Fix patch application in container.

Update the livox patches.
Get fast_lio cmake execute the git submodule init
2026-07-17 14:44:44 +00:00 · 2026-07-17 14:44:44 +00:00 · 2026-07-17 14:44:44 +00:00 · 2026-07-17 14:44:44 +00:00 · 2026-07-17 14:44:44 +00:00 · 2026-07-17 14:44:44 +00:00
38 changed files with 904 additions and 1234 deletions
@@ -8,24 +8,11 @@ COPY src ./src/
 COPY patches ./patches/
 COPY upstream.jazzy.repos ./upstream.jazzy.repos

-# Stage any dual ROS1/ROS2 packages (e.g. livox_ros_driver2) for ROS2 without
-# modifying their upstream source: generate package.xml from package_ROS2.xml so
-# colcon can discover them. The ROS2 build is selected via -DROS_EDITION below.
-# RUN for d in $(find /ros2_ws/src -type f -name package_ROS2.xml -exec dirname {} \;); do \
-#       cp -f "$d/package_ROS2.xml" "$d/package.xml"; \
-#     done
-
 # Import all upstream repostories
-RUN vcs import ./src/upstream < ./upstream.jazzy.repos
-
-# Fixup the livox package for ros2 build
-RUN cd ./src/upstream/livox_ros_driver2 && \
-    rm -rf launch package.xml && \
-    ln -sfn launch_ROS2 launch && \
-    ln -sfn package_ROS2.xml package.xml
+RUN mkdir -p src/upstream && vcs import ./src/upstream < ./upstream.jazzy.repos

 # Apply patches to upstream
-# RUN ./patches/apply_patches.sh
+RUN ./patches/apply_patches.sh

 # system deps from frozen rosdep manifest — no rosdep at build or startup
 # NOTE: There should be a check in your CI that this file is up to date.
@@ -48,17 +35,10 @@ RUN apt-get update && \
    rosdep install --from-paths src --ignore-src -r -y && \
    rm -rf /var/lib/apt/lists/*

-RUN cd src/upstream/livox_sdk && \
-    mkdir -p build && \
-    cd build && rm -rf * && \
-    cmake .. -DCMAKE_BUILD_TYPE=Release && \
-    make -j && \
-    make install
-
 # Build the workspace with symlink install
+# livox_sdk is now an ament_cmake package built by colcon (no manual /usr/local install needed).
 RUN . /opt/ros/jazzy/setup.sh && \
    colcon build --symlink-install \
-    --packages-ignore unitree_lidar_ros2 unitree_lidar_ros unitree_lidar_sdk fast_lio \
    --cmake-args -DROS_EDITION=ROS2 -DDISTRO_ROS=jazzy

 # Source the overlay on container startup
@@ -1,7 +1,8 @@
 #!/usr/bin/env bash
 set -u

-ROOT_DIR="/workspaces/agv_pro_ros2"
+PATCH_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+ROOT_DIR="$(dirname "$PATCH_DIR")"
 PATCH_DIR="$ROOT_DIR/patches"

 apply_patch_once() {
@@ -23,5 +24,8 @@ apply_patch_once() {
    || git -C "$target_dir" apply --reverse --check "$patch_file" >/dev/null 2>&1
 }

+apply_patch_once "$ROOT_DIR/src/upstream/FAST_LIO" "$PATCH_DIR/fast_lio.patch"
 apply_patch_once "$ROOT_DIR/src/upstream/livox_sdk" "$PATCH_DIR/livox_sdk.patch"
+apply_patch_once "$ROOT_DIR/src/upstream/livox_ros_driver2" "$PATCH_DIR/livox_ros_driver2.patch"
 apply_patch_once "$ROOT_DIR/src/upstream/slam_gmapping" "$PATCH_DIR/slam_gmapping.patch"
+apply_patch_once "$ROOT_DIR/src/upstream/unilidar_sdk2" "$PATCH_DIR/unilidar_sdk2.patch"
@@ -0,0 +1,49 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index be3040b..3176847 100644
+--- a/CMakeLists.txt
+++ b/CMakeLists.txt
+@@ -5,17 +5,39 @@ if(NOT CMAKE_BUILD_TYPE)
+   set(CMAKE_BUILD_TYPE Release)
+ endif()
+ 
+-ADD_COMPILE_OPTIONS(-std=c++14)
+-ADD_COMPILE_OPTIONS(-std=c++14)
+-set(CMAKE_CXX_FLAGS "-std=c++14 -O3")
+# Ensure the bundled ikd-Tree submodule (include/ikd-Tree/ikd_Tree.cpp) is present.
+# Auto-initialize it when building from a git checkout; otherwise fail with guidance.
+if(NOT EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/include/ikd-Tree/ikd_Tree.cpp")
+  find_package(Git QUIET)
+  if(GIT_FOUND AND EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/.git")
+    message(STATUS "fast_lio: initializing git submodule include/ikd-Tree")
+    execute_process(
+      COMMAND ${GIT_EXECUTABLE} submodule update --init --recursive
+      WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+      RESULT_VARIABLE GIT_SUBMOD_RESULT)
+    if(NOT GIT_SUBMOD_RESULT EQUAL "0")
+      message(FATAL_ERROR
+        "git submodule update --init failed with ${GIT_SUBMOD_RESULT}. "
+        "Run it manually in ${CMAKE_CURRENT_SOURCE_DIR}.")
+    endif()
+  endif()
+  if(NOT EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/include/ikd-Tree/ikd_Tree.cpp")
+    message(FATAL_ERROR
+      "include/ikd-Tree/ikd_Tree.cpp is missing and could not be fetched automatically "
+      "(no git checkout available). Run: git submodule update --init --recursive")
+  endif()
+endif()
+
+ADD_COMPILE_OPTIONS(-std=c++17)
+set(CMAKE_CXX_FLAGS "-std=c++17 -O3")
+ 
+ add_definitions(-DROOT_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/\")
+ 
+ set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fexceptions")
+-set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD 17)
+ set(CMAKE_CXX_STANDARD_REQUIRED ON)
+ set(CMAKE_CXX_EXTENSIONS OFF)
+-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -pthread -std=c++0x -std=c++14 -fexceptions")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17 -pthread -fexceptions")
+ set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+ 
+ message("Current CPU archtecture: ${CMAKE_SYSTEM_PROCESSOR}")
@@ -0,0 +1,28 @@
+diff --git a/launch b/launch
+new file mode 120000
+index 0000000..163fb01
+--- /dev/null
+++ b/launch
+@@ -0,0 +1 @@
+launch_ROS2
+\ No newline at end of file
+diff --git a/package.xml b/package.xml
+new file mode 120000
+index 0000000..36804a4
+--- /dev/null
+++ b/package.xml
+@@ -0,0 +1 @@
+package_ROS2.xml
+\ No newline at end of file
+diff --git a/package_ROS2.xml b/package_ROS2.xml
+index 96f5762..c66785b 100644
+--- a/package_ROS2.xml
+++ b/package_ROS2.xml
+@@ -28,6 +28,7 @@
+ 
+   <depend>git</depend>
+   <depend>apr</depend>
+  <depend>livox_sdk2</depend>
+ 
+   <export>
+     <build_type>ament_cmake</build_type>
@@ -1,3 +1,28 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 05f84c5..4fb6f31 100644
+--- a/CMakeLists.txt
+++ b/CMakeLists.txt
+@@ -1,7 +1,9 @@
+-cmake_minimum_required(VERSION 3.0)
+cmake_minimum_required(VERSION 3.5)
+ 
+ project(livox_sdk2)
+ 
+find_package(ament_cmake REQUIRED)
+
+ set(CMAKE_CXX_STANDARD 11)
+ 
+ message(STATUS "main project dir: " ${PROJECT_SOURCE_DIR})
+@@ -18,3 +20,9 @@ endif(UNIX)
+ 
+ add_subdirectory(sdk_core)
+ add_subdirectory(samples)
+
+# Export the installed headers/libraries so ament packages (e.g. livox_ros_driver2)
+# find the SDK from the colcon install space via CMAKE_PREFIX_PATH.
+ament_export_include_directories(include)
+ament_export_libraries(livox_lidar_sdk_shared)
+ament_package()
 diff --git a/sdk_core/comm/define.h b/sdk_core/comm/define.h
 index 0872328..28d989b 100644
 --- a/sdk_core/comm/define.h
@@ -0,0 +1,105 @@
+diff --git a/unitree_lidar_ros2/src/unitree_lidar_ros2/CMakeLists.txt b/unitree_lidar_ros2/src/unitree_lidar_ros2/CMakeLists.txt
+index 041ef0d..dd57d47 100644
+--- a/unitree_lidar_ros2/src/unitree_lidar_ros2/CMakeLists.txt
+++ b/unitree_lidar_ros2/src/unitree_lidar_ros2/CMakeLists.txt
+@@ -23,16 +23,15 @@ find_package(pcl_conversions REQUIRED)
+ find_package(PCL REQUIRED)
+ find_package(tf2_ros REQUIRED)
+ find_package(sensor_msgs REQUIRED)
+find_package(unitree_lidar_sdk REQUIRED)
+ 
+ include_directories(
+   ${PCL_INCLUDE_DIRS} 
+   include
+-  ../../../unitree_lidar_sdk/include
+ )
+ 
+ link_directories(
+   ${PCL_LIBRARY_DIRS}
+-  ../../../unitree_lidar_sdk/lib/${CMAKE_SYSTEM_PROCESSOR}
+ )
+ 
+ add_definitions(${PCL_DEFINITIONS})
+@@ -42,7 +41,6 @@ add_executable(unitree_lidar_ros2_node src/unitree_lidar_ros2_node.cpp)
+ target_link_libraries( unitree_lidar_ros2_node
+   ${Boost_SYSTEM_LIBRARY}
+   ${PCL_LIBRARIES}
+-  libunilidar_sdk2.a
+ )
+ 
+ ament_target_dependencies(
+@@ -52,6 +50,7 @@ ament_target_dependencies(
+   geometry_msgs 
+   tf2_ros
+   pcl_conversions
+  unitree_lidar_sdk
+ )
+ 
+ install(TARGETS
+diff --git a/unitree_lidar_ros2/src/unitree_lidar_ros2/package.xml b/unitree_lidar_ros2/src/unitree_lidar_ros2/package.xml
+index 74539aa..b5febb2 100644
+--- a/unitree_lidar_ros2/src/unitree_lidar_ros2/package.xml
+++ b/unitree_lidar_ros2/src/unitree_lidar_ros2/package.xml
+@@ -21,6 +21,7 @@
+ 
+   <depend>geometry_msgs</depend>
+   <depend>tf2_ros</depend>
+  <depend>unitree_lidar_sdk</depend>
+ 
+   <export>
+     <build_type>ament_cmake</build_type>
+diff --git a/unitree_lidar_sdk/CMakeLists.txt b/unitree_lidar_sdk/CMakeLists.txt
+index 80af9c9..0d9a334 100644
+--- a/unitree_lidar_sdk/CMakeLists.txt
+++ b/unitree_lidar_sdk/CMakeLists.txt
+@@ -1,39 +1,14 @@
+-cmake_minimum_required(VERSION 3.0)
+cmake_minimum_required(VERSION 3.5)
+ project(unitree_lidar_sdk)
+ 
+-set(CMAKE_BUILD_TYPE "Release")
+-set(CMAKE_CXX_FLAGS "-std=c++17")
+-set(CMAKE_CXX_FLAGS_DEBUG "$ENV{CXXFLAGS} -O0 -Wall -g2 -ggdb")
+-set(CMAKE_CXX_FLAGS_RELEASE "$ENV{CXXFLAGS} -O3 -Wall -DNDEBUG") 
+find_package(ament_cmake REQUIRED)
+ 
+-include_directories(include)
+# Install the SDK headers and the architecture-specific prebuilt static library.
+install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
+install(FILES lib/${CMAKE_SYSTEM_PROCESSOR}/libunilidar_sdk2.a DESTINATION lib)
+ 
+-link_directories(lib/${CMAKE_SYSTEM_PROCESSOR})
+# Export them so ament packages can consume the SDK via find_package().
+ament_export_include_directories(include/${PROJECT_NAME})
+ament_export_libraries(unilidar_sdk2)
+ 
+-SET(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+-set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib/${CMAKE_SYSTEM_PROCESSOR})
+-
+-add_executable(example_lidar_udp
+-  examples/example_lidar_udp.cpp
+-)
+-target_link_libraries(example_lidar_udp  libunilidar_sdk2.a )
+-
+-add_executable(example_lidar_serial
+-    examples/example_lidar_serial.cpp
+-)
+-target_link_libraries(example_lidar_serial  libunilidar_sdk2.a  )
+-
+-add_executable(set_ip_address
+-    examples/set_ip_address.cpp
+-)
+-target_link_libraries(set_ip_address  libunilidar_sdk2.a )
+-
+-add_executable(set_to_serial_mode
+-    examples/set_to_serial_mode.cpp
+-)
+-target_link_libraries(set_to_serial_mode  libunilidar_sdk2.a )
+-
+-add_executable(set_to_udp_mode
+-    examples/set_to_udp_mode.cpp
+-)
+-target_link_libraries(set_to_udp_mode  libunilidar_sdk2.a )
+\ No newline at end of file
+ament_package()
+\ No newline at end of file
@@ -11,26 +11,21 @@ controller_manager:
 # ─────────────────────────────────────────────────────────────────────────────
 # Mecanum drive controller
 # ─────────────────────────────────────────────────────────────────────────────
-# NOTE: The URDF joint names do not match the physical wheel positions due to a
-# naming inconsistency in agv_pro.urdf.  The mapping between the controller's
-# logical positions and the URDF joint names is as follows:
-#
-#   Physical position │ URDF joint name
-#   ──────────────────┼────────────────────────────
-#   front-left  (FL)  │ left_front_wheel_joint   ✓
-#   front-right (FR)  │ left_rear_wheel_joint     ← physically front-right
-#   rear-left   (RL)  │ right_front_wheel_joint   ← physically rear-left
-#   rear-right  (RR)  │ right_rear_wheel_joint   ✓
+# 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:  left_front_wheel_joint
-    front_right_wheel_command_joint_name: left_rear_wheel_joint
-    rear_left_wheel_command_joint_name:   right_front_wheel_joint
-    rear_right_wheel_command_joint_name:  right_rear_wheel_joint
+    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
@@ -36,7 +36,7 @@ def generate_launch_description():
    urdf_file = os.path.join(
        get_package_share_directory('agv_pro_description'),
        'urdf',
-        'agv_pro.urdf'
+        'agv_pro.urdf.xacro'
    )

    # Pass both namespace and port_name into the xacro processor so that the
@@ -117,9 +117,12 @@ def generate_launch_description():
        output='screen',
    )

-    # mecanum_drive_controller subscribes to ~/reference (TwistStamped).
-    # --controller-ros-args remaps it to /cmd_vel so nav2 and teleop work
-    # without extra flags (teleop still needs stamped:=true).
+    # 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,
@@ -130,29 +133,13 @@ def generate_launch_description():
                arguments=[
                    'mecanum_drive_controller',
                    '--controller-manager', 'controller_manager',
-                    '--controller-ros-args', '-r reference:=/cmd_vel',
+                    '--controller-ros-args', '-r ~/reference:=/cmd_vel',
                ],
                output='screen',
            )
        ]
    )

-    # Relay /cmd_vel (TwistStamped) → /mecanum_drive_controller/reference.
-    # This bridges the standard nav2/teleop topic to the controller's
-    # internal subscription, which ros2_control does not remap at load time.
-    # lazy:=false ensures the subscription exists before any publisher appears.
-    cmd_vel_relay = Node(
-        package='topic_tools',
-        executable='relay',
-        name='cmd_vel_relay',
-        parameters=[{
-            'input_topic':  '/cmd_vel',
-            'output_topic': '/mecanum_drive_controller/reference',
-            'lazy': False,
-        }],
-        output='screen',
-    )
-
    lidar_launchs = [
        include_lidar('lslidar_driver', 'lsn10p_launch.py', enable_lidar, lidar_type, 'n10p'),
        include_lidar('agv_pro_bringup', 'MID360_launch.py', enable_lidar, lidar_type, 'mid360'),
@@ -170,7 +157,6 @@ def generate_launch_description():
            robot_state_pub,
            joint_state_broadcaster_spawner,
            mecanum_drive_controller_spawner,
-            cmd_vel_relay,
            *lidar_launchs,
        ]
    )
@@ -12,7 +12,6 @@
  <exec_depend>controller_manager</exec_depend>
  <exec_depend>mecanum_drive_controller</exec_depend>
  <exec_depend>joint_state_broadcaster</exec_depend>
-  <exec_depend>topic_tools</exec_depend>
  <exec_depend>agv_pro_hardware</exec_depend>
  <exec_depend>agv_pro_description</exec_depend>
  <exec_depend>rviz2</exec_depend>
@@ -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([
@@ -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>${controllers_file}</parameters>
+      </plugin>
+    </gazebo>
+  </xacro:macro>
+</robot>
@@ -1,279 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<robot name="AGV pro" xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-  <xacro:arg name="namespace" default=""/>
-  <xacro:property name="namespace" value="$(arg namespace)"/>
-
-  <xacro:arg name="port_name" default="/dev/agvpro_controller"/>
-
-  <link name="${namespace}base_footprint"/>
-
-  <joint name="${namespace}base_joint" type="fixed">
-    <parent link="${namespace}base_footprint"/>
-    <child link="${namespace}base_link" />
-    <origin xyz="0 0 0.020" rpy="0 0 0"/>
-  </joint>
-
-  <link name="${namespace}base_link">
-    <inertial>
-      <origin xyz="-0.0076254 -0.00023134 0.06693" rpy="0 0 0" />
-      <mass value="19.236" />
-      <inertia ixx="0.14436" ixy="0.0012037" ixz="0.0019458"
-               iyy="0.24191" iyz="0.0044629"
-               izz="0.33755" />
-    </inertial>
-
-    <visual>
-      <origin xyz="0 0 0"
-              rpy="0 0 0" />
-      <geometry>
-        <mesh filename="package://agv_pro_description/meshes/base_link.stl" />
-      </geometry>
-      <material name="">
-        <color rgba="1 1 1 1" />
-      </material>
-    </visual>
-
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="package://agv_pro_description/meshes/base_link.stl" />
-      </geometry>
-    </collision>
-  </link>
-
-  <link name="${namespace}right_rear_wheel_link">
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <mass value="0.21659" />
-      <inertia ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07"
-               iyy="0.00097519" iyz="-2.3635E-07"
-               izz="0.00051178" />
-    </inertial>
-
-    <visual>
-      <origin xyz="0 0 0"
-              rpy="0 0 0" />
-      <geometry>
-        <mesh filename="package://agv_pro_description/meshes/wheel_rb_link.stl" />
-      </geometry>
-      <material name="">
-        <color rgba="1 1 1 1" />
-      </material>
-    </visual>
-
-    <collision>
-      <origin xyz="0 0 0"
-              rpy="0 0 0" />
-      <geometry>
-        <mesh filename="package://agv_pro_description/meshes/wheel_rb_link.stl" />
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="${namespace}right_rear_wheel_joint" type="continuous">
-    <origin xyz="-0.171806101587598 -0.179900399999999 0.0518836514526621" rpy="0 0 0" />
-    <parent link="${namespace}base_link" />
-    <child link="${namespace}right_rear_wheel_link" />
-    <axis xyz="0 1 0" />
-  </joint>
-  
-  <link name="${namespace}right_front_wheel_link">
-    <inertial>
-      <origin xyz="6.6563E-05 -0.019725 8.3836E-05" rpy="0 0 0" />
-      <mass value="0.21659122149244" />
-      <inertia ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07"
-               iyy="0.00097519" iyz="-2.3635E-07"
-               izz="0.00051178" />
-    </inertial>
-
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="package://agv_pro_description/meshes/wheel_rf_link.stl" />
-      </geometry>
-      <material name="">
-        <color rgba="1 1 1 1" />
-      </material>
-    </visual>
-
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="package://agv_pro_description/meshes/wheel_rf_link.stl" />
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="${namespace}right_front_wheel_joint" type="continuous">
-    <origin xyz="-0.17181 0.1799 0.051884"
-      rpy="0 0 0" />
-    <parent link="${namespace}base_link" />
-    <child link="${namespace}right_front_wheel_link" />
-    <axis xyz="0 1 0" />
-  </joint>
-  
-  <link name="${namespace}left_front_wheel_link">
-    <inertial>
-      <origin xyz="1.4671E-06 -0.019803 4.3218E-06" rpy="0 0 0" />
-      <mass value="0.3015" />
-      <inertia ixx="0.00052475" ixy="-2.2533E-07" ixz="-4.1904E-07"
-               iyy="0.00099948" iyz="7.5332E-08"
-               izz="0.00052362" />
-    </inertial>
-
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="package://agv_pro_description/meshes/wheel_lf_link.stl" />
-      </geometry>
-      <material name="">
-        <color rgba="1 1 1 1" />
-      </material>
-    </visual>
-
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="package://agv_pro_description/meshes/wheel_lf_link.stl" />
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="${namespace}left_front_wheel_joint" type="continuous">
-    <origin xyz="0.17128 0.1799 0.052"
-      rpy="0 0 0" />
-    <parent link="${namespace}base_link" />
-    <child link="${namespace}left_front_wheel_link" />
-    <axis xyz="0 1 0" />
-  </joint>
-  
-  <link name="${namespace}left_rear_wheel_link">
-    <inertial>
-      <origin xyz="-2.4454E-06 0.019725 -4.3121E-06" rpy="0 0 0" />
-      <mass value="0.29613" />
-      <inertia ixx="0.00051227" ixy="-2.0628E-07" ixz="-4.9074E-07"
-               iyy="0.0009752" iyz="1.173E-07"
-               izz="0.00051131" />
-    </inertial>
-
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="package://agv_pro_description/meshes/wheel_lb_link.stl" />
-      </geometry>
-      <material name="">
-        <color rgba="1 1 1 1" />
-      </material>
-    </visual>
-
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="package://agv_pro_description/meshes/wheel_lb_link.stl" />
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="${namespace}left_rear_wheel_joint" type="continuous">
-    <origin xyz="0.17128 -0.1799 0.052" rpy="0 0 0" />
-    <parent link="${namespace}base_link" />
-    <child link="${namespace}left_rear_wheel_link" />
-    <axis xyz="0 1 0" />
-  </joint>
-  
-  <link name="${namespace}laser_link">
-    <inertial>
-      <origin xyz="-0.0035142 -2.8248E-05 0.0010013" rpy="0 0 0" />
-      <mass value="0.049095" />
-      <inertia ixx="2.0572E-05" ixy="8.5013E-08" ixz="2.0871E-07" iyy="2.0483E-05"
-               iyz="-4.2154E-09"
-               izz="3.4612E-05" />
-    </inertial>
-
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="package://agv_pro_description/meshes/laser_link.stl" />
-      </geometry>
-      <material name="">
-        <color rgba="1 1 1 1" />
-      </material>
-    </visual>
-
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="package://agv_pro_description/meshes/laser_link.stl" />
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="${namespace}lidar_joint" type="fixed">
-    <origin xyz="0.17891 0 0.20928" rpy="0 0 0" />
-    <parent link="${namespace}base_link" />
-    <child link="${namespace}laser_link" />
-  </joint>
-
-  <link name="${namespace}camera_link"/>
-
-  <joint name="${namespace}camera_joint" type="fixed">
-    <origin xyz="0.23191 0 0.14928" rpy="0 0 0" />
-    <parent link="${namespace}base_link" />
-    <child link="${namespace}camera_link" />
-  </joint>
-
-  <link name="${namespace}imu_link"/>
-
-  <joint name="${namespace}imu_joint" type="fixed">
-    <origin xyz="-0.17181 -0.0270532 0.14928" rpy="0 0 1.5707" />
-    <parent link="${namespace}base_link" />
-    <child link="${namespace}imu_link" />
-  </joint>
-
-  <!-- ════════════════════════════════════════════════════════════════════════
-       ros2_control hardware interface for the real robot.
-
-       Joint-name note: the URDF joint origins show that two wheels are
-       physically at the 'wrong' position relative to their names:
-         left_rear_wheel_joint  is physically at front-right (+x, -y)
-         right_front_wheel_joint is physically at rear-left  (-x, +y)
-       The hardware plugin and mecanum_drive_controller both use the
-       front_left/front_right/rear_left/rear_right params to resolve this.
-       ════════════════════════════════════════════════════════════════════════ -->
-  <ros2_control name="AgvProHardwareInterface" type="system">
-    <hardware>
-      <plugin>agv_pro_hardware/AgvProHardwareInterface</plugin>
-      <param name="port_name">$(arg port_name)</param>
-      <param name="wheel_radius">0.072</param>
-      <param name="lx">0.172</param>
-      <param name="ly">0.180</param>
-      <!-- Physical wheel position → URDF joint name mapping -->
-      <param name="front_left_joint">${namespace}left_front_wheel_joint</param>
-      <param name="front_right_joint">${namespace}left_rear_wheel_joint</param>
-      <param name="rear_left_joint">${namespace}right_front_wheel_joint</param>
-      <param name="rear_right_joint">${namespace}right_rear_wheel_joint</param>
-    </hardware>
-    <joint name="${namespace}left_front_wheel_joint">
-      <command_interface name="velocity"/>
-      <state_interface name="position"/>
-      <state_interface name="velocity"/>
-    </joint>
-    <joint name="${namespace}left_rear_wheel_joint">
-      <command_interface name="velocity"/>
-      <state_interface name="position"/>
-      <state_interface name="velocity"/>
-    </joint>
-    <joint name="${namespace}right_front_wheel_joint">
-      <command_interface name="velocity"/>
-      <state_interface name="position"/>
-      <state_interface name="velocity"/>
-    </joint>
-    <joint name="${namespace}right_rear_wheel_joint">
-      <command_interface name="velocity"/>
-      <state_interface name="position"/>
-      <state_interface name="velocity"/>
-    </joint>
-  </ros2_control>
-
-</robot>
@@ -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>
@@ -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="${prefix}rear_right_wheel_joint">
+        <command_interface name="velocity"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+      </joint>
+    </ros2_control>
+  </xacro:macro>
+</robot>
@@ -0,0 +1,59 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+  <!-- code from https://github.com/RobotnikAutomation/robotnik_description/blob/jazzy-devel/urdf/inertia.urdf.xacro -->
+  <!-- source en.wikipedia.org/wiki/List_of_moments_of_inertia-->
+
+  <!-- TODO Solid sphere of radius r and mass m-->
+  <xacro:macro
+    name="solid_sphere_inertia"
+    params="m r">
+    <inertia
+      ixx="${(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="${m*r*r/2}" />
+  </xacro:macro>
+</robot>
@@ -0,0 +1,113 @@
+<?xml version="1.0"?>
+<robot
+    name="wheel_macro"
+    xmlns:xacro="http://www.ros.org/wiki/xacro"
+    xmlns:gz="http://gazebosim.org/schema">
+    <!--
+    AGV Pro wheel macro.
+
+    Builds a continuous-rotation wheel (link + joint) from a mesh, mass,
+    inertia tensor and mounting origin.
+
+    Params:
+      prefix               base name, e.g. 'left_front'
+      mesh                 STL filename in agv_pro_description/meshes
+      reflect              reflect the model and the physics
+      wheel_radius          
+      wheel_height
+      wheel_mass           link mass (kg)
+      origin_xyz           joint origin relative to base_link
+  -->
+    <xacro:macro
+        name="agv_pro_wheel"
+        params="prefix
+            parent
+            origin_xyz
+            reflect
+            mesh
+            wheel_radius:=0.072
+            wheel_height:=0.04
+            wheel_mass:=0.25
+            gazebo_ignition:=false">
+
+        <xacro:macro name="cylinder_inertia" params="m r h">
+            <inertia
+                ixx="${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>
@@ -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}
 )

@@ -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]
@@ -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
-    fishbot_omni_drive_controller:
-      type: omni_drive_controller/OmniDriveController
+    # 定义麦克纳姆轮驱动控制器
+    mecanum_drive_controller:
+      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_right_wheel_joint: front_right_wheel_joint
-    rear_left_wheel_joint: rear_left_wheel_joint
-    rear_right_wheel_joint: 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
-    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]
+    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:
+      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
+
@@ -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
-    ])
@@ -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')
-
-    ])
@@ -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_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')
-    rviz_config = os.path.join(pkg_dir, 'rviz', 'agvpro_display.rviz')

-    robot_description_content = ParameterValue(
-        Command(['xacro ', xacro_file]),
-        value_type=str
+def generate_launch_description():
+    pkg_gazebo = get_package_share_directory('agv_pro_gazebo')
+    pkg_description = get_package_share_directory('agv_pro_description')
+    pkg_ros_gz_sim = get_package_share_directory('ros_gz_sim')
+
+    # Shared robot description (agv_pro_description) built for simulation.
+    xacro_file = os.path.join(pkg_description, 'urdf', 'agv_pro.urdf.xacro')
+    controllers_file = os.path.join(pkg_gazebo, 'config', 'agv_control.yaml')
+    world_file = os.path.join(pkg_gazebo, 'worlds', 'empty.world')
+    rviz_config = os.path.join(pkg_gazebo, 'rviz', 'agvpro_display.rviz')
+
+    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=''),
+        ],
+    )
+
+    # Start gz-sim (Gazebo Harmonic) with the world.
+    # '-s' (server only) is added when headless:=true.
+    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(pkg_ros_gz_sim, 'launch', 'gz_sim.launch.py')
+        ),
+        launch_arguments={'gz_args': gz_args}.items(),
+    )
+
+    # Publish the robot description (also consumed by gz_ros2_control)
+    robot_state_publisher = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        name='robot_state_publisher',
+        output='screen',
+        parameters=[robot_description],
+    )
+
+    # Spawn the robot into gz-sim from the robot_description topic.
+    # Delayed so robot_state_publisher has latched /robot_description before the
+    # gz_ros2_control plugin (loaded on spawn) reads it — avoids a startup race
+    # 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])
+
+    # Bridge the simulation clock so ROS nodes get /clock
+    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',
+        arguments=['-d', rviz_config],
+        parameters=[{'use_sim_time': use_sim_time}],
+        condition=IfCondition(use_rviz),
+        output='screen',
    )
-    robot_description = {'robot_description': robot_description_content}

    return LaunchDescription([
-        # Launch Gazebo
-        IncludeLaunchDescription(
-            PythonLaunchDescriptionSource(
-                os.path.join(get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')
-            ),
-            launch_arguments={'world': world_file}.items()
+        DeclareLaunchArgument(
+            'use_sim_time',
+            default_value='true',
+            description='Use the Gazebo simulation clock',
        ),
-
-        # Spawn robot into Gazebo
-        Node(
-            package='gazebo_ros',
-            executable='spawn_entity.py',
-            arguments=['-topic', 'robot_description',
-                       '-entity', 'agv_pro'],
-            output='screen'
+        DeclareLaunchArgument(
+            'use_rviz',
+            default_value='true',
+            description='Launch RViz2',
        ),
-
-        # State publisher
-        Node(
-            package='robot_state_publisher',
-            executable='robot_state_publisher',
-            name='robot_state_publisher',
-            output='screen',
-            parameters=[robot_description]
+        DeclareLaunchArgument(
+            'headless',
+            default_value='false',
+            description='Run gz-sim without the GUI (server only)',
        ),
-
-        Node(
-            package='joint_state_publisher',
-            executable='joint_state_publisher',
-            name='joint_state_publisher',
-            output='screen',
+        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],
+            )
        ),
-
-        # Optional: RViz
-        Node(
-            package='rviz2',
-            executable='rviz2',
-            name='rviz2',
-            output='screen',
-            arguments=['-d', rviz_config],
+        RegisterEventHandler(
+            OnProcessExit(
+                target_action=joint_state_broadcaster_spawner,
+                on_exit=[mecanum_drive_controller_spawner],
+            )
        ),
+        rviz,
    ])
@@ -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],
-        ),
-    ]) 
@@ -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=[
-                ('/cmd_vel', '/diff_drive_controller/cmd_vel_unstamped')
-            ]
+            # mecanum_drive_controller expects a stamped reference; teleop must
+            # publish geometry_msgs/TwistStamped with a fresh timestamp.
+            # It publishes on the standard /cmd_vel topic, which the sim launch
+            # feeds to the controller (spawner remap + cmd_vel_relay), mirroring
+            # the physical robot.
+            parameters=[{
+                'stamped': True,
+                'frame_id': 'base_link',
+            }],
        )
    ])
@@ -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'
-        )
-    ])
@@ -12,8 +12,14 @@
  <buildtool_depend>ament_cmake</buildtool_depend>
  <buildtool_depend>xacro</buildtool_depend>
  
-  <!-- Build dependencies -->
-  <depend>gazebo_ros_pkgs</depend>
+  <!-- Runtime dependencies -->
+  <!-- Shared robot description (single source of truth for sim + real) -->
+  <depend>agv_pro_description</depend>
+  <!-- Gazebo (gz-sim Harmonic) integration for ROS 2 Jazzy -->
+  <exec_depend>ros_gz_sim</exec_depend>
+  <exec_depend>ros_gz_bridge</exec_depend>
+  <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>
@@ -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>
@@ -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="$(find agv_pro_gazebo)/urdf/ros2_controller.xacro"/>
-  <xacro:ros2_controller/>
-  <xacro:gazebo_control_plugin/>
-</robot>
@@ -1,144 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="agv_pro">
-
-  <xacro:property name="wheel_axis" value="0 1 0"/>
-  <xacro:property name="wheel_damping" value="0.1"/>
-
-  <!-- Macro: wheel with Gazebo plugin -->
-  <xacro:macro name="wheel" params="name mesh origin_xyz origin_rpy mass ixx ixy ixz iyy iyz izz">
-    <link name="${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>
@@ -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>
@@ -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>
@@ -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>
@@ -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>
@@ -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>
-    </include>
-    <include>
-      <uri>model://sun</uri>
-    </include>
+
+    <!-- Required gz-sim (Gazebo Harmonic) system plugins -->
+    <plugin filename="gz-sim-physics-system"
+            name="gz::sim::systems::Physics">
+    </plugin>
+    <plugin filename="gz-sim-user-commands-system"
+            name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin filename="gz-sim-scene-broadcaster-system"
+            name="gz::sim::systems::SceneBroadcaster">
+    </plugin>
+    <plugin filename="gz-sim-sensors-system"
+            name="gz::sim::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+
+    <physics name="1ms" type="ignored">
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+
+    <!-- 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>
Author	SHA1	Message	Date
Matt Spencer	48eb4d10fd	Fix patch application in container.	2026-07-17 14:44:44 +00:00
Matt Spencer	bd531ee9cb	Update the livox patches.	2026-07-17 14:44:44 +00:00
Matt Spencer	02e944d1b1	Get fast_lio cmake execute the git submodule init	2026-07-17 14:44:44 +00:00
Matt Spencer	e869d4d023	Patch to add symlinks to livox_ros_driver2	2026-07-17 14:44:44 +00:00
Matt Spencer	152451b134	Fix unilidar_sdk2 for jazzy colcon build	2026-07-17 14:44:44 +00:00
Matt Spencer	3d692c0083	Fix fast_lio for jazzy build	2026-07-17 14:44:44 +00:00
Matt Spencer	47274dcb36	Refactor the robot description, and include mecanum control.	2026-07-17 08:28:02 +00:00
Matt Spencer	ecdbe00d07	Staging checkin Moved to mechanum controller Use a single URDF from the robot description TODO: Wheel physics is not yet correct for mecanum movement.	2026-07-16 09:28:07 +00:00
Matt Spencer	9d62ca663f	Staging checkin for the simulation migration	2026-07-16 07:50:16 +00:00