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shayaf84 wants to merge 50 commits into from
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Feat/new sim sensors #302

shayaf84 wants to merge 50 commits into from

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@shayaf84 shayaf84 commented Jan 16, 2026

Newly developed simulation in Gazebo Fortress containing:

  • Integrated sensors (GPS, IMU)
  • Terrain
  • SwerveDrive controller

shayaf84 and others added 30 commits September 7, 2025 19:22
@shayaf84
generate walli.urdf
67985e5
@shayaf84
Initial simulation framework.
bf96697
@shayaf84
Walli spawns in leo_world.sdf
331c5f7
@shayaf84
Physics integration
e5331ee
@shayaf84
Additional physics
d448ffa
@mrinalTheCoder
merge new urdf
a5bb383
@mrinalTheCoder
merge new urdf
65d783e
@shayaf84
Integrate with swervedrive
1dba7ec
@mrinalTheCoder
modell loads in gz sim
4d87bae
@shayaf84
Controller config file for new sim
cd59f1c
@shayaf84
Initial controller config
ddc5e1f
@shayaf84
Test Controllers Configured
3926286
@Hiptostee
Add LiDAR sensor in Gazebo and bridge /scan topic to ROS
3122d7b
@Hiptostee
Add IMU sensor (no orientation calculation from plugin)
9c79b6a
@Books4life01
added gps and put all sensor stuff and related plugins in their own x…
f3591f7 
…acro files for neatness
@shayaf84
Updated launch file
7a86154
@Hiptostee
gps working
53a5029
@mrinalTheCoder
add controller manager to sim launch
0150b08
@mrinalTheCoder
fix controller manager in sim
f1977cb
@mrinalTheCoder
controller manager works
b88120e
@Hiptostee
custom orientation_pose bridge
6d67720
@mrinalTheCoder
controllers load up!
356303a
@Hiptostee
/imu/fused topic which is imu with orientation
ff5c769
@mrinalTheCoder
ground plane
fcde790
@Hiptostee
Resolving merge conflicts
258c1b5
@shayaf84
Resolving the merge conflicts with feat/new-sim and initial testing
6869c74
@shayaf84
Fixes to sensors
c7dec78
@ThzMedic
urc_nanopb new CMakeList
588c919
@ThzMedic
added marsyard2020 terrain, rover not appearing anymore?
b862198
@ThzMedic
marsyard2020 terrain works with walli
4f38cd3
mrinalTheCoder and others added 20 commits November 10, 2025 21:27
@mrinalTheCoder
parameter for selecting world type
497b173
@mrinalTheCoder
fix wheel placement in urdf
6deed12
@ThzMedic
modified some terrain parameters
698a51a
@ThzMedic
initialized new package nav_testing
29d88c3
@Hiptostee
add covariances on imu data and 3d lidar (probably have to change ran…
abc3a63 
…ges)
@Hiptostee
small name change im sim.py for covariances node
f5de625
@shayaf84
Merge terrain into sim sensors
d0f2d7a
@mrinalTheCoder
remove install log folders
8e6907d
@Books4life01
bridge for 3d lidar scan
e26b02e
@mrinalTheCoder
fix rviz and sim frame
7bea29f
@ThzMedic
writing nav_testing node
52493b4
@ThzMedic
pull from fix/sim-tf-frame
842edab
@ThzMedic
Merge remote-tracking branch 'origin/master' into feat/nav_testing
bf89a3c
@ThzMedic
publishes rover ground truth to tf tree
1ddfbae
@ThzMedic
package nav_testing create, node structure WIP
ac852f0
@ThzMedic
nav testing node WIP
0b0f0e4
@shayaf84
Move imu covariances to sim.launch.py
64abf85
@shayaf84
Removed uneccesary GZ->ROS publish
76d7dc9
@shayaf84
Merge with nav_testing
dc5f8f9
@mrinalTheCoder
fix unresolved merge conflict
c133488
@shayaf84 shayaf84 linked an issue Jan 16, 2026 that may be closed by this pull request
Add Sensors to Leo Rover for Autonomy Testing #288
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Hiptostee
Hiptostee approved these changes Jan 16, 2026
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lgtm

Books4life01
Books4life01 approved these changes Jan 16, 2026
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👍

@shayaf84 shayaf84 removed the request for review from mrinalTheCoder January 16, 2026 22:07
@shayaf84 shayaf84 closed this Jan 16, 2026
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@Books4life01 Books4life01 Books4life01 approved these changes

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Add Sensors to Leo Rover for Autonomy Testing

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@shayaf84 @Books4life01 @Hiptostee @mrinalTheCoder @ThzMedic