    apt-get update \
     && apt-get upgrade -y \
     && rm -rf /var/lib/apt/lists/*
 
 
 # C++ development tools
-RUN apt-get update \
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGETARCH} \
+    apt-get update \
     && apt-get install -y --no-install-recommends \
     build-essential \
     cmake \
@@ -37,7 +40,8 @@ RUN apt-get update \
     && rm -rf /var/lib/apt/lists/*
 
 # Python development tools
-RUN apt-get update \
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGETARCH} \
+    apt-get update \
     && apt-get install -y --no-install-recommends \
     python3-pip \
     python3-dev \
@@ -48,21 +52,20 @@ RUN apt-get update \
     python3-vcstool \
     && rm -rf /var/lib/apt/lists/*
 
-# system deps from frozen rosdep manifest — no rosdep at build or startup
+# Copy boilerplate project config into workspace so it can be parsed by rosdep.
-# NOTE: There should be a check in your CI that this file is up to date.
+# This will be obscured by the volume mount or the workspace in the devcontainer
-# Something like: 
+# Don't include all sources, because the rosdep will re-process on any file change
-#   ./scripts/freeze-rosdep.sh && git diff --exit-code rosdep-packages.txt
+COPY --parents src/**/package.xml src/**/COLCON_IGNORE src/
-COPY rosdep-packages.txt /tmp/rosdep-packages.txt
+
-# The --mount=type=cache option caches the apt packages with buildkit
-# The id-apt-cache-${TARGETARCH} option allows for separate caches for different architectures
-# this enables parallel builds for different architectures without cache conflicts
 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGETARCH} \
-    rm -f /etc/apt/apt.conf.d/docker-clean \
+    apt-get update \
-    && apt-get update \
+    && rosdep update --rosdistro $ROS_DISTRO \
-    && xargs -r -a /tmp/rosdep-packages.txt apt-get install -y --no-install-recommends \
+    && rosdep install --from-paths src --ignore-src -y \
     && rm -rf /var/lib/apt/lists/*
 
-RUN apt-get update \
+
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGETARCH} \
+    apt-get update \
     && apt-get install -y --no-install-recommends \
     ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
     && rm -rf /var/lib/apt/lists/*

Dockerfile

@@ -8,59 +8,49 @@ COPY src ./src/
 COPY patches ./patches/
 COPY upstream.jazzy.repos ./upstream.jazzy.repos
 
-# Stage any dual ROS1/ROS2 packages (e.g. livox_ros_driver2) for ROS2 without
-# modifying their upstream source: generate package.xml from package_ROS2.xml so
-# colcon can discover them. The ROS2 build is selected via -DROS_EDITION below.
-# RUN for d in $(find /ros2_ws/src -type f -name package_ROS2.xml -exec dirname {} \;); do \
-#       cp -f "$d/package_ROS2.xml" "$d/package.xml"; \
-#     done
-
 # Import all upstream repostories
-RUN vcs import ./src/upstream < ./upstream.jazzy.repos
+RUN mkdir -p src/upstream && vcs import ./src/upstream < ./upstream.jazzy.repos
-
-# Fixup the livox package for ros2 build
-RUN cd ./src/upstream/livox_ros_driver2 && \
-    rm -rf launch package.xml && \
-    ln -sfn launch_ROS2 launch && \
-    ln -sfn package_ROS2.xml package.xml
 
 # Apply patches to upstream
-# RUN ./patches/apply_patches.sh
+RUN ./patches/apply_patches.sh
 
 # system deps from frozen rosdep manifest — no rosdep at build or startup
 # NOTE: There should be a check in your CI that this file is up to date.
 # Something like: 
 #   ./scripts/freeze-rosdep.sh && git diff --exit-code rosdep-packages.txt
-COPY rosdep-packages.txt /tmp/rosdep-packages.txt
+# COPY rosdep-packages.txt /tmp/rosdep-packages.txt
 # The --mount=type=cache option caches the apt packages with buildkit
 # The id-apt-cache-${TARGETARCH} option allows for separate caches for different architectures
 # this enables parallel builds for different architectures without cache conflicts
+# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGETARCH} \
+#     rm -f /etc/apt/apt.conf.d/docker-clean \
+#     && apt-get update \
+#     && xargs -r -a /tmp/rosdep-packages.txt apt-get install -y --no-install-recommends \
+#     && rm -rf /var/lib/apt/lists/*
+
+# Make sure the base image is completely up to date
+# ros:jazzy ships /etc/apt/apt.conf.d/docker-clean which purges downloaded .debs;
+# remove it so the --mount=type=cache on /var/cache/apt actually retains archives.
 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGETARCH} \
     rm -f /etc/apt/apt.conf.d/docker-clean \
     && apt-get update \
-    && xargs -r -a /tmp/rosdep-packages.txt apt-get install -y --no-install-recommends \
+    && apt-get upgrade -y \
     && rm -rf /var/lib/apt/lists/*
 
+
 # Install dependencies with rosdep
 # This will catch anything that wasn't installed via .deb's from the frozen rosdep manifest.
-RUN apt-get update && \
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGETARCH} \
+    rm -f /etc/apt/apt.conf.d/docker-clean && \
+    apt-get update && \
     rosdep update && \
     rosdep install --from-paths src --ignore-src -r -y && \
     rm -rf /var/lib/apt/lists/*
 
-RUN cd src/upstream/livox_sdk && \
-    mkdir -p build && \
-    cd build && rm -rf * && \
-    cmake .. -DCMAKE_BUILD_TYPE=Release && \
-    make -j && \
-    make install
-
 # Build the workspace with symlink install
+# livox_sdk is now an ament_cmake package built by colcon (no manual /usr/local install needed).
 RUN . /opt/ros/jazzy/setup.sh && \
-    colcon build --symlink-install \
+    colcon build --symlink-install
-    --packages-ignore unitree_lidar_ros2 unitree_lidar_ros unitree_lidar_sdk fast_lio \
-    --cmake-args -DROS_EDITION=ROS2 -DDISTRO_ROS=jazzy
-
 # Source the overlay on container startup
 RUN echo "source /opt/ros/jazzy/setup.bash" >> /root/.bashrc && \
     echo "source /ros2_ws/install/setup.bash" >> /root/.bashrc

patches/apply_patches.sh

@@ -1,7 +1,8 @@
 #!/usr/bin/env bash
 set -u
 
-ROOT_DIR="/workspaces/agv_pro_ros2"
+PATCH_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+ROOT_DIR="$(dirname "$PATCH_DIR")"
 PATCH_DIR="$ROOT_DIR/patches"
 
 apply_patch_once() {
@@ -23,5 +24,8 @@ apply_patch_once() {
     || git -C "$target_dir" apply --reverse --check "$patch_file" >/dev/null 2>&1
 }
 
+apply_patch_once "$ROOT_DIR/src/upstream/FAST_LIO" "$PATCH_DIR/fast_lio.patch"
 apply_patch_once "$ROOT_DIR/src/upstream/livox_sdk" "$PATCH_DIR/livox_sdk.patch"
+apply_patch_once "$ROOT_DIR/src/upstream/livox_ros_driver2" "$PATCH_DIR/livox_ros_driver2.patch"
 apply_patch_once "$ROOT_DIR/src/upstream/slam_gmapping" "$PATCH_DIR/slam_gmapping.patch"
+apply_patch_once "$ROOT_DIR/src/upstream/unilidar_sdk2" "$PATCH_DIR/unilidar_sdk2.patch"

patches/fast_lio.patch

@@ -0,0 +1,49 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index be3040b..3176847 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -5,17 +5,39 @@ if(NOT CMAKE_BUILD_TYPE)
+   set(CMAKE_BUILD_TYPE Release)
+ endif()
+ 
+-ADD_COMPILE_OPTIONS(-std=c++14)
+-ADD_COMPILE_OPTIONS(-std=c++14)
+-set(CMAKE_CXX_FLAGS "-std=c++14 -O3")
++# Ensure the bundled ikd-Tree submodule (include/ikd-Tree/ikd_Tree.cpp) is present.
++# Auto-initialize it when building from a git checkout; otherwise fail with guidance.
++if(NOT EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/include/ikd-Tree/ikd_Tree.cpp")
++  find_package(Git QUIET)
++  if(GIT_FOUND AND EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/.git")
++    message(STATUS "fast_lio: initializing git submodule include/ikd-Tree")
++    execute_process(
++      COMMAND ${GIT_EXECUTABLE} submodule update --init --recursive
++      WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
++      RESULT_VARIABLE GIT_SUBMOD_RESULT)
++    if(NOT GIT_SUBMOD_RESULT EQUAL "0")
++      message(FATAL_ERROR
++        "git submodule update --init failed with ${GIT_SUBMOD_RESULT}. "
++        "Run it manually in ${CMAKE_CURRENT_SOURCE_DIR}.")
++    endif()
++  endif()
++  if(NOT EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/include/ikd-Tree/ikd_Tree.cpp")
++    message(FATAL_ERROR
++      "include/ikd-Tree/ikd_Tree.cpp is missing and could not be fetched automatically "
++      "(no git checkout available). Run: git submodule update --init --recursive")
++  endif()
++endif()
++
++ADD_COMPILE_OPTIONS(-std=c++17)
++set(CMAKE_CXX_FLAGS "-std=c++17 -O3")
+ 
+ add_definitions(-DROOT_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/\")
+ 
+ set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fexceptions")
+-set(CMAKE_CXX_STANDARD 14)
++set(CMAKE_CXX_STANDARD 17)
+ set(CMAKE_CXX_STANDARD_REQUIRED ON)
+ set(CMAKE_CXX_EXTENSIONS OFF)
+-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -pthread -std=c++0x -std=c++14 -fexceptions")
++set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17 -pthread -fexceptions")
+ set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+ 
+ message("Current CPU archtecture: ${CMAKE_SYSTEM_PROCESSOR}")

patches/livox_ros_driver2.patch

@@ -0,0 +1,89 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 7344d08..3d531a9 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -1,3 +1,9 @@
++# Default to the ROS2 build unless ROS1 is explicitly requested, so the else()
++# (ROS2) branch below is taken when ROS_EDITION is unset or set to "ROS2".
++if(NOT ROS_EDITION)
++  set(ROS_EDITION "ROS2")
++endif()
++
+ # judge which cmake codes to use 
+ if(ROS_EDITION STREQUAL "ROS1")
+ 
+@@ -191,6 +197,12 @@ else(ROS_EDITION STREQUAL "ROS2")
+   cmake_minimum_required(VERSION 3.14)
+   project(livox_ros_driver2)
+ 
++  # Fall back to the sourced ROS distro when -DDISTRO_ROS was not passed, so a
++  # plain `colcon build` behaves the same as the flagged Dockerfile build.
++  if(NOT DISTRO_ROS)
++    set(DISTRO_ROS "$ENV{ROS_DISTRO}")
++  endif()
++
+   # Default to C99
+   if(NOT CMAKE_C_STANDARD)
+     set(CMAKE_C_STANDARD 99)
+diff --git a/launch b/launch
+new file mode 120000
+index 0000000..163fb01
+--- /dev/null
++++ b/launch
+@@ -0,0 +1 @@
++launch_ROS2
+\ No newline at end of file
+diff --git a/package.xml b/package.xml
+new file mode 100644
+index 0000000..0000000
+--- /dev/null
++++ b/package.xml
+@@ -0,0 +1,36 @@
++<?xml version="1.0"?>
++<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
++<package format="3">
++  <name>livox_ros_driver2</name>
++  <version>1.0.0</version>
++  <description>The ROS device driver for Livox 3D LiDARs, for ROS2</description>
++  <maintainer email="dev@livoxtech.com">feng</maintainer>
++  <license>MIT</license>
++
++  <buildtool_depend>ament_cmake_auto</buildtool_depend>
++  <build_depend>rosidl_default_generators</build_depend>
++  <member_of_group>rosidl_interface_packages</member_of_group>
++
++  <depend>rclcpp</depend>
++  <depend>rclcpp_components</depend>
++  <depend>std_msgs</depend>
++  <depend>sensor_msgs</depend>
++  <depend>rcutils</depend>
++  <depend>pcl_conversions</depend>
++  <depend>rcl_interfaces</depend>
++  <depend>libpcl-all-dev</depend>
++
++  <exec_depend>rosbag2</exec_depend>
++  <exec_depend>rosidl_default_runtime</exec_depend>
++
++  <test_depend>ament_lint_auto</test_depend>
++  <test_depend>ament_lint_common</test_depend>
++
++  <depend>git</depend>
++  <depend>apr</depend>
++  <depend>livox_sdk2</depend>
++
++  <export>
++    <build_type>ament_cmake</build_type>
++  </export>
++</package>
+diff --git a/package_ROS2.xml b/package_ROS2.xml
+index 96f5762..c66785b 100644
+--- a/package_ROS2.xml
++++ b/package_ROS2.xml
+@@ -28,6 +28,7 @@
+ 
+   <depend>git</depend>
+   <depend>apr</depend>
++  <depend>livox_sdk2</depend>
+ 
+   <export>
+     <build_type>ament_cmake</build_type>

patches/livox_sdk.patch

@@ -1,24 +1,24 @@
-diff --git a/sdk_core/comm/define.h b/sdk_core/comm/define.h
+diff --git a/package.xml b/package.xml
-index 0872328..28d989b 100644
+new file mode 100644
---- a/sdk_core/comm/define.h
+index 0000000..ffdf3ce
-+++ b/sdk_core/comm/define.h
+--- /dev/null
-@@ -31,6 +31,7 @@
++++ b/package.xml
- #include <functional>
+@@ -0,0 +1,18 @@
- #include <vector>
++<?xml version="1.0"?>
- #include <atomic>
++<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-+#include <cstdint>
++<package format="3">
- 
++  <name>livox_sdk2</name>
- #include "livox_lidar_def.h"
++  <version>1.3.1</version>
- 
++  <description>
-diff --git a/sdk_core/logger_handler/file_manager.h b/sdk_core/logger_handler/file_manager.h
++    Livox SDK2: official C++ library for Livox LiDAR sensors.
-index 242a431..14cd76a 100644
++    Provides the livox_sdk2 ament target consumed by livox_ros_driver2.
---- a/sdk_core/logger_handler/file_manager.h
++  </description>
-+++ b/sdk_core/logger_handler/file_manager.h
++  <maintainer email="sdk@livoxtech.com">Livox</maintainer>
-@@ -28,6 +28,7 @@
++  <license>Apache-2.0</license>
- #include <string>
++
- #include <vector>
++  <buildtool_depend>ament_cmake</buildtool_depend>
- #include <map>
++
-+#include <cstdint>
++  <export>
- 
++    <build_type>ament_cmake</build_type>
- namespace livox {
++  </export>
- namespace lidar {
++</package>

patches/unilidar_sdk2.patch

@@ -0,0 +1,133 @@
+diff --git a/unitree_lidar_ros/src/unitree_lidar_ros/COLCON_IGNORE b/unitree_lidar_ros/src/unitree_lidar_ros/COLCON_IGNORE
+new file mode 100644
+index 0000000..e69de29
+diff --git a/unitree_lidar_ros2/src/unitree_lidar_ros2/CMakeLists.txt b/unitree_lidar_ros2/src/unitree_lidar_ros2/CMakeLists.txt
+index 041ef0d..dd57d47 100644
+--- a/unitree_lidar_ros2/src/unitree_lidar_ros2/CMakeLists.txt
++++ b/unitree_lidar_ros2/src/unitree_lidar_ros2/CMakeLists.txt
+@@ -23,16 +23,15 @@ find_package(pcl_conversions REQUIRED)
+ find_package(PCL REQUIRED)
+ find_package(tf2_ros REQUIRED)
+ find_package(sensor_msgs REQUIRED)
++find_package(unitree_lidar_sdk REQUIRED)
+ 
+ include_directories(
+   ${PCL_INCLUDE_DIRS} 
+   include
+-  ../../../unitree_lidar_sdk/include
+ )
+ 
+ link_directories(
+   ${PCL_LIBRARY_DIRS}
+-  ../../../unitree_lidar_sdk/lib/${CMAKE_SYSTEM_PROCESSOR}
+ )
+ 
+ add_definitions(${PCL_DEFINITIONS})
+@@ -42,7 +41,6 @@ add_executable(unitree_lidar_ros2_node src/unitree_lidar_ros2_node.cpp)
+ target_link_libraries( unitree_lidar_ros2_node
+   ${Boost_SYSTEM_LIBRARY}
+   ${PCL_LIBRARIES}
+-  libunilidar_sdk2.a
+ )
+ 
+ ament_target_dependencies(
+@@ -52,6 +50,7 @@ ament_target_dependencies(
+   geometry_msgs 
+   tf2_ros
+   pcl_conversions
++  unitree_lidar_sdk
+ )
+ 
+ install(TARGETS
+diff --git a/unitree_lidar_ros2/src/unitree_lidar_ros2/package.xml b/unitree_lidar_ros2/src/unitree_lidar_ros2/package.xml
+index 74539aa..8b186d8 100644
+--- a/unitree_lidar_ros2/src/unitree_lidar_ros2/package.xml
++++ b/unitree_lidar_ros2/src/unitree_lidar_ros2/package.xml
+@@ -17,10 +17,11 @@
+   <depend>sensor_msgs</depend>
+   
+   <depend>pcl_conversions</depend>
+-  <depend>pcl</depend>
++  <depend>libpcl-all-dev</depend>
+ 
+   <depend>geometry_msgs</depend>
+   <depend>tf2_ros</depend>
++  <depend>unitree_lidar_sdk</depend>
+ 
+   <export>
+     <build_type>ament_cmake</build_type>
+diff --git a/unitree_lidar_sdk/CMakeLists.txt b/unitree_lidar_sdk/CMakeLists.txt
+index 80af9c9..00725ea 100644
+--- a/unitree_lidar_sdk/CMakeLists.txt
++++ b/unitree_lidar_sdk/CMakeLists.txt
+@@ -1,39 +1,14 @@
+-cmake_minimum_required(VERSION 3.0)
++cmake_minimum_required(VERSION 3.5)
+ project(unitree_lidar_sdk)
+ 
+-set(CMAKE_BUILD_TYPE "Release")
+-set(CMAKE_CXX_FLAGS "-std=c++17")
+-set(CMAKE_CXX_FLAGS_DEBUG "$ENV{CXXFLAGS} -O0 -Wall -g2 -ggdb")
+-set(CMAKE_CXX_FLAGS_RELEASE "$ENV{CXXFLAGS} -O3 -Wall -DNDEBUG") 
++find_package(ament_cmake REQUIRED)
+ 
+-include_directories(include)
++# Install the SDK headers and the architecture-specific prebuilt static library.
++install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
++install(FILES lib/${CMAKE_SYSTEM_PROCESSOR}/libunilidar_sdk2.a DESTINATION lib)
+ 
+-link_directories(lib/${CMAKE_SYSTEM_PROCESSOR})
++# Export them so ament packages can consume the SDK via find_package().
++ament_export_include_directories(include/${PROJECT_NAME})
++ament_export_libraries(unilidar_sdk2)
+ 
+-SET(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+-set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib/${CMAKE_SYSTEM_PROCESSOR})
+-
+-add_executable(example_lidar_udp
+-  examples/example_lidar_udp.cpp
+-)
+-target_link_libraries(example_lidar_udp  libunilidar_sdk2.a )
+-
+-add_executable(example_lidar_serial
+-    examples/example_lidar_serial.cpp
+-)
+-target_link_libraries(example_lidar_serial  libunilidar_sdk2.a  )
+-
+-add_executable(set_ip_address
+-    examples/set_ip_address.cpp
+-)
+-target_link_libraries(set_ip_address  libunilidar_sdk2.a )
+-
+-add_executable(set_to_serial_mode
+-    examples/set_to_serial_mode.cpp
+-)
+-target_link_libraries(set_to_serial_mode  libunilidar_sdk2.a )
+-
+-add_executable(set_to_udp_mode
+-    examples/set_to_udp_mode.cpp
+-)
+-target_link_libraries(set_to_udp_mode  libunilidar_sdk2.a )
+\ No newline at end of file
++ament_package()
+diff --git a/unitree_lidar_sdk/package.xml b/unitree_lidar_sdk/package.xml
+new file mode 100644
+index 0000000..ef88d9a
+--- /dev/null
++++ b/unitree_lidar_sdk/package.xml
+@@ -0,0 +1,15 @@
++<?xml version="1.0"?>
++<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
++<package format="3">
++  <name>unitree_lidar_sdk</name>
++  <version>0.0.0</version>
++  <description>Unitree LiDAR SDK (prebuilt static library and headers)</description>
++  <maintainer email="lukelbmeng@gmail.com">jo</maintainer>
++  <license>BSD-3-Clause</license>
++
++  <buildtool_depend>ament_cmake</buildtool_depend>
++
++  <export>
++    <build_type>ament_cmake</build_type>
++  </export>
++</package>

setup_upstream.sh

@@ -0,0 +1,36 @@
+#!/usr/bin/env bash
+#
+# setup_upstream.sh — fetch the upstream sources agv_pro_ros2 depends on
+# and apply any required patches.
+#
+# Sources are declared in upstream.jazzy.repos and cloned under src/upstream/.
+# Patches in patches/ are applied idempotently (already-applied patches are
+# silently skipped).
+#
+# Usage:
+#   ./setup_upstream.sh
+set -euo pipefail
+
+REPO_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+cd "$REPO_ROOT"
+
+echo "[setup_upstream] importing sources into src/upstream ..."
+mkdir -p src/upstream
+
+# Reset working-tree changes in already-cloned repos so that vcs import can
+# pull upstream updates without hitting dirty-working-tree conflicts.
+# Use -x so that gitignored files (e.g. generated package.xml) are also removed.
+# Patches are re-applied unconditionally after the import step below.
+for repo_dir in src/upstream/*/; do
+    if [[ -d "${repo_dir}/.git" ]]; then
+        git -C "${repo_dir}" checkout -- . 2>/dev/null || true
+        git -C "${repo_dir}" clean -fdx 2>/dev/null || true
+    fi
+done
+
+vcs import src/upstream < upstream.jazzy.repos
+
+echo "[setup_upstream] applying patches ..."
+bash patches/apply_patches.sh
+
+echo "[setup_upstream] done."

src/elephant_robotics/agv_pro_autocharge/package.xml

@@ -7,9 +7,6 @@
   <maintainer email="your-email@example.com">Your Name</maintainer>
   <license>MIT</license>
 
-  <!-- Build dependencies -->
-  <buildtool_depend>ament_python</buildtool_depend>
-  
   <!-- Runtime dependencies -->
   <depend>rclpy</depend>
   <depend>geometry_msgs</depend>

src/elephant_robotics/agv_pro_bringup/config/ros2_controllers.yaml

@@ -11,31 +11,32 @@ controller_manager:
 # ─────────────────────────────────────────────────────────────────────────────
 # Mecanum drive controller
 # ─────────────────────────────────────────────────────────────────────────────
-# NOTE: The URDF joint names do not match the physical wheel positions due to a
+# Wheel link names match their physical corners:
-# naming inconsistency in agv_pro.urdf.  The mapping between the controller's
+#   front-left  (FL) -> left_front_wheel_joint
-# logical positions and the URDF joint names is as follows:
+#   front-right (FR) -> right_front_wheel_joint
-#
+#   rear-left   (RL) -> left_rear_wheel_joint
-#   Physical position │ URDF joint name
+#   rear-right  (RR) -> right_rear_wheel_joint
-#   ──────────────────┼────────────────────────────
-#   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   ✓
 #
 # The same mapping is used by the hardware interface (front_left_joint /
 # front_right_joint / rear_left_joint / rear_right_joint params in the URDF
 # <ros2_control> block).
 mecanum_drive_controller:
   ros__parameters:
-    front_left_wheel_command_joint_name:  left_front_wheel_joint
+    front_left_wheel_command_joint_name:  front_left_wheel_joint
-    front_right_wheel_command_joint_name: left_rear_wheel_joint
+    front_right_wheel_command_joint_name: front_right_wheel_joint
-    rear_left_wheel_command_joint_name:   right_front_wheel_joint
+    rear_left_wheel_command_joint_name:   rear_left_wheel_joint
-    rear_right_wheel_command_joint_name:  right_rear_wheel_joint
+    rear_right_wheel_command_joint_name:  rear_right_wheel_joint
 
     odom_frame_id:  odom
     base_frame_id:  base_footprint
     enable_odom_tf: true
 
+    # How long a /cmd_vel (reference) command stays valid, in seconds. The
+    # controller default is 0.0, which treats every command as instantly expired
+    # so the controller halts between messages. 0.5 s holds the last command
+    # between messages (standard cmd_vel behaviour) so the base runs at speed.
+    reference_timeout: 0.5
+
     kinematics:
       # wheel_radius: height of wheel centre above ground from URDF joint origin
       # (base_footprint→base_link = 0.020 m + wheel joint z-offset ≈ 0.052 m = 0.072 m)

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 +1,78 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <!--
+    Gazebo (gz-sim Harmonic) integration. Only two responsibilities:
+      1. Load the gz_ros2_control system plugin, which hosts the
+         controller_manager inside gz-sim and reads the controller yaml.
+    Per-wheel mecanum friction is emitted by the wheel macro when
+    gazebo_ignition (sim) is true, so it is NOT repeated here.
+
+    controllers_file         : primary controller params (the AGV base controllers).
+    controllers_file_arm     : OPTIONAL per-function params files, each loaded into
+    controllers_file_gripper   the SAME controller_manager. Used when the AGV is
+                             composed into a larger robot (e.g. a mobile
+                             manipulator) so the additional controllers (e.g. an
+                             arm_controller / gripper_action_controller) share the
+                             single gz_ros2_control controller_manager. Named by
+                             function for clarity; empty by default -> standalone
+                             AGV unaffected.
+  -->
+  <xacro:macro name="agv_pro_gazebo" params="prefix controllers_file controllers_file_arm:='' controllers_file_gripper:=''">
+    <gazebo>
+      <plugin filename="gz_ros2_control-system"
+        name="gz_ros2_control::GazeboSimROS2ControlPlugin">
+        <parameters>${controllers_file}</parameters>
+        <xacro:if value="${controllers_file_arm != ''}">
+          <parameters>${controllers_file_arm}</parameters>
+        </xacro:if>
+        <xacro:if value="${controllers_file_gripper != ''}">
+          <parameters>${controllers_file_gripper}</parameters>
+        </xacro:if>
+      </plugin>
+    </gazebo>
+
+    <!--
+      2D lidar sensor on laser_link. Publishes a gz LaserScan on the gz topic
+      'scan'; gazebo.launch bridges it to the ROS /scan (sensor_msgs/LaserScan)
+      that Nav2 / SLAM consume. The gz-sim-sensors-system plugin in the world
+      SDF renders it. gz_frame_id stamps the scan with the laser_link frame so
+      TF lines up. Mirrors a generic 360deg 2D planar lidar; on the real robot
+      the physical LSLiDAR/Livox/Unitree driver publishes the same /scan.
+    -->
+    <gazebo reference="${prefix}laser_link">
+      <sensor name="${prefix}lidar" type="gpu_lidar">
+        <pose>0 0 0 0 0 0</pose>
+        <topic>scan</topic>
+        <gz_frame_id>${prefix}laser_link</gz_frame_id>
+        <update_rate>10</update_rate>
+        <always_on>1</always_on>
+        <visualize>true</visualize>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>360</samples>
+              <resolution>1</resolution>
+              <min_angle>-3.141592653589793</min_angle>
+              <max_angle>3.141592653589793</max_angle>
+            </horizontal>
+          </scan>
+          <!--
+            The front-mounted 360 deg lidar physically sees the robot's own
+            chassis behind it (returns from ~0.19 m out to ~0.38 m at the rear
+            angles). Those self-returns are removed downstream by a
+            laser_filters box filter (see agv_pro_gazebo scan_filter.yaml) in the
+            base_footprint frame, which keeps full forward/side sensing while
+            dropping any point inside the chassis outline. Both simulation and
+            the physical robot run the same filter, so /scan stays identical.
+          -->
+          <range>
+            <min>0.15</min>
+            <max>12.0</max>
+            <resolution>0.01</resolution>
+          </range>
+        </lidar>
+      </sensor>
+    </gazebo>
+  </xacro:macro>
+</robot>

src/elephant_robotics/agv_pro_description/urdf/agv_pro.urdf

@@ -1,279 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<robot name="AGV pro" xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-  <xacro:arg name="namespace" default=""/>
-  <xacro:property name="namespace" value="$(arg namespace)"/>
-
-  <xacro:arg name="port_name" default="/dev/agvpro_controller"/>
-
-  <link name="${namespace}base_footprint"/>
-
-  <joint name="${namespace}base_joint" type="fixed">
-    <parent link="${namespace}base_footprint"/>
-    <child link="${namespace}base_link" />
-    <origin xyz="0 0 0.020" rpy="0 0 0"/>
-  </joint>
-
-  <link name="${namespace}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="package://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="package://agv_pro_description/meshes/base_link.stl" />
-      </geometry>
-    </collision>
-  </link>
-
-  <link name="${namespace}right_rear_wheel_link">
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <mass value="0.21659" />
-      <inertia ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07"
-               iyy="0.00097519" iyz="-2.3635E-07"
-               izz="0.00051178" />
-    </inertial>
-
-    <visual>
-      <origin xyz="0 0 0"
-              rpy="0 0 0" />
-      <geometry>
-        <mesh filename="package://agv_pro_description/meshes/wheel_rb_link.stl" />
-      </geometry>
-      <material name="">
-        <color rgba="1 1 1 1" />
-      </material>
-    </visual>
-
-    <collision>
-      <origin xyz="0 0 0"
-              rpy="0 0 0" />
-      <geometry>
-        <mesh filename="package://agv_pro_description/meshes/wheel_rb_link.stl" />
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="${namespace}right_rear_wheel_joint" type="continuous">
-    <origin xyz="-0.171806101587598 -0.179900399999999 0.0518836514526621" rpy="0 0 0" />
-    <parent link="${namespace}base_link" />
-    <child link="${namespace}right_rear_wheel_link" />
-    <axis xyz="0 1 0" />
-  </joint>
-  
-  <link name="${namespace}right_front_wheel_link">
-    <inertial>
-      <origin xyz="6.6563E-05 -0.019725 8.3836E-05" rpy="0 0 0" />
-      <mass value="0.21659122149244" />
-      <inertia ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07"
-               iyy="0.00097519" iyz="-2.3635E-07"
-               izz="0.00051178" />
-    </inertial>
-
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="package://agv_pro_description/meshes/wheel_rf_link.stl" />
-      </geometry>
-      <material name="">
-        <color rgba="1 1 1 1" />
-      </material>
-    </visual>
-
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="package://agv_pro_description/meshes/wheel_rf_link.stl" />
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="${namespace}right_front_wheel_joint" type="continuous">
-    <origin xyz="-0.17181 0.1799 0.051884"
-      rpy="0 0 0" />
-    <parent link="${namespace}base_link" />
-    <child link="${namespace}right_front_wheel_link" />
-    <axis xyz="0 1 0" />
-  </joint>
-  
-  <link name="${namespace}left_front_wheel_link">
-    <inertial>
-      <origin xyz="1.4671E-06 -0.019803 4.3218E-06" rpy="0 0 0" />
-      <mass value="0.3015" />
-      <inertia ixx="0.00052475" ixy="-2.2533E-07" ixz="-4.1904E-07"
-               iyy="0.00099948" iyz="7.5332E-08"
-               izz="0.00052362" />
-    </inertial>
-
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="package://agv_pro_description/meshes/wheel_lf_link.stl" />
-      </geometry>
-      <material name="">
-        <color rgba="1 1 1 1" />
-      </material>
-    </visual>
-
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="package://agv_pro_description/meshes/wheel_lf_link.stl" />
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="${namespace}left_front_wheel_joint" type="continuous">
-    <origin xyz="0.17128 0.1799 0.052"
-      rpy="0 0 0" />
-    <parent link="${namespace}base_link" />
-    <child link="${namespace}left_front_wheel_link" />
-    <axis xyz="0 1 0" />
-  </joint>
-  
-  <link name="${namespace}left_rear_wheel_link">
-    <inertial>
-      <origin xyz="-2.4454E-06 0.019725 -4.3121E-06" rpy="0 0 0" />
-      <mass value="0.29613" />
-      <inertia ixx="0.00051227" ixy="-2.0628E-07" ixz="-4.9074E-07"
-               iyy="0.0009752" iyz="1.173E-07"
-               izz="0.00051131" />
-    </inertial>
-
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="package://agv_pro_description/meshes/wheel_lb_link.stl" />
-      </geometry>
-      <material name="">
-        <color rgba="1 1 1 1" />
-      </material>
-    </visual>
-
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="package://agv_pro_description/meshes/wheel_lb_link.stl" />
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="${namespace}left_rear_wheel_joint" type="continuous">
-    <origin xyz="0.17128 -0.1799 0.052" rpy="0 0 0" />
-    <parent link="${namespace}base_link" />
-    <child link="${namespace}left_rear_wheel_link" />
-    <axis xyz="0 1 0" />
-  </joint>
-  
-  <link name="${namespace}laser_link">
-    <inertial>
-      <origin xyz="-0.0035142 -2.8248E-05 0.0010013" rpy="0 0 0" />
-      <mass value="0.049095" />
-      <inertia ixx="2.0572E-05" ixy="8.5013E-08" ixz="2.0871E-07" iyy="2.0483E-05"
-               iyz="-4.2154E-09"
-               izz="3.4612E-05" />
-    </inertial>
-
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="package://agv_pro_description/meshes/laser_link.stl" />
-      </geometry>
-      <material name="">
-        <color rgba="1 1 1 1" />
-      </material>
-    </visual>
-
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="package://agv_pro_description/meshes/laser_link.stl" />
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="${namespace}lidar_joint" type="fixed">
-    <origin xyz="0.17891 0 0.20928" rpy="0 0 0" />
-    <parent link="${namespace}base_link" />
-    <child link="${namespace}laser_link" />
-  </joint>
-
-  <link name="${namespace}camera_link"/>
-
-  <joint name="${namespace}camera_joint" type="fixed">
-    <origin xyz="0.23191 0 0.14928" rpy="0 0 0" />
-    <parent link="${namespace}base_link" />
-    <child link="${namespace}camera_link" />
-  </joint>
-
-  <link name="${namespace}imu_link"/>
-
-  <joint name="${namespace}imu_joint" type="fixed">
-    <origin xyz="-0.17181 -0.0270532 0.14928" rpy="0 0 1.5707" />
-    <parent link="${namespace}base_link" />
-    <child link="${namespace}imu_link" />
-  </joint>
-
-  <!-- ════════════════════════════════════════════════════════════════════════
-       ros2_control hardware interface for the real robot.
-
-       Joint-name note: the URDF joint origins show that two wheels are
-       physically at the 'wrong' position relative to their names:
-         left_rear_wheel_joint  is physically at front-right (+x, -y)
-         right_front_wheel_joint is physically at rear-left  (-x, +y)
-       The hardware plugin and mecanum_drive_controller both use the
-       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_description/urdf/agv_pro.urdf.xacro

@@ -0,0 +1,165 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="agv_pro" xmlns:xacro="http://www.ros.org/wiki/xacro"
+    xmlns:gz="http://gazebosim.org/schema">
+
+    <!-- Optional namespace prefix for all link/joint names -->
+    <xacro:arg name="prefix" default="" />
+    <xacro:property name="prefix" value="$(arg prefix)" />
+
+    <!-- Hardware selection: false -> real serial base, true -> Gazebo (gz-sim) -->
+    <xacro:arg name="sim" default="false" />
+    <xacro:property name="sim" value="$(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)" />
+
+    <!-- Optional per-function controller params files, each loaded into the
+         SAME gz_ros2_control controller_manager. Used when composing the AGV
+         into a larger robot (e.g. a mobile manipulator) so its controllers
+         share the single controller_manager. Named by function for clarity;
+         empty -> standalone behaviour unchanged. -->
+    <xacro:arg name="controllers_file_arm" default="" />
+    <xacro:property name="controllers_file_arm" value="$(arg controllers_file_arm)" />
+
+    <xacro:arg name="controllers_file_gripper" default="" />
+    <xacro:property name="controllers_file_gripper" value="$(arg controllers_file_gripper)" />
+
+    <link name="${prefix}base_footprint" />
+
+    <joint name="${prefix}base_joint" type="fixed">
+        <parent link="${prefix}base_footprint" />
+        <child link="${prefix}base_link" />
+        <origin xyz="0 0 0.020" rpy="0 0 0" />
+    </joint>
+
+    <link name="${prefix}base_link">
+        <inertial>
+            <origin xyz="-0.0076254 0.0 0.06693" rpy="0 0 0" />
+            <mass value="19.236" />
+            <inertia ixx="0.14436" ixy="0.0012037" ixz="0.0019458"
+                iyy="0.24191" iyz="0.0044629"
+                izz="0.33755" />
+        </inertial>
+
+        <visual>
+            <origin xyz="0 0 0"
+                rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://agv_pro_description/meshes/base_link.stl" />
+            </geometry>
+            <material name="">
+                <color rgba="1 1 1 1" />
+            </material>
+        </visual>
+
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://agv_pro_description/meshes/base_link.stl" />
+            </geometry>
+        </collision>
+    </link>
+
+    <!-- Wheels (built from the shared wheel macro) -->
+    <xacro:include filename="$(find agv_pro_description)/urdf/parts/wheel_macro.xacro" />
+
+    <xacro:agv_pro_wheel
+        prefix="${prefix}front_right_"
+        parent="${prefix}base_link"
+        reflect="false"
+        mesh="wheel_lb_link.stl"
+        origin_xyz="0.17128 -0.1799 0.052"
+        gazebo_ignition="${sim}" />
+
+    <xacro:agv_pro_wheel
+        prefix="${prefix}front_left_"
+        parent="${prefix}base_link"
+        reflect="true"
+        mesh="wheel_lf_link.stl"
+        origin_xyz="0.17128 0.1799 0.052"
+        gazebo_ignition="${sim}" />
+
+    <xacro:agv_pro_wheel
+        prefix="${prefix}rear_left_"
+        parent="${prefix}base_link"
+        reflect="false"
+        mesh="wheel_rf_link.stl"
+        origin_xyz="-0.17181 0.1799 0.052"
+        gazebo_ignition="${sim}" />
+
+    <xacro:agv_pro_wheel
+        prefix="${prefix}rear_right_"
+        parent="${prefix}base_link"
+        reflect="true"
+        mesh="wheel_rb_link.stl"
+        origin_xyz="-0.171806101587598 -0.179900399999999 0.052"
+        gazebo_ignition="${sim}" />
+
+
+    <link name="${prefix}laser_link">
+        <inertial>
+            <origin xyz="-0.0035142 -2.8248E-05 0.0010013" rpy="0 0 0" />
+            <mass value="0.049095" />
+            <inertia ixx="2.0572E-05" ixy="8.5013E-08" ixz="2.0871E-07" iyy="2.0483E-05"
+                iyz="-4.2154E-09"
+                izz="3.4612E-05" />
+        </inertial>
+
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://agv_pro_description/meshes/laser_link.stl" />
+            </geometry>
+            <material name="">
+                <color rgba="1 1 1 1" />
+            </material>
+        </visual>
+
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://agv_pro_description/meshes/laser_link.stl" />
+            </geometry>
+        </collision>
+    </link>
+
+    <joint name="${prefix}lidar_joint" type="fixed">
+        <origin xyz="0.17891 0 0.20928" rpy="0 0 0" />
+        <parent link="${prefix}base_link" />
+        <child link="${prefix}laser_link" />
+    </joint>
+
+    <link name="${prefix}camera_link" />
+
+    <joint name="${prefix}camera_joint" type="fixed">
+        <origin xyz="0.23191 0 0.14928" rpy="0 0 0" />
+        <parent link="${prefix}base_link" />
+        <child link="${prefix}camera_link" />
+    </joint>
+
+    <link name="${prefix}imu_link" />
+
+    <joint name="${prefix}imu_joint" type="fixed">
+        <origin xyz="-0.17181 -0.0270532 0.14928" rpy="0 0 1.5707" />
+        <parent link="${prefix}base_link" />
+        <child link="${prefix}imu_link" />
+    </joint>
+
+    <!-- ros2_control: real hardware or gz_ros2_control depending on 'sim' -->
+    <xacro:include filename="$(find agv_pro_description)/urdf/control/agv_pro.ros2_control.xacro" />
+    <xacro:agv_pro_ros2_control sim="${sim}" prefix="${prefix}" port_name="${port_name}" />
+
+    <!-- Gazebo system plugin (hosts controller_manager); wheel friction is in the wheel macro -->
+    <xacro:if value="${sim}">
+        <xacro:include filename="$(find agv_pro_description)/urdf/agv_pro.gazebo.xacro" />
+        <xacro:agv_pro_gazebo prefix="${prefix}" controllers_file="${controllers_file}"
+            controllers_file_arm="${controllers_file_arm}"
+            controllers_file_gripper="${controllers_file_gripper}" />
+    </xacro:if>
+
+</robot>

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

@@ -0,0 +1,55 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <!--
+    Single ros2_control block, shared by the real robot and the Gazebo sim.
+    Only the <hardware> plugin differs:
+      sim=false -> agv_pro_hardware/AgvProHardwareInterface  (real serial base)
+      sim=true  -> gz_ros2_control/GazeboSimSystem           (Gazebo Harmonic)
+
+    Joint names match the wheel macro:
+      <prefix>{front_left,front_right,rear_left,rear_right}_wheel_joint
+    Each wheel sits at its true corner, so the mapping is 1:1 (no swaps).
+  -->
+  <xacro:macro name="agv_pro_ros2_control" params="sim prefix 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">${port_name}</param>
+          <param name="wheel_radius">0.072</param>
+          <param name="lx">0.172</param>
+          <param name="ly">0.180</param>
+          <param name="front_left_joint">${prefix}front_left_wheel_joint</param>
+          <param name="front_right_joint">${prefix}front_right_wheel_joint</param>
+          <param name="rear_left_joint">${prefix}rear_left_wheel_joint</param>
+          <param name="rear_right_joint">${prefix}rear_right_wheel_joint</param>
+        </xacro:unless>
+      </hardware>
+
+      <joint name="${prefix}front_left_wheel_joint">
+        <command_interface name="velocity"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+      </joint>
+      <joint name="${prefix}front_right_wheel_joint">
+        <command_interface name="velocity"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+      </joint>
+      <joint name="${prefix}rear_left_wheel_joint">
+        <command_interface name="velocity"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+      </joint>
+      <joint name="${prefix}rear_right_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/parts/inertia.urdf.xacro

@@ -0,0 +1,59 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+  <!-- code from https://github.com/RobotnikAutomation/robotnik_description/blob/jazzy-devel/urdf/inertia.urdf.xacro -->
+  <!-- source en.wikipedia.org/wiki/List_of_moments_of_inertia-->
+
+  <!-- TODO Solid sphere of radius r and mass m-->
+  <xacro:macro
+    name="solid_sphere_inertia"
+    params="m r">
+    <inertia
+      ixx="${(2*r*r*m)/5}"
+      ixy="0"
+      ixz="0"
+      iyy="${(2*r*r*m)/5}"
+      iyz="0"
+      izz="${(2*r*r*m)/5}" />
+  </xacro:macro>
+
+  <!-- TODO Hollow sphere of radius r and mass m-->
+  <xacro:macro
+    name="hollow_sphere_inertia"
+    params="m r">
+    <inertia
+      ixx="${(2*r*r*m)/3}"
+      ixy="0"
+      ixz="0"
+      iyy="${(2*r*r*m)/3}"
+      iyz="0"
+      izz="${(2*r*r*m)/3}" />
+  </xacro:macro>
+
+  <!-- TODO Solid cuboid of width w, height h, depth d, and mass m -->
+  <!-- yes, axis in solid_cuboid_inertia are changed, w relates to X axis, d to Z axis, and h to Y axis -->
+  <!-- Keep this comment -->
+  <xacro:macro
+    name="solid_cuboid_inertia"
+    params="m h d w">
+    <inertia
+      ixx="${(m*(h*h+d*d))/12}"
+      ixy="0"
+      ixz="0"
+      iyy="${(m*(w*w+d*d))/12}"
+      iyz="0"
+      izz="${(m*(w*w+h*h))/12}" />
+  </xacro:macro>
+
+  <!-- TODO Solid cylinder of radius r, height h and mass m -->
+  <xacro:macro
+    name="solid_cylinder_inertia"
+    params="m r h">
+    <inertia
+      ixx="${m*(3*r*r+h*h)/12}"
+      ixy="0"
+      ixz="0"
+      iyy="${m*(3*r*r+h*h)/12}"
+      iyz="0"
+      izz="${m*r*r/2}" />
+  </xacro:macro>
+</robot>

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

@@ -0,0 +1,108 @@
+<?xml version="1.0"?>
+<robot
+    name="wheel_macro"
+    xmlns:xacro="http://www.ros.org/wiki/xacro"
+    xmlns:gz="http://gazebosim.org/schema">
+    <!--
+    AGV Pro wheel macro.
+
+    Builds a continuous-rotation wheel (link + joint) from a mesh, mass,
+    inertia tensor and mounting origin.
+
+    Params:
+      prefix               base name, e.g. 'left_front'
+      mesh                 STL filename in agv_pro_description/meshes
+      reflect              reflect the model and the physics
+      wheel_radius          
+      wheel_height
+      wheel_mass           link mass (kg)
+      origin_xyz           joint origin relative to base_link
+  -->
+    <xacro:macro
+        name="agv_pro_wheel"
+        params="prefix
+            parent
+            origin_xyz
+            reflect
+            mesh
+            wheel_radius:=0.072
+            wheel_height:=0.04
+            wheel_mass:=0.25
+            gazebo_ignition:=false">
+
+        <xacro:macro name="cylinder_inertia" params="m r h">
+            <inertia
+                ixx="${m*(3*r*r+h*h)/12}"
+                ixy="0"
+                ixz="0"
+                iyy="${m*r*r/2}"
+                iyz="0"
+                izz="${m*(3*r*r+h*h)/12}" />
+        </xacro:macro>
+
+        <joint name="${prefix}wheel_joint" type="continuous">
+            <origin xyz="${origin_xyz}" rpy="0 0 0" />
+            <parent link="${parent}" />
+            <child link="${prefix}wheel_link" />
+            <axis xyz="0 1 0" />
+            <limit effort="100000" velocity="100" />
+        </joint>
+
+
+        <link name="${prefix}wheel_link">
+            <visual>
+                <origin xyz="0 0 0" rpy="0 0 0" />
+                <geometry>
+                    <mesh
+                        filename="package://agv_pro_description/meshes/wheels/${mesh}" />
+                </geometry>
+                <material name="darkgrey">
+                    <color rgba="0.2 0.2 0.2 1" />
+                </material>
+            </visual>
+
+            <collision>
+                <origin xyz="0 0 0" rpy="0 0 0" />
+                <geometry>
+                    <sphere radius="${wheel_radius}" />
+                </geometry>
+            </collision>
+
+            <inertial>
+                <mass value="${wheel_mass}" />
+                <origin xyz="0 0 0" />
+                <xacro:cylinder_inertia
+                    m="${wheel_mass}"
+                    r="${wheel_radius}"
+                    h="${wheel_height}" />
+            </inertial>
+
+        </link>
+
+
+        <xacro:if value="${gazebo_ignition}">
+            <gazebo reference="${prefix}wheel_link">
+                <collision>
+                    <surface>
+                        <friction>
+                            <ode>
+                             
+                                <mu>5.0</mu>
+                                <mu2>0.0</mu2>
+                                <xacro:if value="${reflect}">
+                                    <fdir1
+                                        gz:expressed_in="$(arg prefix)base_footprint">1 -1 0</fdir1>
+                                </xacro:if>
+                                <xacro:unless value="${reflect}">
+                                    <fdir1
+                                        gz:expressed_in="$(arg prefix)base_footprint">1 1 0</fdir1>
+                                </xacro:unless>
+                            </ode>
+                        </friction>
+                    </surface>
+                </collision>
+            </gazebo>
+        </xacro:if>
+
+    </xacro:macro>
+</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
+install(DIRECTORY meshes launch rviz config worlds
   DESTINATION share/${PROJECT_NAME}
 )
 

src/elephant_robotics/agv_pro_gazebo/config/agv_control copy.yaml

@@ -1,23 +0,0 @@
-controller_manager:
-  ros__parameters:
-    update_rate: 100
-
-    joint_state_broadcaster:
-      type: joint_state_broadcaster/JointStateBroadcaster
-
-    diff_drive_controller:
-      type: diff_drive_controller/DiffDriveController
-      left_wheel_names: ["left_front_wheel_joint", "left_rear_wheel_joint"]
-      right_wheel_names: ["right_front_wheel_joint", "right_rear_wheel_joint"]
-
-      wheel_separation: 0.36
-      wheel_radius: 0.05
-
-      base_frame_id: base_link
-      use_stamped_vel: false
-      publish_rate: 50
-
-      enable_odom_tf: true
-      odom_frame_id: odom
-      pose_covariance_diagonal: [0.001, 0.001, 99999.0, 99999.0, 99999.0, 0.03]
-      twist_covariance_diagonal: [0.001, 0.001, 99999.0, 99999.0, 99999.0, 0.03]

src/elephant_robotics/agv_pro_gazebo/config/agv_control.yaml

@@ -1,28 +1,43 @@
 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
-    fishbot_joint_state_broadcaster:
+    joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
-      use_sim_time: true
 
-    # 定义全向驱动控制器
+    # 定义麦克纳姆轮驱动控制器
-    fishbot_omni_drive_controller:
+    mecanum_drive_controller:
-      type: omni_drive_controller/OmniDriveController
+      type: mecanum_drive_controller/MecanumDriveController
 
-# 四轮全向控制器配置
+# ─────────────────────────────────────────────────────────────────────────────
-fishbot_omni_drive_controller:
+# 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.
+#
+# ─────────────────────────────────────────────────────────────────────────────
+mecanum_drive_controller:
   ros__parameters:
-    front_left_wheel_joint: front_left_wheel_joint
+    front_left_wheel_command_joint_name:  front_left_wheel_joint
-    front_right_wheel_joint: front_right_wheel_joint
+    front_right_wheel_command_joint_name: front_right_wheel_joint
-    rear_left_wheel_joint: rear_left_wheel_joint
+    rear_left_wheel_command_joint_name:   rear_left_wheel_joint
-    rear_right_wheel_joint: rear_right_wheel_joint
+    rear_right_wheel_command_joint_name:  rear_right_wheel_joint
-    wheel_separation: 0.36  # 轮距
+
-    wheel_diameter: 0.1  # 轮子直径
-    publish_rate: 50.0  # 发布频率
     odom_frame_id:  odom
-    base_frame_id: base_link
+    base_frame_id:  base_footprint
-    pose_covariance_diagonal: [0.001, 0.001, 99999.0, 99999.0, 99999.0, 0.03]
+    enable_odom_tf: true
-    twist_covariance_diagonal: [0.001, 0.001, 99999.0, 99999.0, 99999.0, 0.03]
+
+    # How long a /cmd_vel (reference) command stays valid, in seconds. The
+    # controller default is 0.0, which treats every command as instantly expired
+    # and so mostly halts between messages — the wheels only reached ~16-31% of
+    # the commanded speed and the robot crawled. 0.5 s holds the last command
+    # between messages (standard cmd_vel behaviour) so the wheels run at speed.
+    reference_timeout: 0.5
+
+    kinematics:
+      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/config/scan_filter.yaml

@@ -0,0 +1,30 @@
+# laser_filters chain for the AGV Pro 2D lidar.
+#
+# The 360 deg lidar is mounted at the front of the robot (laser_link is ~0.179 m
+# ahead of base_link), so its rearward beams strike the robot's own chassis and
+# report returns from ~0.19 m out to ~0.38 m. Left unfiltered, those self-returns
+# were baked into the SLAM map and both Nav2 costmaps, marking the robot's own
+# cell lethal (cost 253) so the planner refused to plan from an in-collision
+# start ("Failed to create plan with tolerance").
+#
+# The box filter drops any scan point that falls inside the chassis outline
+# (expressed in base_footprint), which removes the self-returns while keeping all
+# real obstacles in front of and beside the robot. The physical robot runs the
+# same filter, so the /scan consumed by SLAM/Nav2 is identical to simulation.
+scan_filter_chain:
+  ros__parameters:
+    filter1:
+      name: chassis_box_filter
+      type: laser_filters/LaserScanBoxFilter
+      params:
+        box_frame: base_footprint
+        # Chassis extent in base_footprint (metres). The laser sits at x=+0.179,
+        # so the body occupies roughly x in [-0.35, 0.18] and y in [-0.30, 0.30].
+        min_x: -0.35
+        max_x: 0.18
+        min_y: -0.30
+        max_y: 0.30
+        min_z: -1.0
+        max_z: 1.0
+        # false => remove points that fall INSIDE the box (the chassis).
+        invert: false

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

@@ -1,65 +1,219 @@
 import os
 from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription
+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
+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
 
+
 def generate_launch_description():
-    pkg_name = 'agv_pro_gazebo'
+    pkg_gazebo = get_package_share_directory('agv_pro_gazebo')
-    pkg_dir = get_package_share_directory(pkg_name)
+    pkg_description = get_package_share_directory('agv_pro_description')
-    xacro_file = os.path.join(pkg_dir, 'urdf', 'agv_pro.xacro')
+    pkg_ros_gz_sim = get_package_share_directory('ros_gz_sim')
-    world_file = os.path.join(pkg_dir, 'worlds', 'empty.world')
-    rviz_config = os.path.join(pkg_dir, 'rviz', 'agvpro_display.rviz')
 
-    robot_description_content = ParameterValue(
+    # Shared robot description (agv_pro_description) built for simulation.
-        Command(['xacro ', xacro_file]),
+    xacro_file = os.path.join(pkg_description, 'urdf', 'agv_pro.urdf.xacro')
-        value_type=str
+    controllers_file = os.path.join(pkg_gazebo, 'config', 'agv_control.yaml')
+    default_world = os.path.join(pkg_gazebo, 'worlds', 'empty.world')
+    rviz_config = os.path.join(pkg_gazebo, 'rviz', 'agvpro_display.rviz')
+
+    use_sim_time = LaunchConfiguration('use_sim_time')
+    use_rviz = LaunchConfiguration('use_rviz')
+    headless = LaunchConfiguration('headless')
+    world = LaunchConfiguration('world')
+
+    robot_description = {
+        'robot_description': ParameterValue(
+            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=''),
+        ],
     )
-    robot_description = {'robot_description': robot_description_content}
 
-    return LaunchDescription([
+    # Start gz-sim (Gazebo Harmonic) with the world.
-        # Launch Gazebo
+    # '-s' (server only) is added when headless:=true.
-        IncludeLaunchDescription(
+    gz_args = PythonExpression([
+        "'-r -v4 -s ' + '", world, "' if '", headless,
+        "' == 'true' else '-r -v4 ' + '", world, "'",
+    ])
+    gz_sim = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-                os.path.join(get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')
+            os.path.join(pkg_ros_gz_sim, 'launch', 'gz_sim.launch.py')
-            ),
-            launch_arguments={'world': world_file}.items()
         ),
+        launch_arguments={'gz_args': gz_args}.items(),
+    )
 
-        # Spawn robot into Gazebo
+    # Publish the robot description (also consumed by gz_ros2_control)
-        Node(
+    robot_state_publisher = Node(
-            package='gazebo_ros',
-            executable='spawn_entity.py',
-            arguments=['-topic', 'robot_description',
-                       '-entity', 'agv_pro'],
-            output='screen'
-        ),
-
-        # State publisher
-        Node(
         package='robot_state_publisher',
         executable='robot_state_publisher',
         name='robot_state_publisher',
         output='screen',
-            parameters=[robot_description]
+        parameters=[robot_description],
-        ),
+    )
 
-        Node(
+    # Spawn the robot into gz-sim from the robot_description topic.
-            package='joint_state_publisher',
+    # Delayed so robot_state_publisher has latched /robot_description before the
-            executable='joint_state_publisher',
+    # gz_ros2_control plugin (loaded on spawn) reads it — avoids a startup race
-            name='joint_state_publisher',
+    # where the in-sim controller_manager sees no <ros2_control> tag.
+    spawn_entity = Node(
+        package='ros_gz_sim',
+        executable='create',
+        arguments=['-topic', 'robot_description', '-name', 'agv_pro', '-z', '0.1'],
         output='screen',
-        ),
+    )
+    delayed_spawn = TimerAction(period=3.0, actions=[spawn_entity])
 
-        # Optional: RViz
+    # Bridge the simulation clock so ROS nodes get /clock
-        Node(
+    clock_bridge = Node(
+        package='ros_gz_bridge',
+        executable='parameter_bridge',
+        arguments=['/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock'],
+        output='screen',
+    )
+
+    # Bridge the 2D lidar: gz LaserScan -> ROS /scan_raw (sensor_msgs/LaserScan).
+    # The sensor is defined on laser_link in agv_pro.gazebo.xacro. The raw scan
+    # goes to /scan_raw and is cleaned by the box filter below before Nav2/SLAM
+    # consume /scan. use_sim_time so the scan stamps use the Gazebo clock.
+    scan_bridge = Node(
+        package='ros_gz_bridge',
+        executable='parameter_bridge',
+        arguments=['/scan@sensor_msgs/msg/LaserScan[gz.msgs.LaserScan'],
+        parameters=[{'use_sim_time': use_sim_time}],
+        remappings=[('/scan', '/scan_raw')],
+        output='screen',
+    )
+
+    # Remove the robot's own chassis returns from the front-mounted lidar.
+    # The box filter (config/scan_filter.yaml) drops any point inside the chassis
+    # outline in base_footprint, publishing the cleaned scan on /scan. Without it
+    # the self-returns mark the robot's own cell lethal and Nav2 cannot plan.
+    scan_filter = Node(
+        package='laser_filters',
+        executable='scan_to_scan_filter_chain',
+        name='scan_filter_chain',
+        parameters=[
+            os.path.join(pkg_gazebo, 'config', 'scan_filter.yaml'),
+            {'use_sim_time': use_sim_time},
+        ],
+        remappings=[('scan', '/scan_raw'), ('scan_filtered', '/scan')],
+        output='screen',
+    )
+
+    # Controllers (controller_manager runs inside the gz_ros2_control plugin)
+    joint_state_broadcaster_spawner = Node(
+        package='controller_manager',
+        executable='spawner',
+        arguments=[
+            'joint_state_broadcaster',
+            '--controller-manager', '/controller_manager',
+        ],
+        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. Also remap the controller's private odometry
+    # outputs to the global names the rest of the stack expects:
+    #   ~/tf_odometry -> /tf   (so odom->base_footprint reaches the TF tree)
+    #   ~/odometry    -> /odom (nav2 odom_topic, robot_localization, etc.)
+    # NOTE: the remap keys must be the private names ('~/...'); 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 -r ~/tf_odometry:=/tf -r ~/odometry:=/odom',
+        ],
+        output='screen',
+    )
+
+    rviz = Node(
         package='rviz2',
         executable='rviz2',
         name='rviz2',
-            output='screen',
         arguments=['-d', rviz_config],
+        parameters=[{'use_sim_time': use_sim_time}],
+        condition=IfCondition(use_rviz),
+        output='screen',
+    )
+
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            'use_sim_time',
+            default_value='true',
+            description='Use the Gazebo simulation clock',
         ),
+        DeclareLaunchArgument(
+            'use_rviz',
+            default_value='true',
+            description='Launch RViz2',
+        ),
+        DeclareLaunchArgument(
+            'headless',
+            default_value='false',
+            description='Run gz-sim without the GUI (server only)',
+        ),
+        DeclareLaunchArgument(
+            'world',
+            default_value=default_world,
+            description='Full path to the Gazebo world (SDF) to load',
+        ),
+        gz_resource_path,
+        gz_sim,
+        robot_state_publisher,
+        clock_bridge,
+        scan_bridge,
+        scan_filter,
+        delayed_spawn,
+        # Load controllers only after the robot has been spawned
+        RegisterEventHandler(
+            OnProcessExit(
+                target_action=spawn_entity,
+                on_exit=[joint_state_broadcaster_spawner],
+            )
+        ),
+        RegisterEventHandler(
+            OnProcessExit(
+                target_action=joint_state_broadcaster_spawner,
+                on_exit=[mecanum_drive_controller_spawner],
+            )
+        ),
+        rviz,
     ])

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

@@ -1,71 +0,0 @@
-import os
-from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription, ExecuteProcess
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import Command, LaunchConfiguration, PathJoinSubstitution
-from launch_ros.actions import Node
-from ament_index_python.packages import get_package_share_directory
-
-def generate_launch_description():
-    pkg_name = 'agv_pro_description'
-
-    # Paths
-    pkg_dir = get_package_share_directory(pkg_name)
-    xacro_file = os.path.join(pkg_dir, 'urdf', 'agv_pro.xacro')
-    world_file = os.path.join(pkg_dir, 'worlds', 'empty.world')  # 创建一个空 world 即可
-    rviz_config = os.path.join(pkg_dir, 'rviz', 'agvpro_display.rviz')
-
-    robot_description_content = Command(['xacro ', xacro_file])
-    robot_description = {'robot_description': robot_description_content}
-
-    return LaunchDescription([
-
-        # Start Gazebo with empty world
-        IncludeLaunchDescription(
-            PythonLaunchDescriptionSource(
-                [os.path.join(get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')]
-            ),
-            launch_arguments={'world': world_file}.items()
-        ),
-
-        # Spawn robot into Gazebo
-        Node(
-            package='gazebo_ros',
-            executable='spawn_entity.py',
-            arguments=['-topic', 'robot_description',
-                       '-entity', 'agv_pro'],
-            output='screen'
-        ),
-
-        # Robot state publisher
-        Node(
-            package='robot_state_publisher',
-            executable='robot_state_publisher',
-            name='robot_state_publisher',
-            output='screen',
-            parameters=[robot_description]
-        ),
-
-        # Optionally publish joint states if not using controllers
-        Node(
-            package='joint_state_publisher',
-            executable='joint_state_publisher',
-            name='joint_state_publisher',
-            output='screen',
-        ),
-        Node(
-            package='controller_manager',
-            executable='spawner',
-            arguments=['joint_state_broadcaster'],
-            output='screen',
-        ),
-
-        # RViz (optional, visualize TF & model)
-        Node(
-            package='rviz2',
-            executable='rviz2',
-            name='rviz2',
-            output='screen',
-            arguments=['-d', rviz_config],
-        ),
-    ]) 

src/elephant_robotics/agv_pro_gazebo/launch/teleop_launch.py

@@ -2,6 +2,7 @@ import os
 from launch import LaunchDescription
 from launch_ros.actions import Node
 
+
 def generate_launch_description():
     return LaunchDescription([
         Node(
@@ -10,8 +11,14 @@ def generate_launch_description():
             name='teleop_keyboard',
             output='screen',
             prefix='xterm -e',  # 或 'gnome-terminal --' 替换为你的终端命令
-            remappings=[
+            # mecanum_drive_controller expects a stamped reference; teleop must
-                ('/cmd_vel', '/diff_drive_controller/cmd_vel_unstamped')
+            # 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',
+            }],
         )
     ])

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

@@ -12,8 +12,15 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>xacro</buildtool_depend>
   
-  <!-- Build dependencies -->
+  <!-- Runtime dependencies -->
-  <depend>gazebo_ros_pkgs</depend>
+  <!-- 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>
+  <exec_depend>laser_filters</exec_depend>
+  <depend>gz_ros2_control</depend>
+
   <depend>robot_state_publisher</depend>
   <depend>joint_state_publisher</depend>
   <depend>geometry_msgs</depend>
@@ -24,9 +31,8 @@
   <depend>ros2_control</depend>
   <depend>controller_manager</depend>
   <depend>joint_state_broadcaster</depend>
-  <depend>diff_drive_controller</depend>
+  <depend>mecanum_drive_controller</depend>
   <depend>teleop_twist_keyboard</depend>
-  <buildtool_depend>ament_cmake</buildtool_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

src/elephant_robotics/agv_pro_gazebo/urdf/agv_pro copy.xacro

@@ -1,123 +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="file://$(find agv_pro_description)/meshes/base_link.stl" />
-      </geometry>
-      <material name="">
-        <color rgba="1 1 1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="file://$(find agv_pro_description)/meshes/base_link.stl" />
-      </geometry>
-    </collision>
-  </link>
-
-  <!-- Gazebo plugin for control -->
-  <gazebo>
-    <plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so"/>
-  </gazebo>
-
-  <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 -->
-  <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"/>
-  <!-- Add all four wheels using macro -->
-  <xacro:wheel name="right_rear_wheel" mesh="file://$(find agv_pro_description)/meshes/wheel_rb_link.stl" origin_xyz="-0.1718 -0.1799 0.05188" origin_rpy="0 0 0" mass="0.21659" ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07" iyy="0.00097519" iyz="-2.3635E-07" izz="0.00051178"/>
-
-  <xacro:wheel name="right_front_wheel" mesh="file://$(find 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="file://$(find agv_pro_description)/meshes/wheel_lf_link.stl" origin_xyz="0.17128 0.1799 0.052" origin_rpy="0 0 0" mass="0.3015" ixx="0.00052475" ixy="-2.2533E-07" ixz="-4.1904E-07" iyy="0.00099948" iyz="7.5332E-08" izz="0.00052362"/>
-
-  <xacro:wheel name="left_rear_wheel" mesh="file://$(find 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="file://$(find agv_pro_description)/meshes/laser_link.stl" />
-      </geometry>
-      <material name="">
-        <color rgba="1 1 1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="file://$(find 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>
-
-  <!-- ros2_control tag -->
-  <ros2_control name="AGVHardware" type="system">
-    <hardware>
-      <plugin>gazebo_ros2_control/GazeboSystem</plugin>
-    </hardware>
-
-    <joint name="right_rear_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_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>
-  </ros2_control>
-
-</robot>

src/elephant_robotics/agv_pro_gazebo/urdf/agv_pro.xacro

@@ -1,92 +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/parts/gazebo_control_plugin.xacro"/>
-  <xacro:include filename="$(find agv_pro_gazebo)/urdf/ros2_controller.xacro"/>
-  <xacro:ros2_controller/>
-  <xacro:gazebo_control_plugin/>
-</robot>

src/elephant_robotics/agv_pro_gazebo/urdf/agv_pro1.xacro

@@ -1,144 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="agv_pro">
-
-  <xacro:property name="wheel_axis" value="0 1 0"/>
-  <xacro:property name="wheel_damping" value="0.1"/>
-
-  <!-- Macro: wheel with Gazebo plugin -->
-  <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="${mesh}" />
-        </geometry>
-        <material name=""><color rgba="1 1 1 1"/></material>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
-        <geometry>
-          <mesh filename="${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="${wheel_axis}"/>
-      <dynamics damping="${wheel_damping}"/>
-    </joint>
-
-    <transmission name="${name}_trans">
-      <type>transmission_interface/SimpleTransmission</type>
-      <actuator name="${name}_motor">
-        <mechanicalReduction>1</mechanicalReduction>
-      </actuator>
-      <joint name="${name}_joint">
-        <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
-      </joint>
-    </transmission>
-
-    <gazebo reference="${name}_link">
-      <mu1>0.8</mu1>
-      <mu2>0.8</mu2>
-      <kp>100000.0</kp>
-      <kd>1.0</kd>
-      <material>Gazebo/Grey</material>
-    </gazebo>
-  </xacro:macro>
-
-  <!-- Base links -->
-  <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="package://agv_pro_description/meshes/base_link.stl"/>
-      </geometry>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://agv_pro_description/meshes/base_link.stl"/>
-      </geometry>
-    </collision>
-  </link>
-
-  <!-- Gazebo plugin for ros2_control -->
-  <gazebo>
-    <plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so"/>
-  </gazebo>
-
-  <!-- Wheels -->
-  <xacro:wheel name="right_rear_wheel"
-               mesh="package://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="package://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="package://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="package://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="package://agv_pro_description/meshes/laser_link.stl"/>
-      </geometry>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://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>
-
-</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

@@ -1,58 +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>
-      <material>Gazebo/Black</material>
-    </gazebo>
-
-  </xacro:macro>
-</robot>

src/elephant_robotics/agv_pro_gazebo/urdf/ros2_controller.xacro

@@ -1,56 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-    <xacro:macro name="ros2_controller">
-        <ros2_control name="FishBotGazeboSystem" type="system">
-            <hardware>
-                <plugin>gazebo_ros2_control/GazeboSystem</plugin>
-            </hardware>
-            
-            <!-- 配置所有轮子的控制接口 -->
-            <joint name="front_left_wheel_joint">
-                <command_interface name="position" />
-                <command_interface name="velocity" />
-                <command_interface name="effort" />
-                <state_interface name="position" />
-                <state_interface name="velocity" />
-                <state_interface name="effort" />
-            </joint>
-
-            <joint name="front_right_wheel_joint">
-                <command_interface name="position" />
-                <command_interface name="velocity" />
-                <command_interface name="effort" />
-                <state_interface name="position" />
-                <state_interface name="velocity" />
-                <state_interface name="effort" />
-            </joint>
-
-            <joint name="rear_left_wheel_joint">
-                <command_interface name="position" />
-                <command_interface name="velocity" />
-                <command_interface name="effort" />
-                <state_interface name="position" />
-                <state_interface name="velocity" />
-                <state_interface name="effort" />
-            </joint>
-
-            <joint name="rear_right_wheel_joint">
-                <command_interface name="position" />
-                <command_interface name="velocity" />
-                <command_interface name="effort" />
-                <state_interface name="position" />
-                <state_interface name="velocity" />
-                <state_interface name="effort" />
-            </joint>
-        </ros2_control>
-        <gazebo>
-            <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
-                <parameters>$(find agv_pro_gazebo)/config/agv_control.yaml</parameters>
-                <ros>
-                    <remapping>/omni_drive_controller/cmd_vel:=/cmd_vel</remapping>
-                    <remapping>/omni_drive_controller/odom:=/odom</remapping>
-                </ros>
-            </plugin>
-        </gazebo>
-    </xacro:macro>
-</robot>

src/elephant_robotics/agv_pro_gazebo/worlds/empty.world

@@ -1,11 +1,69 @@
 <?xml version="1.0" ?>
-<sdf version="1.6">
+<sdf version="1.10">
   <world name="empty_world">
-    <include>
+
-      <uri>model://ground_plane</uri>
+    <!-- Required gz-sim (Gazebo Harmonic) system plugins -->
-    </include>
+    <plugin filename="gz-sim-physics-system"
-    <include>
+            name="gz::sim::systems::Physics">
-      <uri>model://sun</uri>
+    </plugin>
-    </include>
+    <plugin filename="gz-sim-user-commands-system"
+            name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin filename="gz-sim-scene-broadcaster-system"
+            name="gz::sim::systems::SceneBroadcaster">
+    </plugin>
+    <plugin filename="gz-sim-sensors-system"
+            name="gz::sim::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+
+    <physics name="1ms" type="ignored">
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+
+    <!-- Sun -->
+    <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>
+
+    <!-- Ground plane -->
+    <model name="ground_plane">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
   </world>
 </sdf>

src/elephant_robotics/agv_pro_gazebo/worlds/room.world

@@ -0,0 +1,133 @@
+<?xml version="1.0" ?>
+<!--
+  room.world - a simple enclosed room for testing SLAM and Nav2 in simulation.
+  Same required gz-sim system plugins as empty.world (physics, scene broadcaster,
+  user commands, sensors) plus four perimeter walls so the 2D lidar has features
+  to map and localise against.
+-->
+<sdf version="1.10">
+  <world name="room_world">
+
+    <plugin filename="gz-sim-physics-system"
+            name="gz::sim::systems::Physics">
+    </plugin>
+    <plugin filename="gz-sim-user-commands-system"
+            name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin filename="gz-sim-scene-broadcaster-system"
+            name="gz::sim::systems::SceneBroadcaster">
+    </plugin>
+    <plugin filename="gz-sim-sensors-system"
+            name="gz::sim::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+
+    <physics name="1ms" type="ignored">
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+
+    <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>
+
+    <model name="ground_plane">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <plane><normal>0 0 1</normal><size>100 100</size></plane>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <plane><normal>0 0 1</normal><size>100 100</size></plane>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+    <!-- 8m x 8m room: four walls, 0.1m thick, 1m tall, centred on origin -->
+    <model name="walls">
+      <static>true</static>
+      <link name="link">
+        <!-- North wall (+X) -->
+        <collision name="north_col">
+          <pose>4 0 0.5 0 0 0</pose>
+          <geometry><box><size>0.1 8 1</size></box></geometry>
+        </collision>
+        <visual name="north_vis">
+          <pose>4 0 0.5 0 0 0</pose>
+          <geometry><box><size>0.1 8 1</size></box></geometry>
+          <material><ambient>0.6 0.6 0.65 1</ambient><diffuse>0.6 0.6 0.65 1</diffuse></material>
+        </visual>
+        <!-- South wall (-X) -->
+        <collision name="south_col">
+          <pose>-4 0 0.5 0 0 0</pose>
+          <geometry><box><size>0.1 8 1</size></box></geometry>
+        </collision>
+        <visual name="south_vis">
+          <pose>-4 0 0.5 0 0 0</pose>
+          <geometry><box><size>0.1 8 1</size></box></geometry>
+          <material><ambient>0.6 0.6 0.65 1</ambient><diffuse>0.6 0.6 0.65 1</diffuse></material>
+        </visual>
+        <!-- East wall (+Y) -->
+        <collision name="east_col">
+          <pose>0 4 0.5 0 0 0</pose>
+          <geometry><box><size>8 0.1 1</size></box></geometry>
+        </collision>
+        <visual name="east_vis">
+          <pose>0 4 0.5 0 0 0</pose>
+          <geometry><box><size>8 0.1 1</size></box></geometry>
+          <material><ambient>0.6 0.6 0.65 1</ambient><diffuse>0.6 0.6 0.65 1</diffuse></material>
+        </visual>
+        <!-- West wall (-Y) -->
+        <collision name="west_col">
+          <pose>0 -4 0.5 0 0 0</pose>
+          <geometry><box><size>8 0.1 1</size></box></geometry>
+        </collision>
+        <visual name="west_vis">
+          <pose>0 -4 0.5 0 0 0</pose>
+          <geometry><box><size>8 0.1 1</size></box></geometry>
+          <material><ambient>0.6 0.6 0.65 1</ambient><diffuse>0.6 0.6 0.65 1</diffuse></material>
+        </visual>
+      </link>
+    </model>
+
+    <!-- A couple of interior obstacles to make mapping/localisation non-trivial -->
+    <model name="pillar_1">
+      <static>true</static>
+      <link name="link">
+        <pose>1.5 1.0 0.5 0 0 0</pose>
+        <collision name="c"><geometry><cylinder><radius>0.25</radius><length>1.0</length></cylinder></geometry></collision>
+        <visual name="v"><geometry><cylinder><radius>0.25</radius><length>1.0</length></cylinder></geometry>
+          <material><ambient>0.7 0.5 0.3 1</ambient><diffuse>0.7 0.5 0.3 1</diffuse></material></visual>
+      </link>
+    </model>
+    <model name="pillar_2">
+      <static>true</static>
+      <link name="link">
+        <pose>-1.8 -1.5 0.5 0 0 0</pose>
+        <collision name="c"><geometry><box><size>0.5 0.5 1.0</size></box></geometry></collision>
+        <visual name="v"><geometry><box><size>0.5 0.5 1.0</size></box></geometry>
+          <material><ambient>0.3 0.5 0.7 1</ambient><diffuse>0.3 0.5 0.7 1</diffuse></material></visual>
+      </link>
+    </model>
+
+  </world>
+</sdf>

src/elephant_robotics/agv_pro_navigation2/CMakeLists.txt

@@ -24,7 +24,7 @@ if(BUILD_TESTING)
 endif()
 
 install(
-  DIRECTORY launch map param rviz scripts
+  DIRECTORY config launch map param rviz scripts
   DESTINATION share/${PROJECT_NAME}
 )
 

src/elephant_robotics/agv_pro_navigation2/config/slam_toolbox_sim.yaml

@@ -0,0 +1,46 @@
+# slam_toolbox online-async mapping config for the AGV Pro in simulation.
+# Builds a map from /scan and publishes the map -> odom transform that Nav2
+# needs. Frames match the robot: odom (from mecanum_drive_controller) and
+# base_footprint (robot root). use_sim_time is supplied by the launch file.
+slam_toolbox:
+  ros__parameters:
+    # Frames / topics
+    odom_frame: odom
+    map_frame: map
+    base_frame: base_footprint
+    scan_topic: /scan
+    mode: mapping
+
+    # Solver
+    solver_plugin: solver_plugins::CeresSolver
+    ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
+    ceres_preconditioner: SCHUR_JACOBI
+    ceres_trust_strategy: LEVENBERG_MARQUARDT
+    ceres_dogleg_type: TRADITIONAL_DOGLEG
+    ceres_loss_function: None
+
+    # Mapping behaviour
+    map_update_interval: 1.0
+    resolution: 0.05
+    max_laser_range: 12.0
+    minimum_time_interval: 0.2
+    transform_timeout: 0.2
+    tf_buffer_duration: 30.0
+    stack_size_to_use: 40000000
+    enable_interactive_mode: true
+
+    # Scan matching
+    use_scan_matching: true
+    use_scan_barycenter: true
+    minimum_travel_distance: 0.3
+    minimum_travel_heading: 0.3
+    scan_buffer_size: 10
+    scan_buffer_maximum_scan_distance: 12.0
+    link_match_minimum_response_fine: 0.1
+    link_scan_maximum_distance: 1.5
+    loop_search_maximum_distance: 3.0
+    do_loop_closing: true
+    loop_match_minimum_chain_size: 10
+    loop_match_maximum_variance_coarse: 3.0
+    loop_match_minimum_response_coarse: 0.35
+    loop_match_minimum_response_fine: 0.45

src/elephant_robotics/agv_pro_navigation2/launch/simulation.launch.py

@@ -0,0 +1,115 @@
+"""
+simulation.launch.py — Nav2 + SLAM in Gazebo for the AGV Pro.
+
+Brings up the full autonomous-navigation stack in simulation:
+
+  1. Gazebo (agv_pro_gazebo.launch.py) in the walled `room.world`, with the
+     2D lidar publishing /scan and the mecanum_drive_controller publishing
+     odom -> base_footprint (TF) and /odom, consuming /cmd_vel.
+  2. slam_toolbox (online async) — builds a map from /scan and publishes
+     map -> odom.
+  3. Nav2 (navigation_launch.py) — planner / controller (MPPI, Omni motion
+     model for the holonomic base) / behaviours / bt_navigator, using
+     param/nav2_sim.yaml.
+  4. RViz with the navigation view.
+
+Everything runs on the Gazebo clock (use_sim_time:=true).
+
+Usage:
+  ros2 launch agv_pro_navigation2 simulation.launch.py
+  ros2 launch agv_pro_navigation2 simulation.launch.py headless:=true
+  ros2 launch agv_pro_navigation2 simulation.launch.py use_rviz:=false
+"""
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import (
+    DeclareLaunchArgument,
+    IncludeLaunchDescription,
+    TimerAction,
+)
+from launch.conditions import IfCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    pkg_gazebo = get_package_share_directory('agv_pro_gazebo')
+    pkg_nav2 = get_package_share_directory('agv_pro_navigation2')
+    pkg_slam = get_package_share_directory('slam_toolbox')
+    pkg_nav2_bringup = get_package_share_directory('nav2_bringup')
+
+    use_rviz = LaunchConfiguration('use_rviz')
+    headless = LaunchConfiguration('headless')
+    world = LaunchConfiguration('world')
+
+    default_world = os.path.join(pkg_gazebo, 'worlds', 'room.world')
+    slam_params = os.path.join(pkg_nav2, 'config', 'slam_toolbox_sim.yaml')
+    nav2_params = os.path.join(pkg_nav2, 'param', 'nav2_sim.yaml')
+    rviz_config = os.path.join(pkg_nav2, 'rviz', 'agvpro_navigation2.rviz')
+
+    # 1. Gazebo + robot + lidar + controllers
+    gazebo = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo, 'launch', 'agv_pro_gazebo.launch.py')
+        ),
+        launch_arguments={
+            'use_sim_time': 'true',
+            'use_rviz': 'false',
+            'headless': headless,
+            'world': world,
+        }.items(),
+    )
+
+    # 2. SLAM (map -> odom). Delayed so /scan and odom TF are up first.
+    slam = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_slam, 'launch', 'online_async_launch.py')
+        ),
+        launch_arguments={
+            'use_sim_time': 'true',
+            'slam_params_file': slam_params,
+        }.items(),
+    )
+
+    # 3. Nav2 navigation stack (no localization; SLAM provides map -> odom).
+    nav2 = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_nav2_bringup, 'launch', 'navigation_launch.py')
+        ),
+        launch_arguments={
+            'use_sim_time': 'true',
+            'params_file': nav2_params,
+        }.items(),
+    )
+
+    # 4. RViz
+    rviz = Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        arguments=['-d', rviz_config],
+        parameters=[{'use_sim_time': True}],
+        condition=IfCondition(use_rviz),
+        output='screen',
+    )
+
+    # Give Gazebo time to spawn the robot and activate the controllers (which
+    # publish odom -> base_footprint) before SLAM and Nav2 start looking for TF.
+    delayed_bringup = TimerAction(period=8.0, actions=[slam, nav2, rviz])
+
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            'use_rviz', default_value='true',
+            description='Launch RViz with the navigation view'),
+        DeclareLaunchArgument(
+            'headless', default_value='false',
+            description='Run gz-sim without the GUI (server only)'),
+        DeclareLaunchArgument(
+            'world', default_value=default_world,
+            description='Full path to the Gazebo world (SDF) to load'),
+        gazebo,
+        delayed_bringup,
+    ])

src/elephant_robotics/agv_pro_navigation2/package.xml

@@ -12,6 +12,10 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <exec_depend>nav2_bringup</exec_depend>
+  <exec_depend>slam_toolbox</exec_depend>
+  <exec_depend>agv_pro_gazebo</exec_depend>
+  <exec_depend>agv_pro_description</exec_depend>
+  <exec_depend>rviz2</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

src/elephant_robotics/agv_pro_navigation2/param/agvpro.yaml

@@ -109,6 +109,9 @@ bt_navigator_rclcpp_node:
 controller_server:
   ros__parameters:
     use_sim_time: False
+    # Publish /cmd_vel as geometry_msgs/TwistStamped to match the
+    # mecanum_drive_controller's ~/reference input (both sim and real robot).
+    enable_stamped_cmd_vel: true
     controller_frequency: 20.0
     min_x_velocity_threshold: 0.001
     min_y_velocity_threshold: 0.5

src/elephant_robotics/agv_pro_navigation2/param/nav2_sim.yaml

@@ -0,0 +1,482 @@
+amcl:
+  ros__parameters:
+    alpha1: 0.2
+    alpha2: 0.2
+    alpha3: 0.2
+    alpha4: 0.2
+    alpha5: 0.2
+    base_frame_id: "base_footprint"
+    beam_skip_distance: 0.5
+    beam_skip_error_threshold: 0.9
+    beam_skip_threshold: 0.3
+    do_beamskip: false
+    global_frame_id: "map"
+    lambda_short: 0.1
+    laser_likelihood_max_dist: 2.0
+    laser_max_range: 100.0
+    laser_min_range: -1.0
+    laser_model_type: "likelihood_field"
+    max_beams: 60
+    max_particles: 2000
+    min_particles: 500
+    odom_frame_id: "odom"
+    pf_err: 0.05
+    pf_z: 0.99
+    recovery_alpha_fast: 0.0
+    recovery_alpha_slow: 0.0
+    resample_interval: 1
+    robot_model_type: "nav2_amcl::DifferentialMotionModel"
+    save_pose_rate: 0.5
+    sigma_hit: 0.2
+    tf_broadcast: true
+    transform_tolerance: 1.0
+    update_min_a: 0.2
+    update_min_d: 0.25
+    z_hit: 0.5
+    z_max: 0.05
+    z_rand: 0.5
+    z_short: 0.05
+    scan_topic: scan
+
+bt_navigator:
+  ros__parameters:
+    global_frame: map
+    robot_base_frame: base_footprint
+    odom_topic: /odom
+    bt_loop_duration: 10
+    default_server_timeout: 20
+    wait_for_service_timeout: 1000
+    action_server_result_timeout: 900.0
+    navigators: ["navigate_to_pose", "navigate_through_poses"]
+    navigate_to_pose:
+      plugin: "nav2_bt_navigator::NavigateToPoseNavigator"
+    navigate_through_poses:
+      plugin: "nav2_bt_navigator::NavigateThroughPosesNavigator"
+    # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
+    # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
+    # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
+    # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
+
+    # plugin_lib_names is used to add custom BT plugins to the executor (vector of strings).
+    # Built-in plugins are added automatically
+    # plugin_lib_names: []
+
+    error_code_names:
+      - compute_path_error_code
+      - follow_path_error_code
+
+controller_server:
+  ros__parameters:
+    # Mecanum controller consumes geometry_msgs/TwistStamped on ~/reference.
+    enable_stamped_cmd_vel: true
+    controller_frequency: 20.0
+    costmap_update_timeout: 0.30
+    min_x_velocity_threshold: 0.001
+    min_y_velocity_threshold: 0.5
+    min_theta_velocity_threshold: 0.001
+    failure_tolerance: 0.3
+    progress_checker_plugins: ["progress_checker"]
+    goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
+    controller_plugins: ["FollowPath"]
+    use_realtime_priority: false
+
+    # Progress checker parameters
+    # PoseProgressChecker (not SimpleProgressChecker) so that in-place rotation
+    # counts as progress. At the goal the holonomic base often must rotate to
+    # meet yaw_goal_tolerance; SimpleProgressChecker only credits *translation*
+    # (required_movement_radius) so that final yaw alignment tripped "Failed to
+    # make progress" -> recovery spin -> rotated further off goal -> Goal failed.
+    progress_checker:
+      plugin: "nav2_controller::PoseProgressChecker"
+      required_movement_radius: 0.5
+      required_movement_angle: 0.5
+      movement_time_allowance: 10.0
+    # Goal checker parameters
+    #precise_goal_checker:
+    #  plugin: "nav2_controller::SimpleGoalChecker"
+    #  xy_goal_tolerance: 0.25
+    #  yaw_goal_tolerance: 0.25
+    #  stateful: True
+    general_goal_checker:
+      stateful: True
+      plugin: "nav2_controller::SimpleGoalChecker"
+      xy_goal_tolerance: 0.25
+      yaw_goal_tolerance: 0.25
+    FollowPath:
+      plugin: "nav2_mppi_controller::MPPIController"
+      time_steps: 56
+      model_dt: 0.05
+      batch_size: 2000
+      ax_max: 3.0
+      ax_min: -3.0
+      ay_max: 3.0
+      ay_min: -3.0
+      az_max: 3.5
+      vx_std: 0.2
+      vy_std: 0.2
+      wz_std: 0.4
+      vx_max: 0.5
+      vx_min: -0.35
+      vy_max: 0.5
+      wz_max: 1.9
+      iteration_count: 1
+      prune_distance: 1.7
+      transform_tolerance: 0.1
+      temperature: 0.3
+      gamma: 0.015
+      motion_model: "Omni"
+      visualize: true
+      regenerate_noises: true
+      TrajectoryVisualizer:
+        trajectory_step: 5
+        time_step: 3
+      AckermannConstraints:
+        min_turning_r: 0.2
+      critics: [
+        "ConstraintCritic", "CostCritic", "GoalCritic",
+        "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic",
+        "PathAngleCritic", "PreferForwardCritic"]
+      ConstraintCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 4.0
+      GoalCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 5.0
+        threshold_to_consider: 1.4
+      GoalAngleCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 3.0
+        threshold_to_consider: 0.5
+      PreferForwardCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 5.0
+        threshold_to_consider: 0.5
+      CostCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 3.81
+        near_collision_cost: 253
+        critical_cost: 300.0
+        consider_footprint: false
+        collision_cost: 1000000.0
+        near_goal_distance: 1.0
+        trajectory_point_step: 2
+      PathAlignCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 14.0
+        max_path_occupancy_ratio: 0.05
+        trajectory_point_step: 4
+        threshold_to_consider: 0.5
+        offset_from_furthest: 20
+        use_path_orientations: false
+      PathFollowCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 5.0
+        offset_from_furthest: 5
+        threshold_to_consider: 1.4
+      PathAngleCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 2.0
+        offset_from_furthest: 4
+        threshold_to_consider: 0.5
+        max_angle_to_furthest: 1.0
+        mode: 0
+      # TwirlingCritic:
+      #   enabled: true
+      #   twirling_cost_power: 1
+      #   twirling_cost_weight: 10.0
+
+local_costmap:
+  local_costmap:
+    ros__parameters:
+      update_frequency: 5.0
+      publish_frequency: 2.0
+      global_frame: odom
+      robot_base_frame: base_footprint
+      rolling_window: true
+      width: 3
+      height: 3
+      resolution: 0.05
+      robot_radius: 0.30
+      plugins: ["voxel_layer", "inflation_layer"]
+      inflation_layer:
+        plugin: "nav2_costmap_2d::InflationLayer"
+        cost_scaling_factor: 3.0
+        inflation_radius: 0.70
+      voxel_layer:
+        plugin: "nav2_costmap_2d::VoxelLayer"
+        enabled: True
+        publish_voxel_map: True
+        origin_z: 0.0
+        z_resolution: 0.05
+        z_voxels: 16
+        max_obstacle_height: 2.0
+        mark_threshold: 0
+        observation_sources: scan
+        scan:
+          topic: /scan
+          max_obstacle_height: 2.0
+          clearing: True
+          marking: True
+          data_type: "LaserScan"
+          raytrace_max_range: 3.0
+          raytrace_min_range: 0.0
+          obstacle_max_range: 2.5
+          obstacle_min_range: 0.0
+      static_layer:
+        plugin: "nav2_costmap_2d::StaticLayer"
+        map_subscribe_transient_local: True
+      always_send_full_costmap: True
+
+global_costmap:
+  global_costmap:
+    ros__parameters:
+      update_frequency: 1.0
+      publish_frequency: 1.0
+      global_frame: map
+      robot_base_frame: base_footprint
+      robot_radius: 0.30
+      resolution: 0.05
+      track_unknown_space: true
+      plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
+      obstacle_layer:
+        plugin: "nav2_costmap_2d::ObstacleLayer"
+        enabled: True
+        observation_sources: scan
+        scan:
+          topic: /scan
+          max_obstacle_height: 2.0
+          clearing: True
+          marking: True
+          data_type: "LaserScan"
+          raytrace_max_range: 3.0
+          raytrace_min_range: 0.0
+          obstacle_max_range: 2.5
+          obstacle_min_range: 0.0
+      static_layer:
+        plugin: "nav2_costmap_2d::StaticLayer"
+        map_subscribe_transient_local: True
+      inflation_layer:
+        plugin: "nav2_costmap_2d::InflationLayer"
+        cost_scaling_factor: 3.0
+        inflation_radius: 0.7
+      always_send_full_costmap: True
+
+# The yaml_filename does not need to be specified since it going to be set by defaults in launch.
+# If you'd rather set it in the yaml, remove the default "map" value in the tb3_simulation_launch.py
+# file & provide full path to map below. If CLI map configuration or launch default is provided, that will be used.
+# map_server:
+#   ros__parameters:
+#     yaml_filename: ""
+
+map_saver:
+  ros__parameters:
+    save_map_timeout: 5.0
+    free_thresh_default: 0.25
+    occupied_thresh_default: 0.65
+    map_subscribe_transient_local: True
+
+planner_server:
+  ros__parameters:
+    expected_planner_frequency: 20.0
+    planner_plugins: ["GridBased"]
+    costmap_update_timeout: 1.0
+    GridBased:
+      plugin: "nav2_navfn_planner::NavfnPlanner"
+      tolerance: 0.5
+      use_astar: false
+      allow_unknown: true
+
+smoother_server:
+  ros__parameters:
+    smoother_plugins: ["simple_smoother"]
+    simple_smoother:
+      plugin: "nav2_smoother::SimpleSmoother"
+      tolerance: 1.0e-10
+      max_its: 1000
+      do_refinement: True
+
+behavior_server:
+  ros__parameters:
+    enable_stamped_cmd_vel: true
+    local_costmap_topic: local_costmap/costmap_raw
+    global_costmap_topic: global_costmap/costmap_raw
+    local_footprint_topic: local_costmap/published_footprint
+    global_footprint_topic: global_costmap/published_footprint
+    cycle_frequency: 10.0
+    behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
+    spin:
+      plugin: "nav2_behaviors::Spin"
+    backup:
+      plugin: "nav2_behaviors::BackUp"
+    drive_on_heading:
+      plugin: "nav2_behaviors::DriveOnHeading"
+    wait:
+      plugin: "nav2_behaviors::Wait"
+    assisted_teleop:
+      plugin: "nav2_behaviors::AssistedTeleop"
+    local_frame: odom
+    global_frame: map
+    robot_base_frame: base_footprint
+    transform_tolerance: 0.1
+    simulate_ahead_time: 2.0
+    max_rotational_vel: 1.0
+    min_rotational_vel: 0.4
+    rotational_acc_lim: 3.2
+
+waypoint_follower:
+  ros__parameters:
+    loop_rate: 20
+    stop_on_failure: false
+    action_server_result_timeout: 900.0
+    waypoint_task_executor_plugin: "wait_at_waypoint"
+    wait_at_waypoint:
+      plugin: "nav2_waypoint_follower::WaitAtWaypoint"
+      enabled: True
+      waypoint_pause_duration: 200
+
+route_server:
+  ros__parameters:
+    # The graph_filepath does not need to be specified since it going to be set by defaults in launch.
+    # If you'd rather set it in the yaml, remove the default "graph" value in the launch file(s).
+    # file & provide full path to map below. If graph config or launch default is provided, it is used
+    # graph_filepath: $(find-pkg-share nav2_route)/graphs/aws_graph.geojson
+    boundary_radius_to_achieve_node: 1.0
+    radius_to_achieve_node: 2.0
+    smooth_corners: true
+    operations: ["AdjustSpeedLimit", "ReroutingService", "CollisionMonitor"]
+    ReroutingService:
+      plugin: "nav2_route::ReroutingService"
+    AdjustSpeedLimit:
+      plugin: "nav2_route::AdjustSpeedLimit"
+    CollisionMonitor:
+      plugin: "nav2_route::CollisionMonitor"
+      max_collision_dist: 3.0
+    edge_cost_functions: ["DistanceScorer", "CostmapScorer"]
+    DistanceScorer:
+      plugin: "nav2_route::DistanceScorer"
+    CostmapScorer:
+      plugin: "nav2_route::CostmapScorer"
+
+velocity_smoother:
+  ros__parameters:
+    enable_stamped_cmd_vel: true
+    smoothing_frequency: 20.0
+    stamp_smoothed_velocity_with_smoothing_time: False
+    scale_velocities: False
+    feedback: "OPEN_LOOP"
+    max_velocity: [0.5, 0.5, 2.0]
+    min_velocity: [-0.5, -0.5, -2.0]
+    max_accel: [2.5, 2.5, 3.2]
+    max_decel: [-2.5, -2.5, -3.2]
+    odom_topic: "odom"
+    odom_duration: 0.1
+    deadband_velocity: [0.0, 0.0, 0.0]
+    velocity_timeout: 1.0
+
+collision_monitor:
+  ros__parameters:
+    base_frame_id: "base_footprint"
+    odom_frame_id: "odom"
+    # Publish the final /cmd_vel as TwistStamped to match the mecanum controller.
+    enable_stamped_cmd_vel: true
+    cmd_vel_in_topic: "cmd_vel_smoothed"
+    cmd_vel_out_topic: "cmd_vel"
+    state_topic: "collision_monitor_state"
+    transform_tolerance: 0.2
+    source_timeout: 1.0
+    base_shift_correction: True
+    stop_pub_timeout: 2.0
+    # Polygons represent zone around the robot for "stop", "slowdown" and "limit" action types,
+    # and robot footprint for "approach" action type.
+    polygons: ["FootprintApproach"]
+    FootprintApproach:
+      type: "polygon"
+      action_type: "approach"
+      footprint_topic: "/local_costmap/published_footprint"
+      time_before_collision: 1.2
+      simulation_time_step: 0.1
+      min_points: 6
+      visualize: False
+      enabled: True
+    observation_sources: ["scan"]
+    scan:
+      type: "scan"
+      topic: "scan"
+      min_height: 0.15
+      max_height: 2.0
+      enabled: True
+
+docking_server:
+  ros__parameters:
+    controller_frequency: 50.0
+    initial_perception_timeout: 5.0
+    wait_charge_timeout: 5.0
+    dock_approach_timeout: 30.0
+    undock_linear_tolerance: 0.05
+    undock_angular_tolerance: 0.1
+    max_retries: 3
+    base_frame: "base_link"
+    fixed_frame: "odom"
+    dock_backwards: false
+    dock_prestaging_tolerance: 0.5
+
+    # Types of docks
+    dock_plugins: ['simple_charging_dock']
+    simple_charging_dock:
+      plugin: 'opennav_docking::SimpleChargingDock'
+      docking_threshold: 0.05
+      staging_x_offset: -0.7
+      use_external_detection_pose: true
+      use_battery_status: false # true
+      use_stall_detection: false # true
+
+      external_detection_timeout: 1.0
+      external_detection_translation_x: -0.18
+      external_detection_translation_y: 0.0
+      external_detection_rotation_roll: -1.57
+      external_detection_rotation_pitch: -1.57
+      external_detection_rotation_yaw: 0.0
+      filter_coef: 0.1
+
+    # Dock instances
+    # The following example illustrates configuring dock instances.
+    # docks: ['home_dock']  # Input your docks here
+    # home_dock:
+    #   type: 'simple_charging_dock'
+    #   frame: map
+    #   pose: [0.0, 0.0, 0.0]
+
+    controller:
+      k_phi: 3.0
+      k_delta: 2.0
+      v_linear_min: 0.15
+      v_linear_max: 0.15
+      use_collision_detection: true
+      costmap_topic: "local_costmap/costmap_raw"
+      footprint_topic: "local_costmap/published_footprint"
+      transform_tolerance: 0.1
+      projection_time: 5.0
+      simulation_step: 0.1
+      dock_collision_threshold: 0.3
+
+loopback_simulator:
+  ros__parameters:
+    base_frame_id: "base_footprint"
+    odom_frame_id: "odom"
+    map_frame_id: "map"
+    scan_frame_id: "base_scan"  # tb4_loopback_simulator.launch.py remaps to 'rplidar_link'
+    update_duration: 0.02
+    scan_range_min: 0.05
+    scan_range_max: 30.0
+    scan_angle_min: -3.1415
+    scan_angle_max: 3.1415
+    scan_angle_increment: 0.02617
+    scan_use_inf: true

upstream.jazzy.repos

@@ -2,33 +2,33 @@ repositories:
     FAST_LIO:
         type: git
         url: https://github.com/hku-mars/FAST_LIO.git
-        version: ROS2
+        version: a4743b095409588842a5b30ddfa27e29d2f99164
     livox_ros_driver2:
         type: git
         url: https://github.com/Livox-SDK/livox_ros_driver2.git
-        version: master
+        version: 13eb05e4e6dd7a765b934d0c5fd6236676a57b49
     livox_sdk:
         type: git
         url: https://github.com/Livox-SDK/Livox-SDK2.git
-        version: master
+        version: 68ae1e1dc77f61f03c95d7c2809831e198d0aedd
     Lslidar_ROS2_driver:
         type: git
         url: https://github.com/Lslidar/Lslidar_ROS2_driver.git
-        version: LS-S1_V1.0
+        version: e23139673c34c51d07053837910020aaa81736fa
     pcd2pgm:
         type: git
         url: https://github.com/LihanChen2004/pcd2pgm.git
-        version: main
+        version: 885561552baae33685e59eef41a5d8c996538702
     point_lio_ros2:
         type: git
         url: https://github.com/dfloreaa/point_lio_ros2.git
-        version: main
+        version: a8e2d0d5090af97ead8dd4fac3d37cf3dbb33ff7
     slam_gmapping:
         type: git
         url: https://github.com/Project-MANAS/slam_gmapping.git
-        version: eloquent-devel
+        version: 3c3de50c071d2c64ffe516e1ed84a574fc447b97
     unilidar_sdk2:
         type: git
         url: https://github.com/unitreerobotics/unilidar_sdk2.git
-        version: main
+        version: 0e3c51f512e6b8ff60b8c32f160b412cb48445c2