Refactor the robot description, and include mecanum control.

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

.devcontainer/jazzy/Dockerfile.jazzy

@@ -2,6 +2,7 @@ FROM osrf/ros:jazzy-desktop-full
 ARG USERNAME=USERNAME
 ARG USER_UID=1000
 ARG USER_GID=$USER_UID
+ARG TARGETARCH
 
 # Delete user if it exists in container (e.g Ubuntu Noble: ubuntu)
 RUN if id -u $USER_UID ; then userdel `id -un $USER_UID` ; fi
@@ -47,13 +48,18 @@ RUN apt-get update \
     python3-vcstool \
     && rm -rf /var/lib/apt/lists/*
 
-# Optional: pre-install apt dependencies resolved from rosdep on a previous run.
+# system deps from frozen rosdep manifest — no rosdep at build or startup
-COPY .devcontainer/jazzy/ /tmp/devcontainer-jazzy/
+# NOTE: There should be a check in your CI that this file is up to date.
-
+# Something like: 
-RUN apt-get update \
+#   ./scripts/freeze-rosdep.sh && git diff --exit-code rosdep-packages.txt
-    && if [ -f /tmp/devcontainer-jazzy/rosdep-apt-packages.txt ]; then \
+COPY rosdep-packages.txt /tmp/rosdep-packages.txt
-    grep -Ev '^\s*($|#)' /tmp/devcontainer-jazzy/rosdep-apt-packages.txt | xargs -r apt-get install -y --no-install-recommends; \
+# The --mount=type=cache option caches the apt packages with buildkit
-    fi \
+# The id-apt-cache-${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/*
 
 RUN apt-get update \
@@ -61,13 +67,6 @@ RUN apt-get update \
     ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
     && rm -rf /var/lib/apt/lists/*
 
-# ROS 2 ament build tools
-# RUN apt-get install -y \
-#     ros-${ROS_DISTRO}-ament-cmake \
-#     ros-${ROS_DISTRO}-ament-cmake-auto \
-#     ros-${ROS_DISTRO}-ament-python \
-#     ros-${ROS_DISTRO}-ament-lint-auto \
-#     ros-${ROS_DISTRO}-ament-lint-common
 
 ENV SHELL=/bin/bash
 

.devcontainer/jazzy/devcontainer-lock.json

@@ -0,0 +1,9 @@
+{
+  "features": {
+    "ghcr.io/devcontainers/features/docker-from-docker:1": {
+      "version": "1.10.0",
+      "resolved": "ghcr.io/devcontainers/features/docker-from-docker@sha256:c2c2cf829505ead8e4892c88c31b6594ae94a2bbb209e16e1fac456c1a3a624e",
+      "integrity": "sha256:c2c2cf829505ead8e4892c88c31b6594ae94a2bbb209e16e1fac456c1a3a624e"
+    }
+  }
+}

.devcontainer/jazzy/devcontainer.json

@@ -10,6 +10,12 @@
         }
     },
     "workspaceFolder": "/workspaces/agv_pro_ros2",
+    "features": {
+        "ghcr.io/devcontainers/features/docker-from-docker:1": {
+            "version": "latest",
+            "moby": true
+        }
+    },
     "customizations": {
         "vscode": {
             "extensions": [
@@ -26,15 +32,17 @@
         "CYCLONEDDS_URI": "/workspaces/agv_pro_ros2/.devcontainer/cyclonedds.xml"
     },
     "runArgs": [
-        "--network=robot-sim",
+        // "--network=robot-sim",
+        "--network=host",
         "--pid=host",
         "--ipc=host",
+        "--group-add=dialout",
         "-e",
         "DISPLAY=${env:DISPLAY}"
     ],
     "mounts": [
+        "source=/dev,target=/dev,type=bind",
         "source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind,consistency=cached",
-        "source=/dev/dri,target=/dev/dri,type=bind,consistency=cached",
         "source=/usr/local/share/ca-certificates,target=/usr/local/share/host-certificates,type=bind,consistency=cached",
         "source=${localEnv:HOME}/.ssh,target=/home/${localEnv:USER}/.ssh,type=bind,consistency=cached"
     ],

Dockerfile

@@ -2,6 +2,8 @@ FROM ros:jazzy
 
 # Create the workspace and copy all source directories into it
 WORKDIR /ros2_ws
+ARG TARGETARCH
+
 COPY src ./src/
 COPY patches ./patches/
 COPY upstream.jazzy.repos ./upstream.jazzy.repos
@@ -25,7 +27,22 @@ RUN cd ./src/upstream/livox_ros_driver2 && \
 # Apply patches to upstream
 # 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
+# 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/*
+
 # Install dependencies with rosdep
+# This will catch anything that wasn't installed via .deb's from the frozen rosdep manifest.
 RUN apt-get update && \
     rosdep update && \
     rosdep install --from-paths src --ignore-src -r -y && \

rosdep-packages.txt

@@ -0,0 +1,73 @@
+git
+libapr1-dev libaprutil1-dev
+libboost-all-dev
+libpcap0.8-dev
+libpcl-apps1.14 libpcl-common1.14 libpcl-features1.14 libpcl-filters1.14 libpcl-io1.14 libpcl-kdtree1.14 libpcl-keypoints1.14 libpcl-ml1.14 libpcl-octree1.14 libpcl-outofcore1.14 libpcl-people1.14 libpcl-recognition1.14 libpcl-registration1.14 libpcl-sample-consensus1.14 libpcl-search1.14 libpcl-segmentation1.14 libpcl-stereo1.14 libpcl-surface1.14 libpcl-tracking1.14 libpcl-visualization1.14
+libpcl-dev
+libqt5core5t64
+libqt5gui5t64
+libqt5opengl5t64
+libqt5widgets5t64
+python3-pytest
+qtbase5-dev
+ros-jazzy-ament-cmake
+ros-jazzy-ament-cmake-auto
+ros-jazzy-ament-cmake-black
+ros-jazzy-ament-cmake-clang-format
+ros-jazzy-ament-cmake-clang-tidy
+ros-jazzy-ament-cmake-copyright
+ros-jazzy-ament-cmake-xmllint
+ros-jazzy-ament-copyright
+ros-jazzy-ament-flake8
+ros-jazzy-ament-index-cpp
+ros-jazzy-ament-lint-auto
+ros-jazzy-ament-lint-common
+ros-jazzy-ament-pep257
+ros-jazzy-asio-cmake-module
+ros-jazzy-builtin-interfaces
+ros-jazzy-cartographer-ros
+ros-jazzy-common-interfaces
+ros-jazzy-controller-manager
+ros-jazzy-diff-drive-controller
+ros-jazzy-geometry-msgs
+ros-jazzy-io-context
+ros-jazzy-joint-state-broadcaster
+ros-jazzy-joint-state-publisher
+ros-jazzy-message-filters
+ros-jazzy-nav-msgs
+ros-jazzy-nav2-bringup
+ros-jazzy-nav2-simple-commander
+ros-jazzy-orbbec-camera
+ros-jazzy-pcl-conversions
+ros-jazzy-pcl-ros
+ros-jazzy-pluginlib
+ros-jazzy-rcl-interfaces
+ros-jazzy-rclcpp
+ros-jazzy-rclcpp-components
+ros-jazzy-rclpy
+ros-jazzy-rcutils
+ros-jazzy-resource-retriever
+ros-jazzy-robot-state-publisher
+ros-jazzy-ros2-control
+ros-jazzy-rosbag2
+ros-jazzy-rosidl-default-generators
+ros-jazzy-rosidl-default-runtime
+ros-jazzy-rtabmap-demos
+ros-jazzy-rtabmap-slam
+ros-jazzy-rtabmap-sync
+ros-jazzy-rtabmap-util
+ros-jazzy-rtabmap-viz
+ros-jazzy-rviz-common
+ros-jazzy-rviz-default-plugins
+ros-jazzy-rviz-ogre-vendor
+ros-jazzy-rviz-rendering
+ros-jazzy-rviz2
+ros-jazzy-sensor-msgs
+ros-jazzy-serial-driver
+ros-jazzy-std-msgs
+ros-jazzy-teleop-twist-keyboard
+ros-jazzy-tf2
+ros-jazzy-tf2-geometry-msgs
+ros-jazzy-tf2-ros
+ros-jazzy-visualization-msgs
+ros-jazzy-xacro

scripts/freeze-rosdep.sh

@@ -0,0 +1,7 @@
+#!/usr/bin/env bash
+set -euo pipefail
+ROS_DISTRO="${ROS_DISTRO:-jazzy}"
+rosdep update --rosdistro "$ROS_DISTRO" >/dev/null 2>&1 || true
+rosdep keys --from-paths src --ignore-src --rosdistro "$ROS_DISTRO" 2>/dev/null \
+  | xargs rosdep resolve --rosdistro "$ROS_DISTRO" 2>/dev/null \
+  | awk '/^#apt/{a=1;next} /^#/{a=0} a' | sort -u > rosdep-packages.txt

src/elephant_robotics/agv_pro_bringup/config/ros2_controllers.yaml

@@ -0,0 +1,41 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 50  # Hz — matches ESP32 auto-report rate
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    mecanum_drive_controller:
+      type: mecanum_drive_controller/MecanumDriveController
+
+# ─────────────────────────────────────────────────────────────────────────────
+# Mecanum drive controller
+# ─────────────────────────────────────────────────────────────────────────────
+# Wheel link names match their physical corners:
+#   front-left  (FL) -> left_front_wheel_joint
+#   front-right (FR) -> right_front_wheel_joint
+#   rear-left   (RL) -> left_rear_wheel_joint
+#   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:  front_left_wheel_joint
+    front_right_wheel_command_joint_name: front_right_wheel_joint
+    rear_left_wheel_command_joint_name:   rear_left_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
+
+    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)
+      wheels_radius: 0.072
+      # sum_of_robot_center_projection_on_X_Y_axis = lx + ly
+      # lx ≈ 0.172 m (half wheelbase from URDF joint x-origins)
+      # ly ≈ 0.180 m (half track from URDF joint y-origins)
+      sum_of_robot_center_projection_on_X_Y_axis: 0.352

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

@@ -1,10 +1,11 @@
 import os
 from launch import LaunchDescription
 from launch.conditions import IfCondition
-from launch_ros.actions import Node,PushRosNamespace
+from launch_ros.actions import Node, PushRosNamespace
-from launch.actions import DeclareLaunchArgument,IncludeLaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, TimerAction
-from launch.substitutions import Command,LaunchConfiguration,PythonExpression
+from launch.substitutions import Command, LaunchConfiguration, PythonExpression
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.parameter_descriptions import ParameterValue
 from ament_index_python.packages import get_package_share_directory
 
 def include_lidar(pkg_name, launch_file, enable_lidar, lidar_type, expected_type):
@@ -35,20 +36,27 @@ 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([
+    # Pass both namespace and port_name into the xacro processor so that the
+    # <ros2_control> block in the URDF picks up the correct serial port.
+    robot_description_content = ParameterValue(
+        Command([
             'xacro ',
             urdf_file,
             ' namespace:=',
             PythonExpression(['"', namespace, '" + "/" if "', namespace, '" != "" else ""']),
-    ])
+            ' port_name:=',
+            port_name_arg,
+        ]),
+        value_type=str
+    )
 
     declare_port_name_arg = DeclareLaunchArgument(
         'port_name',
         default_value='/dev/agvpro_controller',
-        description='port name, e.g. /dev/ttyACM0'
+        description='Serial port for the AGV Pro base controller'
     )
 
     declare_namespace_arg = DeclareLaunchArgument(
@@ -71,22 +79,22 @@ def generate_launch_description():
 
     ns_action = PushRosNamespace(namespace)
 
-    agv_pro_node = Node(
+    ros2_controllers_yaml = os.path.join(
-        package='agv_pro_base',
+        get_package_share_directory('agv_pro_bringup'),
-        executable='agv_pro_node',
+        'config',
-        name='agv_pro_node',
+        'ros2_controllers.yaml'
-        output='screen',
-        parameters=[{
-            'port_name': port_name_arg,
-            'namespace': namespace,             
-        }],
-        remappings=[('cmd_vel', '/cmd_vel')]
     )
 
-    joint_state_pub = Node(
+    # controller_manager loads the hardware plugin (serial comms, wheel states)
-        package='joint_state_publisher',
+    # and manages the controllers.
-        executable='joint_state_publisher',
+    controller_manager = Node(
-        name='joint_state_publisher'
+        package='controller_manager',
+        executable='ros2_control_node',
+        parameters=[
+            {'robot_description': robot_description_content},
+            ros2_controllers_yaml,
+        ],
+        output='screen',
     )
 
     robot_state_pub = Node(
@@ -97,9 +105,44 @@ def generate_launch_description():
         output='screen'
     )
 
+    # joint_state_broadcaster publishes /joint_states from the hardware interface.
+    # Replaces the old static joint_state_publisher.
+    joint_state_broadcaster_spawner = Node(
+        package='controller_manager',
+        executable='spawner',
+        arguments=[
+            'joint_state_broadcaster',
+            '--controller-manager', 'controller_manager',
+        ],
+        output='screen',
+    )
+
+    # mecanum_drive_controller subscribes to ~/reference (TwistStamped). Remap it
+    # to the standard /cmd_vel so nav2 and teleop work without extra flags
+    # (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,
+        actions=[
+            Node(
+                package='controller_manager',
+                executable='spawner',
+                arguments=[
+                    'mecanum_drive_controller',
+                    '--controller-manager', 'controller_manager',
+                    '--controller-ros-args', '-r ~/reference:=/cmd_vel',
+                ],
+                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'),
+        include_lidar('agv_pro_bringup', 'MID360_launch.py', enable_lidar, lidar_type, 'mid360'),
         include_lidar('agv_pro_bringup', 'unitree_l2_launch.py', enable_lidar, lidar_type, 'l2'),
     ]
 
@@ -110,9 +153,10 @@ def generate_launch_description():
             declare_enable_lidar_arg,
             declare_lidar_type_arg,
             ns_action,
-            agv_pro_node,
+            controller_manager,
-            joint_state_pub,
             robot_state_pub,
+            joint_state_broadcaster_spawner,
+            mecanum_drive_controller_spawner,
             *lidar_launchs,
         ]
     )

src/elephant_robotics/agv_pro_bringup/package.xml

@@ -9,13 +9,14 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <exec_depend>robot_state_publisher</exec_depend>
-  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>controller_manager</exec_depend>
-  <exec_depend>rviz2</exec_depend>
+  <exec_depend>mecanum_drive_controller</exec_depend>
+  <exec_depend>joint_state_broadcaster</exec_depend>
+  <exec_depend>agv_pro_hardware</exec_depend>
   <exec_depend>agv_pro_description</exec_depend>
-  <exec_depend>agv_pro_base</exec_depend>
+  <exec_depend>rviz2</exec_depend>
   <exec_depend>cartographer_ros</exec_depend>
   <exec_depend>livox_ros_driver2</exec_depend>
-  <exec_depend>unitree_lidar_ros2</exec_depend>
   <exec_depend>lslidar_driver</exec_depend>
 
   <test_depend>ament_lint_auto</test_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 +1,19 @@
+<?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.
+  -->
+  <xacro:macro name="agv_pro_gazebo" params="prefix controllers_file">
+    <gazebo>
+      <plugin filename="gz_ros2_control-system"
+        name="gz_ros2_control::GazeboSimROS2ControlPlugin">
+        <parameters>${controllers_file}</parameters>
+      </plugin>
+    </gazebo>
+  </xacro:macro>
+</robot>

src/elephant_robotics/agv_pro_description/urdf/agv_pro.urdf

@@ -1,232 +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="$(arg namespace)"/>
-
-  <link name="${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>
-
-</robot>

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

@@ -0,0 +1,152 @@
+<?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)" />
+
+    <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}" />
+    </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 +1,113 @@
+<?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>1.0</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>
+                        <contact>
+                            <ode>
+                                <kp>100000.0</kp>
+                                <kd>10.0</kd>
+                            </ode>
+                        </contact>
+                    </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 +1,36 @@
 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]
+
+    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/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 +1,178 @@
 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')
+    world_file = 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')
+
+    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 ' + ", repr(world_file),
+        " if '", headless, "' == 'true' ",
+        "else '-r -v4 ' + ", repr(world_file),
+    ])
+    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',
+    )
+
+    # 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. NOTE: the remap key must be the private name
+    # '~/reference' — a bare 'reference:=/cmd_vel' is silently ignored.
+    mecanum_drive_controller_spawner = Node(
+        package='controller_manager',
+        executable='spawner',
+        arguments=[
+            'mecanum_drive_controller',
+            '--controller-manager', '/controller_manager',
+            '--controller-ros-args', '-r ~/reference:=/cmd_vel',
+        ],
+        output='screen',
+    )
+
+    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)',
+        ),
+        gz_resource_path,
+        gz_sim,
+        robot_state_publisher,
+        clock_bridge,
+        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 +12,14 @@
   <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>
+  <depend>gz_ros2_control</depend>
+
   <depend>robot_state_publisher</depend>
   <depend>joint_state_publisher</depend>
   <depend>geometry_msgs</depend>
@@ -24,9 +30,8 @@
   <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_hardware/CMakeLists.txt

@@ -0,0 +1,67 @@
+cmake_minimum_required(VERSION 3.8)
+project(agv_pro_hardware)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(hardware_interface REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(agv_pro_msgs REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(Boost REQUIRED COMPONENTS system)
+
+add_library(agv_pro_hardware SHARED
+  src/agv_pro_hardware_interface.cpp
+)
+
+target_include_directories(agv_pro_hardware PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+)
+
+target_compile_features(agv_pro_hardware PUBLIC c_std_99 cxx_std_17)
+
+ament_target_dependencies(agv_pro_hardware
+  rclcpp
+  hardware_interface
+  pluginlib
+  sensor_msgs
+  std_msgs
+  agv_pro_msgs
+  tf2
+)
+
+target_link_libraries(agv_pro_hardware Boost::system)
+
+pluginlib_export_plugin_description_file(hardware_interface agv_pro_hardware.xml)
+
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+
+install(
+  TARGETS agv_pro_hardware
+  EXPORT export_${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
+ament_export_dependencies(
+  rclcpp
+  hardware_interface
+  pluginlib
+  sensor_msgs
+  std_msgs
+  agv_pro_msgs
+  tf2
+)
+
+ament_package()

src/elephant_robotics/agv_pro_hardware/agv_pro_hardware.xml

@@ -0,0 +1,13 @@
+<library path="agv_pro_hardware">
+  <class
+    name="agv_pro_hardware/AgvProHardwareInterface"
+    type="agv_pro_hardware::AgvProHardwareInterface"
+    base_class_type="hardware_interface::SystemInterface">
+    <description>
+      ros2_control hardware interface for the AGV Pro mecanum-drive platform.
+      Communicates with the ESP32 base controller over serial, exposes per-wheel
+      velocity command and position/velocity state interfaces, and publishes IMU
+      and battery voltage data.
+    </description>
+  </class>
+</library>

src/elephant_robotics/agv_pro_hardware/include/agv_pro_hardware/agv_pro_hardware_interface.hpp

@@ -0,0 +1,188 @@
+#pragma once
+
+#include <algorithm>
+#include <array>
+#include <atomic>
+#include <condition_variable>
+#include <mutex>
+#include <string>
+#include <thread>
+#include <vector>
+
+#include <boost/asio.hpp>
+
+#include "hardware_interface/system_interface.hpp"
+#include "hardware_interface/hardware_info.hpp"
+#include "hardware_interface/types/hardware_interface_return_values.hpp"
+#include "hardware_interface/types/hardware_component_interface_params.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
+#include "rclcpp_lifecycle/state.hpp"
+#include "sensor_msgs/msg/imu.hpp"
+#include "std_msgs/msg/float32.hpp"
+#include "agv_pro_msgs/srv/set_digital_output.hpp"
+#include "agv_pro_msgs/srv/get_digital_input.hpp"
+#include "agv_pro_msgs/srv/set_led_color.hpp"
+#include "agv_pro_msgs/srv/set_led_mode.hpp"
+
+namespace agv_pro_hardware
+{
+
+// ── ESP32 serial protocol constants (firmware >= V1.0.8) ─────────────────────
+// Send frame: 0xFE 0xFE 0x0B <cmd_id> <8-byte payload> <CRC16-MSB> <CRC16-LSB>
+// Recv frame: 0xFE 0xFE 0x1C <28-byte payload incl cmd_id and CRC>
+static constexpr size_t SEND_FRAME_SIZE = 14;
+static constexpr size_t RECV_FRAME_SIZE = 31;
+static constexpr uint8_t RECV_PAYLOAD_LEN = RECV_FRAME_SIZE - 3;   // 28  (0x1C)
+
+static constexpr uint8_t CMD_POWER_ON      = 0x10;
+static constexpr uint8_t CMD_GET_POWER     = 0x12;
+static constexpr uint8_t CMD_AUTO_REPORT   = 0x23;
+static constexpr uint8_t CMD_VELOCITY_CMD  = 0x21;
+static constexpr uint8_t CMD_VELOCITY_RPT  = 0x25;
+static constexpr uint8_t CMD_SET_LED_COLOR = 0x34;
+static constexpr uint8_t CMD_SET_LED_MODE  = 0x3A;
+static constexpr uint8_t CMD_SET_IO_OUT    = 0x40;
+static constexpr uint8_t CMD_GET_IO_IN     = 0x41;
+
+
+class AgvProHardwareInterface : public hardware_interface::SystemInterface
+{
+public:
+  RCLCPP_SHARED_PTR_DEFINITIONS(AgvProHardwareInterface)
+
+  // ── ros2_control lifecycle ──────────────────────────────────────────────────
+  hardware_interface::CallbackReturn on_init(
+    const hardware_interface::HardwareComponentInterfaceParams & params) override;
+
+  hardware_interface::CallbackReturn on_configure(
+    const rclcpp_lifecycle::State & previous_state) override;
+
+  hardware_interface::CallbackReturn on_activate(
+    const rclcpp_lifecycle::State & previous_state) override;
+
+  hardware_interface::CallbackReturn on_deactivate(
+    const rclcpp_lifecycle::State & previous_state) override;
+
+  hardware_interface::CallbackReturn on_cleanup(
+    const rclcpp_lifecycle::State & previous_state) override;
+
+  // ── Interface export ────────────────────────────────────────────────────────
+  std::vector<hardware_interface::StateInterface::ConstSharedPtr>
+  on_export_state_interfaces() override;
+
+  std::vector<hardware_interface::CommandInterface::SharedPtr>
+  on_export_command_interfaces() override;
+
+  // ── Control loop callbacks ──────────────────────────────────────────────────
+  hardware_interface::return_type read(
+    const rclcpp::Time & time,
+    const rclcpp::Duration & period) override;
+
+  hardware_interface::return_type write(
+    const rclcpp::Time & time,
+    const rclcpp::Duration & period) override;
+
+private:
+  // ── Serial protocol helpers ─────────────────────────────────────────────────
+  uint16_t crc16_ibm(const uint8_t * data, size_t length);
+  std::vector<uint8_t> build_frame(uint8_t cmd_id, const std::vector<uint8_t> & payload);
+
+  // All send/receive helpers acquire write_mutex_ internally (or the caller must
+  // already hold it, indicated by the _locked suffix).
+  bool send_frame(const std::vector<uint8_t> & frame);
+  std::vector<uint8_t> send_and_receive(
+    const std::vector<uint8_t> & cmd_frame,
+    const std::vector<uint8_t> & expected_header,
+    size_t payload_size,
+    double timeout_sec);
+
+  bool power_on();
+  void set_auto_report(bool enable);
+  void clear_serial_buffer(int fd);
+  void disable_dtr_rts(int fd);
+
+  // ── Background serial reader ────────────────────────────────────────────────
+  void reader_thread_func();
+  void process_byte(uint8_t byte);
+  void on_complete_frame(const std::vector<uint8_t> & frame);
+
+  enum class ParseState { SEEK_FE1, SEEK_FE2, SEEK_LEN, READ_PAYLOAD };
+  ParseState parse_state_{ParseState::SEEK_FE1};
+  std::vector<uint8_t> frame_payload_;
+
+  // ── Service handlers ────────────────────────────────────────────────────────
+  void pause_reader_for_service();
+  void resume_reader_after_service();
+
+  void handle_set_digital_output(
+    const std::shared_ptr<agv_pro_msgs::srv::SetDigitalOutput::Request> request,
+    std::shared_ptr<agv_pro_msgs::srv::SetDigitalOutput::Response> response);
+  void handle_get_digital_input(
+    const std::shared_ptr<agv_pro_msgs::srv::GetDigitalInput::Request> request,
+    std::shared_ptr<agv_pro_msgs::srv::GetDigitalInput::Response> response);
+  void handle_set_led_color(
+    const std::shared_ptr<agv_pro_msgs::srv::SetLedColor::Request> request,
+    std::shared_ptr<agv_pro_msgs::srv::SetLedColor::Response> response);
+  void handle_set_led_mode(
+    const std::shared_ptr<agv_pro_msgs::srv::SetLedMode::Request> request,
+    std::shared_ptr<agv_pro_msgs::srv::SetLedMode::Response> response);
+
+  // ── Configuration (from <hardware><param> in URDF) ─────────────────────────
+  std::string port_name_;
+  double wheel_radius_;   // metres
+  double lx_;             // half wheelbase: robot centre → axle (x-axis), metres
+  double ly_;             // half track:     robot centre → wheel (y-axis), metres
+
+  // Index of each physical wheel position in the info_.joints array.
+  // Resolved in on_init() by matching joint names from hardware_parameters.
+  size_t fl_idx_{0};      // physical Front-Left
+  size_t fr_idx_{1};      // physical Front-Right
+  size_t rl_idx_{2};      // physical Rear-Left
+  size_t rr_idx_{3};      // physical Rear-Right
+
+  // ── Serial port ─────────────────────────────────────────────────────────────
+  boost::asio::io_service io_;
+  std::unique_ptr<boost::asio::serial_port> serial_port_;
+
+  // Protects all writes to the serial port (shared between write(), service
+  // handlers, and power_on/set_auto_report calls from the lifecycle methods).
+  std::mutex write_mutex_;
+
+  // ── Reader thread ────────────────────────────────────────────────────────────
+  std::thread reader_thread_;
+  std::atomic<bool> reader_running_{false};
+
+  // Pause/resume: service handlers request a pause so they can own the serial
+  // port for a request-response exchange.
+  std::atomic<bool> reader_pause_req_{false};
+  std::mutex reader_pause_mutex_;
+  std::condition_variable reader_pause_cv_;
+  bool reader_is_paused_{false};
+
+  // ── Latest data from auto-report (reader thread → read()) ───────────────────
+  std::mutex data_mutex_;
+  double latest_vx_{0.0};
+  double latest_vy_{0.0};
+  double latest_vtheta_{0.0};
+  sensor_msgs::msg::Imu latest_imu_;
+  float latest_voltage_{0.0f};
+  bool new_data_{false};
+
+  // ── Joint state storage — these doubles are the backing store for the
+  //    StateInterfaces and CommandInterfaces exported to ros2_control.
+  //    Indexed by position in info_.joints (not by FL/FR/RL/RR directly).
+  std::array<double, 4> wheel_positions_{0.0, 0.0, 0.0, 0.0};
+  std::array<double, 4> wheel_velocities_{0.0, 0.0, 0.0, 0.0};
+  std::array<double, 4> wheel_commands_{0.0, 0.0, 0.0, 0.0};
+
+  // ── ROS publishers and services (created in on_configure via get_node()) ─────
+  rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr         imu_pub_;
+  rclcpp::Publisher<std_msgs::msg::Float32>::SharedPtr         voltage_pub_;
+  rclcpp::Service<agv_pro_msgs::srv::SetDigitalOutput>::SharedPtr set_output_srv_;
+  rclcpp::Service<agv_pro_msgs::srv::GetDigitalInput>::SharedPtr  get_input_srv_;
+  rclcpp::Service<agv_pro_msgs::srv::SetLedColor>::SharedPtr      set_led_color_srv_;
+  rclcpp::Service<agv_pro_msgs::srv::SetLedMode>::SharedPtr       set_led_mode_srv_;
+};
+
+}  // namespace agv_pro_hardware

src/elephant_robotics/agv_pro_hardware/package.xml

@@ -0,0 +1,24 @@
+<?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>agv_pro_hardware</name>
+  <version>1.0.0</version>
+  <description>ros2_control hardware interface plugin for the AGV Pro mecanum-drive platform</description>
+  <maintainer email="todo@example.com">User</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>hardware_interface</depend>
+  <depend>pluginlib</depend>
+  <depend>sensor_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>agv_pro_msgs</depend>
+  <depend>tf2</depend>
+
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/elephant_robotics/agv_pro_hardware/src/agv_pro_hardware_interface.cpp

@@ -0,0 +1,800 @@
+#include "agv_pro_hardware/agv_pro_hardware_interface.hpp"
+
+#include <poll.h>
+#include <termios.h>
+#include <sys/ioctl.h>
+#include <cmath>
+#include <cstring>
+#include <iomanip>
+#include <sstream>
+#include <stdexcept>
+
+#include "pluginlib/class_list_macros.hpp"
+#include "hardware_interface/types/hardware_interface_type_values.hpp"
+#include "tf2/LinearMath/Quaternion.h"
+#include "tf2/utils.h"
+
+PLUGINLIB_EXPORT_CLASS(
+  agv_pro_hardware::AgvProHardwareInterface,
+  hardware_interface::SystemInterface)
+
+namespace agv_pro_hardware
+{
+
+// ── CRC / frame helpers ───────────────────────────────────────────────────────
+
+uint16_t AgvProHardwareInterface::crc16_ibm(const uint8_t * data, size_t length)
+{
+  uint16_t crc = 0xFFFF;
+  for (size_t i = 0; i < length; ++i) {
+    crc ^= static_cast<uint16_t>(data[i]);
+    for (int j = 0; j < 8; ++j) {
+      crc = (crc & 0x0001) ? (crc >> 1) ^ 0xA001 : (crc >> 1);
+    }
+  }
+  return crc;
+}
+
+std::vector<uint8_t> AgvProHardwareInterface::build_frame(
+  uint8_t cmd_id, const std::vector<uint8_t> & payload)
+{
+  std::vector<uint8_t> frame(SEND_FRAME_SIZE, 0x00);
+  frame[0] = 0xFE;
+  frame[1] = 0xFE;
+  frame[2] = 0x0B;
+  frame[3] = cmd_id;
+  for (size_t i = 0; i < payload.size() && i < 8; ++i) {
+    frame[4 + i] = payload[i];
+  }
+  uint16_t crc = crc16_ibm(frame.data(), 12);
+  frame[12] = (crc >> 8) & 0xFF;
+  frame[13] = crc & 0xFF;
+  return frame;
+}
+
+bool AgvProHardwareInterface::send_frame(const std::vector<uint8_t> & frame)
+{
+  std::lock_guard<std::mutex> lock(write_mutex_);
+  try {
+    boost::asio::write(*serial_port_, boost::asio::buffer(frame));
+    return true;
+  } catch (const std::exception & ex) {
+    RCLCPP_ERROR(get_logger(), "Serial write error: %s", ex.what());
+    return false;
+  }
+}
+
+// Called while the reader thread is paused (service context).
+// write_mutex_ must NOT be held by the caller.
+std::vector<uint8_t> AgvProHardwareInterface::send_and_receive(
+  const std::vector<uint8_t> & cmd_frame,
+  const std::vector<uint8_t> & expected_header,
+  size_t payload_size,
+  double timeout_sec)
+{
+  {
+    std::lock_guard<std::mutex> lock(write_mutex_);
+    try {
+      boost::asio::write(*serial_port_, boost::asio::buffer(cmd_frame));
+    } catch (const std::exception & ex) {
+      RCLCPP_ERROR(get_logger(), "Serial write error in service: %s", ex.what());
+      return {};
+    }
+  }
+
+  // Read response with sliding-window header search.
+  int fd = serial_port_->native_handle();
+  auto start = std::chrono::steady_clock::now();
+  auto timeout = std::chrono::duration<double>(timeout_sec);
+
+  std::vector<uint8_t> window;
+  while (std::chrono::steady_clock::now() - start < timeout) {
+    struct pollfd pfd = {fd, POLLIN, 0};
+    if (::poll(&pfd, 1, 10) <= 0) {
+      continue;
+    }
+    uint8_t byte;
+    boost::system::error_code ec;
+    if (serial_port_->read_some(boost::asio::buffer(&byte, 1), ec) == 1 && !ec) {
+      window.push_back(byte);
+      if (window.size() > expected_header.size()) {
+        window.erase(window.begin());
+      }
+      if (window == expected_header) {
+        size_t remain = payload_size + 2;  // payload + 2-byte CRC
+        std::vector<uint8_t> rest(remain);
+        boost::system::error_code ec2;
+        boost::asio::read(*serial_port_, boost::asio::buffer(rest), ec2);
+        if (ec2) {
+          RCLCPP_WARN(get_logger(), "Service response read error: %s", ec2.message().c_str());
+          return {};
+        }
+        std::vector<uint8_t> full = expected_header;
+        full.insert(full.end(), rest.begin(), rest.end());
+        return full;
+      }
+    }
+  }
+  RCLCPP_WARN(get_logger(), "Timeout waiting for service response");
+  return {};
+}
+
+// ── Serial port setup ─────────────────────────────────────────────────────────
+
+void AgvProHardwareInterface::clear_serial_buffer(int fd)
+{
+  if (tcflush(fd, TCIOFLUSH) < 0) {
+    RCLCPP_WARN(get_logger(), "Failed to flush serial buffer: %s", std::strerror(errno));
+  }
+}
+
+void AgvProHardwareInterface::disable_dtr_rts(int fd)
+{
+  int status;
+  if (::ioctl(fd, TIOCMGET, &status) == 0) {
+    status &= ~(TIOCM_DTR | TIOCM_RTS);
+    if (::ioctl(fd, TIOCMSET, &status) != 0) {
+      RCLCPP_WARN(get_logger(), "Failed to clear DTR/RTS: %s", std::strerror(errno));
+    }
+  }
+}
+
+bool AgvProHardwareInterface::power_on()
+{
+  auto query = build_frame(CMD_GET_POWER, {});
+  auto resp = send_and_receive(query, {0xFE, 0xFE, 0x0B, CMD_GET_POWER}, 8, 12.0);
+
+  if (resp.size() != 14) {
+    RCLCPP_ERROR(get_logger(), "power_on: no response to GET_POWER query");
+    return false;
+  }
+  uint16_t rx_crc = (resp[12] << 8) | resp[13];
+  if (rx_crc != crc16_ibm(resp.data(), 12)) {
+    RCLCPP_ERROR(get_logger(), "power_on: CRC mismatch in GET_POWER response");
+    return false;
+  }
+
+  int state = static_cast<int8_t>(resp[4]);
+  RCLCPP_INFO(get_logger(), "GET_POWER status: %d", state);
+
+  if (state == 0) {
+    // Motors are off — send POWER_ON
+    auto on_cmd = build_frame(CMD_POWER_ON, {});
+    send_frame(on_cmd);
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+
+    auto on_resp = send_and_receive(on_cmd, {0xFE, 0xFE, 0x0B, CMD_POWER_ON}, 8, 5.0);
+    if (on_resp.size() != 14) {
+      RCLCPP_ERROR(get_logger(), "power_on: no response to POWER_ON command");
+      return false;
+    }
+    uint16_t crc2 = (on_resp[12] << 8) | on_resp[13];
+    if (crc2 != crc16_ibm(on_resp.data(), 12)) {
+      RCLCPP_ERROR(get_logger(), "power_on: CRC mismatch in POWER_ON response");
+      return false;
+    }
+    int ps = static_cast<int8_t>(on_resp[4]);
+    if (ps == 1) {
+      RCLCPP_INFO(get_logger(), "Motors powered on successfully");
+      return true;
+    }
+    RCLCPP_ERROR(get_logger(), "power_on: firmware error code %d", ps);
+    return false;
+  }
+
+  RCLCPP_INFO(get_logger(), "Motors already on (status=%d)", state);
+  return true;
+}
+
+void AgvProHardwareInterface::set_auto_report(bool enable)
+{
+  auto frame = build_frame(CMD_AUTO_REPORT, {static_cast<uint8_t>(enable ? 1 : 0)});
+  send_frame(frame);
+}
+
+// ── Background reader thread ──────────────────────────────────────────────────
+
+void AgvProHardwareInterface::reader_thread_func()
+{
+  int fd = serial_port_->native_handle();
+
+  while (reader_running_) {
+    // ── Check for pause request (service handler needs serial) ──────────────
+    if (reader_pause_req_) {
+      std::unique_lock<std::mutex> lock(reader_pause_mutex_);
+      reader_is_paused_ = true;
+      reader_pause_cv_.notify_all();
+      reader_pause_cv_.wait(lock, [this] { return !reader_pause_req_.load(); });
+      reader_is_paused_ = false;
+      // Reset state machine: any partial frame in progress is discarded.
+      parse_state_ = ParseState::SEEK_FE1;
+      frame_payload_.clear();
+      continue;
+    }
+
+    // ── Poll with 5 ms timeout so we can check pause_req regularly ──────────
+    struct pollfd pfd = {fd, POLLIN, 0};
+    if (::poll(&pfd, 1, 5) <= 0) {
+      continue;
+    }
+
+    uint8_t byte;
+    boost::system::error_code ec;
+    size_t n = serial_port_->read_some(boost::asio::buffer(&byte, 1), ec);
+    if (ec || n != 1) {
+      if (ec != boost::asio::error::would_block) {
+        RCLCPP_WARN_THROTTLE(get_logger(), *get_clock(), 2000,
+          "Serial read error in reader thread: %s", ec.message().c_str());
+      }
+      continue;
+    }
+
+    process_byte(byte);
+  }
+}
+
+void AgvProHardwareInterface::process_byte(uint8_t byte)
+{
+  switch (parse_state_) {
+    case ParseState::SEEK_FE1:
+      if (byte == 0xFE) {
+        parse_state_ = ParseState::SEEK_FE2;
+      }
+      break;
+
+    case ParseState::SEEK_FE2:
+      if (byte == 0xFE) {
+        parse_state_ = ParseState::SEEK_LEN;
+      } else {
+        parse_state_ = ParseState::SEEK_FE1;
+      }
+      break;
+
+    case ParseState::SEEK_LEN:
+      if (byte == RECV_PAYLOAD_LEN) {
+        frame_payload_.clear();
+        frame_payload_.reserve(RECV_PAYLOAD_LEN);
+        parse_state_ = ParseState::READ_PAYLOAD;
+      } else if (byte == 0xFE) {
+        // Could still be a valid header sequence (two consecutive 0xFE bytes)
+        parse_state_ = ParseState::SEEK_LEN;
+      } else {
+        parse_state_ = ParseState::SEEK_FE1;
+      }
+      break;
+
+    case ParseState::READ_PAYLOAD:
+      frame_payload_.push_back(byte);
+      if (frame_payload_.size() == RECV_PAYLOAD_LEN) {
+        // Reassemble and dispatch
+        std::vector<uint8_t> frame = {0xFE, 0xFE, RECV_PAYLOAD_LEN};
+        frame.insert(frame.end(), frame_payload_.begin(), frame_payload_.end());
+        on_complete_frame(frame);
+        parse_state_ = ParseState::SEEK_FE1;
+        frame_payload_.clear();
+      }
+      break;
+  }
+}
+
+void AgvProHardwareInterface::on_complete_frame(const std::vector<uint8_t> & frame)
+{
+  if (frame.size() != RECV_FRAME_SIZE) {
+    return;
+  }
+
+  // Only handle velocity auto-report frames
+  if (frame[3] != CMD_VELOCITY_RPT) {
+    return;
+  }
+
+  // CRC check (over all bytes except the last two)
+  uint16_t rx_crc = (static_cast<uint16_t>(frame[RECV_FRAME_SIZE - 2]) << 8) |
+                     frame[RECV_FRAME_SIZE - 1];
+  if (rx_crc != crc16_ibm(frame.data(), RECV_FRAME_SIZE - 2)) {
+    RCLCPP_WARN_THROTTLE(get_logger(), *get_clock(), 1000,
+      "CRC mismatch in auto-report frame — discarding");
+    return;
+  }
+
+  // ── Parse velocity ─────────────────────────────────────────────────────────
+  double vx     = static_cast<double>(static_cast<int8_t>(frame[4]))  * 0.01;
+  double vy     = static_cast<double>(static_cast<int8_t>(frame[5]))  * 0.01;
+  double vtheta = static_cast<double>(static_cast<int8_t>(frame[6]))  * 0.01;
+
+  float battery = static_cast<float>(frame[9]) / 10.0f;
+
+  // ── Parse IMU ──────────────────────────────────────────────────────────────
+  sensor_msgs::msg::Imu imu;
+  imu.header.stamp = get_clock()->now();
+  imu.header.frame_id = "imu_link";
+
+  auto i16 = [&frame](size_t hi) -> double {
+    return static_cast<double>(
+      static_cast<int16_t>((frame[hi] << 8) | frame[hi + 1])) * 0.01;
+  };
+
+  imu.linear_acceleration.x = i16(11);
+  imu.linear_acceleration.y = i16(13);
+  imu.linear_acceleration.z = i16(15);
+  imu.angular_velocity.x    = i16(17);
+  imu.angular_velocity.y    = i16(19);
+  imu.angular_velocity.z    = i16(21);
+
+  double yaw_deg = i16(27);
+  tf2::Quaternion q;
+  q.setRPY(0.0, 0.0, yaw_deg * M_PI / 180.0);
+  imu.orientation.x = q.x();
+  imu.orientation.y = q.y();
+  imu.orientation.z = q.z();
+  imu.orientation.w = q.w();
+
+  imu.orientation_covariance[8]      = 1e-6;
+  imu.angular_velocity_covariance[8] = 1e-6;
+
+  // ── Store latest data ──────────────────────────────────────────────────────
+  {
+    std::lock_guard<std::mutex> lock(data_mutex_);
+    latest_vx_      = vx;
+    latest_vy_      = vy;
+    latest_vtheta_  = vtheta;
+    latest_imu_     = imu;
+    latest_voltage_ = battery;
+    new_data_       = true;
+  }
+
+  // ── Publish (rclcpp publishers are thread-safe for publish()) ─────────────
+  if (imu_pub_) {
+    imu_pub_->publish(imu);
+  }
+  if (voltage_pub_) {
+    std_msgs::msg::Float32 v;
+    v.data = battery;
+    voltage_pub_->publish(v);
+  }
+}
+
+// ── Service pause/resume ──────────────────────────────────────────────────────
+
+void AgvProHardwareInterface::pause_reader_for_service()
+{
+  reader_pause_req_ = true;
+  std::unique_lock<std::mutex> lock(reader_pause_mutex_);
+  // Wait up to 50 ms for the reader to pause (it polls every 5 ms)
+  reader_pause_cv_.wait_for(
+    lock, std::chrono::milliseconds(50),
+    [this] { return reader_is_paused_; });
+}
+
+void AgvProHardwareInterface::resume_reader_after_service()
+{
+  reader_pause_req_ = false;
+  reader_pause_cv_.notify_all();
+}
+
+// ── Service handlers ──────────────────────────────────────────────────────────
+
+void AgvProHardwareInterface::handle_set_digital_output(
+  const std::shared_ptr<agv_pro_msgs::srv::SetDigitalOutput::Request> req,
+  std::shared_ptr<agv_pro_msgs::srv::SetDigitalOutput::Response> res)
+{
+  if (req->pin < 1 || req->pin > 6) {
+    res->success = false;
+    res->message = "Invalid pin number (must be 1–6)";
+    return;
+  }
+  pause_reader_for_service();
+  auto resp = send_and_receive(
+    build_frame(CMD_SET_IO_OUT, {
+      static_cast<uint8_t>(req->pin),
+      static_cast<uint8_t>(req->state)}),
+    {0xFE, 0xFE, 0x0B, CMD_SET_IO_OUT}, 8, 5.0);
+  resume_reader_after_service();
+
+  if (resp.size() == 14 && resp[4] == 0x01) {
+    res->success = true;
+    res->message = "Success";
+  } else {
+    res->success = false;
+    res->message = "Hardware reported failure";
+  }
+}
+
+void AgvProHardwareInterface::handle_get_digital_input(
+  const std::shared_ptr<agv_pro_msgs::srv::GetDigitalInput::Request> req,
+  std::shared_ptr<agv_pro_msgs::srv::GetDigitalInput::Response> res)
+{
+  if (req->pin < 1 || req->pin > 6) {
+    res->success = false;
+    res->message = "Invalid pin number (must be 1–6)";
+    return;
+  }
+  pause_reader_for_service();
+  auto resp = send_and_receive(
+    build_frame(CMD_GET_IO_IN, {static_cast<uint8_t>(req->pin)}),
+    {0xFE, 0xFE, 0x0B, CMD_GET_IO_IN}, 8, 5.0);
+  resume_reader_after_service();
+
+  if (resp.size() == 14 && resp[5] != 0xFF) {
+    res->state   = static_cast<int32_t>(resp[5]);
+    res->success = true;
+    res->message = "Success";
+  } else {
+    res->success = false;
+    res->message = "Hardware reported failure";
+  }
+}
+
+void AgvProHardwareInterface::handle_set_led_color(
+  const std::shared_ptr<agv_pro_msgs::srv::SetLedColor::Request> req,
+  std::shared_ptr<agv_pro_msgs::srv::SetLedColor::Response> res)
+{
+  if (req->position < 0 || req->position > 1 ||
+      req->brightness < 0 || req->brightness > 255 ||
+      req->r < 0 || req->r > 255 ||
+      req->g < 0 || req->g > 255 ||
+      req->b < 0 || req->b > 255)
+  {
+    res->success = false;
+    res->message = "Invalid parameter range";
+    return;
+  }
+  pause_reader_for_service();
+  auto resp = send_and_receive(
+    build_frame(CMD_SET_LED_COLOR, {
+      static_cast<uint8_t>(req->position),
+      static_cast<uint8_t>(req->brightness),
+      static_cast<uint8_t>(req->r),
+      static_cast<uint8_t>(req->g),
+      static_cast<uint8_t>(req->b)}),
+    {0xFE, 0xFE, 0x0B, CMD_SET_LED_COLOR}, 8, 5.0);
+  resume_reader_after_service();
+
+  if (resp.size() == 14 && resp[4] == 0x01) {
+    res->success = true;
+    res->message = "Success";
+  } else {
+    res->success = false;
+    res->message = "Hardware reported failure";
+  }
+}
+
+void AgvProHardwareInterface::handle_set_led_mode(
+  const std::shared_ptr<agv_pro_msgs::srv::SetLedMode::Request> req,
+  std::shared_ptr<agv_pro_msgs::srv::SetLedMode::Response> res)
+{
+  pause_reader_for_service();
+  auto resp = send_and_receive(
+    build_frame(0x3A, {static_cast<uint8_t>(req->mode ? 1 : 0)}),
+    {0xFE, 0xFE, 0x0B, 0x3A}, 8, 5.0);
+  resume_reader_after_service();
+
+  if (resp.size() == 14 && resp[4] == 0x01) {
+    res->success = true;
+    res->message = "Success";
+  } else {
+    res->success = false;
+    res->message = "Hardware reported failure";
+  }
+}
+
+// ── Lifecycle methods ─────────────────────────────────────────────────────────
+
+hardware_interface::CallbackReturn AgvProHardwareInterface::on_init(
+  const hardware_interface::HardwareComponentInterfaceParams & params)
+{
+  if (hardware_interface::SystemInterface::on_init(params) !=
+      hardware_interface::CallbackReturn::SUCCESS)
+  {
+    return hardware_interface::CallbackReturn::ERROR;
+  }
+
+  if (info_.joints.size() != 4) {
+    RCLCPP_FATAL(get_logger(),
+      "Expected exactly 4 joints in <ros2_control>, got %zu", info_.joints.size());
+    return hardware_interface::CallbackReturn::ERROR;
+  }
+
+  // ── Parse hardware parameters ──────────────────────────────────────────────
+  auto get_param = [&](const std::string & key, const std::string & def) -> std::string {
+    auto it = info_.hardware_parameters.find(key);
+    return (it != info_.hardware_parameters.end()) ? it->second : def;
+  };
+
+  port_name_    = get_param("port_name",    "/dev/agvpro_controller");
+  wheel_radius_ = std::stod(get_param("wheel_radius", "0.072"));
+  lx_           = std::stod(get_param("lx",           "0.172"));
+  ly_           = std::stod(get_param("ly",           "0.180"));
+
+  std::string fl_name = get_param("front_left_joint",  "left_front_wheel_joint");
+  std::string fr_name = get_param("front_right_joint", "left_rear_wheel_joint");
+  std::string rl_name = get_param("rear_left_joint",   "right_front_wheel_joint");
+  std::string rr_name = get_param("rear_right_joint",  "right_rear_wheel_joint");
+
+  // ── Map joint names → array indices ───────────────────────────────────────
+  bool found_fl = false, found_fr = false, found_rl = false, found_rr = false;
+  for (size_t i = 0; i < info_.joints.size(); ++i) {
+    const std::string & name = info_.joints[i].name;
+    if      (name == fl_name) { fl_idx_ = i; found_fl = true; }
+    else if (name == fr_name) { fr_idx_ = i; found_fr = true; }
+    else if (name == rl_name) { rl_idx_ = i; found_rl = true; }
+    else if (name == rr_name) { rr_idx_ = i; found_rr = true; }
+  }
+
+  if (!found_fl || !found_fr || !found_rl || !found_rr) {
+    RCLCPP_FATAL(get_logger(),
+      "Could not find all four wheel joints.\n"
+      "  front_left='%s' (found=%d)\n"
+      "  front_right='%s' (found=%d)\n"
+      "  rear_left='%s' (found=%d)\n"
+      "  rear_right='%s' (found=%d)",
+      fl_name.c_str(), found_fl,
+      fr_name.c_str(), found_fr,
+      rl_name.c_str(), found_rl,
+      rr_name.c_str(), found_rr);
+    return hardware_interface::CallbackReturn::ERROR;
+  }
+
+  RCLCPP_INFO(get_logger(), "Wheel mapping: FL=%s[%zu]  FR=%s[%zu]  RL=%s[%zu]  RR=%s[%zu]",
+    fl_name.c_str(), fl_idx_,
+    fr_name.c_str(), fr_idx_,
+    rl_name.c_str(), rl_idx_,
+    rr_name.c_str(), rr_idx_);
+  RCLCPP_INFO(get_logger(), "Kinematics: radius=%.4f m  lx=%.4f m  ly=%.4f m",
+    wheel_radius_, lx_, ly_);
+
+  return hardware_interface::CallbackReturn::SUCCESS;
+}
+
+hardware_interface::CallbackReturn AgvProHardwareInterface::on_configure(
+  const rclcpp_lifecycle::State & /*previous_state*/)
+{
+  auto node = get_node();
+  if (!node) {
+    RCLCPP_FATAL(get_logger(), "on_configure: get_node() returned null");
+    return hardware_interface::CallbackReturn::ERROR;
+  }
+
+  imu_pub_     = node->create_publisher<sensor_msgs::msg::Imu>("imu", 20);
+  voltage_pub_ = node->create_publisher<std_msgs::msg::Float32>("voltage", 10);
+
+  set_output_srv_ = node->create_service<agv_pro_msgs::srv::SetDigitalOutput>(
+    "set_digital_output",
+    std::bind(&AgvProHardwareInterface::handle_set_digital_output, this,
+      std::placeholders::_1, std::placeholders::_2));
+
+  get_input_srv_ = node->create_service<agv_pro_msgs::srv::GetDigitalInput>(
+    "get_digital_input",
+    std::bind(&AgvProHardwareInterface::handle_get_digital_input, this,
+      std::placeholders::_1, std::placeholders::_2));
+
+  set_led_color_srv_ = node->create_service<agv_pro_msgs::srv::SetLedColor>(
+    "set_led_color",
+    std::bind(&AgvProHardwareInterface::handle_set_led_color, this,
+      std::placeholders::_1, std::placeholders::_2));
+
+  set_led_mode_srv_ = node->create_service<agv_pro_msgs::srv::SetLedMode>(
+    "set_led_mode",
+    std::bind(&AgvProHardwareInterface::handle_set_led_mode, this,
+      std::placeholders::_1, std::placeholders::_2));
+
+  return hardware_interface::CallbackReturn::SUCCESS;
+}
+
+hardware_interface::CallbackReturn AgvProHardwareInterface::on_activate(
+  const rclcpp_lifecycle::State & /*previous_state*/)
+{
+  // ── Open serial port ───────────────────────────────────────────────────────
+  try {
+    serial_port_ = std::make_unique<boost::asio::serial_port>(io_);
+    serial_port_->open(port_name_);
+    serial_port_->set_option(boost::asio::serial_port_base::baud_rate(1000000));
+    serial_port_->set_option(boost::asio::serial_port_base::character_size(8));
+    serial_port_->set_option(boost::asio::serial_port_base::parity(
+      boost::asio::serial_port_base::parity::none));
+    serial_port_->set_option(boost::asio::serial_port_base::stop_bits(
+      boost::asio::serial_port_base::stop_bits::one));
+    serial_port_->set_option(boost::asio::serial_port_base::flow_control(
+      boost::asio::serial_port_base::flow_control::none));
+
+    int fd = serial_port_->native_handle();
+    clear_serial_buffer(fd);
+    disable_dtr_rts(fd);
+
+    RCLCPP_INFO(get_logger(), "Serial port %s opened at 1 Mbaud", port_name_.c_str());
+  } catch (const std::exception & ex) {
+    RCLCPP_FATAL(get_logger(), "Failed to open serial port %s: %s",
+      port_name_.c_str(), ex.what());
+    return hardware_interface::CallbackReturn::ERROR;
+  }
+
+  // ── Allow ESP32 time to reset after DTR/RTS were cleared ──────────────────
+  RCLCPP_INFO(get_logger(), "Waiting 3 s for ESP32 to initialise …");
+  std::this_thread::sleep_for(std::chrono::seconds(3));
+
+  // ── Power on motors ────────────────────────────────────────────────────────
+  if (!power_on()) {
+    RCLCPP_FATAL(get_logger(), "Motor power-on failed");
+    serial_port_->close();
+    return hardware_interface::CallbackReturn::ERROR;
+  }
+
+  // ── Start auto-report stream from ESP32 ───────────────────────────────────
+  set_auto_report(true);
+
+  // ── Reset state and start reader thread ───────────────────────────────────
+  wheel_positions_.fill(0.0);
+  wheel_velocities_.fill(0.0);
+  wheel_commands_.fill(0.0);
+  parse_state_ = ParseState::SEEK_FE1;
+  frame_payload_.clear();
+  new_data_ = false;
+
+  reader_running_ = true;
+  reader_thread_  = std::thread(&AgvProHardwareInterface::reader_thread_func, this);
+
+  RCLCPP_INFO(get_logger(), "AGV Pro hardware interface activated");
+  return hardware_interface::CallbackReturn::SUCCESS;
+}
+
+hardware_interface::CallbackReturn AgvProHardwareInterface::on_deactivate(
+  const rclcpp_lifecycle::State & /*previous_state*/)
+{
+  // ── Send zero velocity before deactivating ─────────────────────────────────
+  auto zero_frame = build_frame(CMD_VELOCITY_CMD, {0, 0, 0, 0, 0, 0, 0, 0});
+  send_frame(zero_frame);
+
+  // ── Stop reader thread ─────────────────────────────────────────────────────
+  reader_running_   = false;
+  reader_pause_req_ = false;   // in case it was paused
+  reader_pause_cv_.notify_all();
+  if (reader_thread_.joinable()) {
+    reader_thread_.join();
+  }
+
+  // ── Disable auto-report ────────────────────────────────────────────────────
+  set_auto_report(false);
+
+  RCLCPP_INFO(get_logger(), "AGV Pro hardware interface deactivated");
+  return hardware_interface::CallbackReturn::SUCCESS;
+}
+
+hardware_interface::CallbackReturn AgvProHardwareInterface::on_cleanup(
+  const rclcpp_lifecycle::State & /*previous_state*/)
+{
+  if (serial_port_ && serial_port_->is_open()) {
+    serial_port_->close();
+  }
+  serial_port_.reset();
+  RCLCPP_INFO(get_logger(), "Serial port closed");
+  return hardware_interface::CallbackReturn::SUCCESS;
+}
+
+// ── Interface export ──────────────────────────────────────────────────────────
+
+std::vector<hardware_interface::StateInterface::ConstSharedPtr>
+AgvProHardwareInterface::on_export_state_interfaces()
+{
+  std::vector<hardware_interface::StateInterface::ConstSharedPtr> interfaces;
+  for (size_t i = 0; i < info_.joints.size(); ++i) {
+    interfaces.push_back(std::make_shared<const hardware_interface::StateInterface>(
+      info_.joints[i].name,
+      hardware_interface::HW_IF_POSITION,
+      &wheel_positions_[i]));
+    interfaces.push_back(std::make_shared<const hardware_interface::StateInterface>(
+      info_.joints[i].name,
+      hardware_interface::HW_IF_VELOCITY,
+      &wheel_velocities_[i]));
+  }
+  return interfaces;
+}
+
+std::vector<hardware_interface::CommandInterface::SharedPtr>
+AgvProHardwareInterface::on_export_command_interfaces()
+{
+  std::vector<hardware_interface::CommandInterface::SharedPtr> interfaces;
+  for (size_t i = 0; i < info_.joints.size(); ++i) {
+    interfaces.push_back(std::make_shared<hardware_interface::CommandInterface>(
+      info_.joints[i].name,
+      hardware_interface::HW_IF_VELOCITY,
+      &wheel_commands_[i]));
+  }
+  return interfaces;
+}
+
+// ── Control loop ──────────────────────────────────────────────────────────────
+
+hardware_interface::return_type AgvProHardwareInterface::read(
+  const rclcpp::Time & /*time*/,
+  const rclcpp::Duration & period)
+{
+  double vx, vy, vtheta;
+  {
+    std::lock_guard<std::mutex> lock(data_mutex_);
+    if (!new_data_) {
+      return hardware_interface::return_type::OK;
+    }
+    vx      = latest_vx_;
+    vy      = latest_vy_;
+    vtheta  = latest_vtheta_;
+    new_data_ = false;
+  }
+
+  // Mecanum inverse kinematics: body frame → individual wheel angular velocities
+  //
+  //   ω_FL = (vx - vy - (lx+ly)·ωz) / r
+  //   ω_FR = (vx + vy + (lx+ly)·ωz) / r
+  //   ω_RL = (vx + vy - (lx+ly)·ωz) / r
+  //   ω_RR = (vx - vy + (lx+ly)·ωz) / r
+  //
+  // The ESP32 reports body-frame velocities (not per-wheel encoders), so these
+  // derived wheel velocities are kinematically consistent but not independently
+  // measured. Odometry quality is unchanged vs. the original driver.
+
+  const double r    = wheel_radius_;
+  const double lxy  = lx_ + ly_;
+
+  wheel_velocities_[fl_idx_] = (vx - vy - lxy * vtheta) / r;
+  wheel_velocities_[fr_idx_] = (vx + vy + lxy * vtheta) / r;
+  wheel_velocities_[rl_idx_] = (vx + vy - lxy * vtheta) / r;
+  wheel_velocities_[rr_idx_] = (vx - vy + lxy * vtheta) / r;
+
+  // Integrate positions
+  const double dt = period.seconds();
+  for (size_t i = 0; i < 4; ++i) {
+    wheel_positions_[i] += wheel_velocities_[i] * dt;
+  }
+
+  return hardware_interface::return_type::OK;
+}
+
+hardware_interface::return_type AgvProHardwareInterface::write(
+  const rclcpp::Time & /*time*/,
+  const rclcpp::Duration & /*period*/)
+{
+  // Mecanum forward kinematics: wheel velocity commands → body frame
+  //
+  //   vx    = (r/4) · (ω_FL + ω_FR + ω_RL + ω_RR)
+  //   vy    = (r/4) · (-ω_FL + ω_FR + ω_RL - ω_RR)
+  //   ωz    = r/(4·(lx+ly)) · (-ω_FL + ω_FR - ω_RL + ω_RR)
+
+  const double r   = wheel_radius_;
+  const double lxy = lx_ + ly_;
+
+  const double cmd_fl = wheel_commands_[fl_idx_];
+  const double cmd_fr = wheel_commands_[fr_idx_];
+  const double cmd_rl = wheel_commands_[rl_idx_];
+  const double cmd_rr = wheel_commands_[rr_idx_];
+
+  double vx     = (r / 4.0) * (cmd_fl + cmd_fr + cmd_rl + cmd_rr);
+  double vy     = (r / 4.0) * (-cmd_fl + cmd_fr + cmd_rl - cmd_rr);
+  double vtheta = (r / (4.0 * lxy)) * (-cmd_fl + cmd_fr - cmd_rl + cmd_rr);
+
+  vx     = std::clamp(vx,     -1.5, 1.5);
+  vy     = std::clamp(vy,     -1.0, 1.0);
+  vtheta = std::clamp(vtheta, -1.0, 1.0);
+
+  const int16_t x_s   = static_cast<int16_t>(vx     * 100.0);
+  const int16_t y_s   = static_cast<int16_t>(vy     * 100.0);
+  const int16_t rot_s = static_cast<int16_t>(vtheta * 100.0);
+
+  uint8_t buf[SEND_FRAME_SIZE] = {0xFE, 0xFE, 0x0B, CMD_VELOCITY_CMD};
+  buf[4]  = (x_s   >> 8) & 0xFF;
+  buf[5]  =  x_s         & 0xFF;
+  buf[6]  = (y_s   >> 8) & 0xFF;
+  buf[7]  =  y_s         & 0xFF;
+  buf[8]  = (rot_s >> 8) & 0xFF;
+  buf[9]  =  rot_s       & 0xFF;
+  buf[10] = 0x00;
+  buf[11] = 0x00;
+  uint16_t crc = crc16_ibm(buf, 12);
+  buf[12] = (crc >> 8) & 0xFF;
+  buf[13] =  crc       & 0xFF;
+
+  send_frame(std::vector<uint8_t>(buf, buf + SEND_FRAME_SIZE));
+
+  return hardware_interface::return_type::OK;
+}
+
+}  // namespace agv_pro_hardware