Perseverance URDF (from OnShape)

perseverance/config/rover.rviz

@@ -6,7 +6,6 @@ Panels:
       Expanded:
         - /Global Options1
         - /Odometry1/Shape1
-        - /RobotModel1/Status1
       Splitter Ratio: 0.5
     Tree Height: 707
   - Class: rviz_common/Selection
@@ -67,16 +66,20 @@ Visualization Manager:
       Frame Timeout: 15
       Frames:
         All Enabled: true
+        base_link:
+          Value: true
         map:
           Value: true
         odom:
           Value: true
-      Marker Scale: 1.5
+      Marker Scale: 0.5
       Name: TF
       Show Arrows: true
       Show Axes: true
       Show Names: true
       Tree:
+        base_link:
+          {}
         map:
           odom:
             {}
@@ -165,10 +168,10 @@ Visualization Manager:
         Axes Length: 1
         Axes Radius: 0.10000000149011612
         Color: 255; 25; 0
-        Head Length: 0.30000001192092896
-        Head Radius: 0.10000000149011612
-        Shaft Length: 1
-        Shaft Radius: 0.05000000074505806
+        Head Length: 0.10000000149011612
+        Head Radius: 0.02500000037252903
+        Shaft Length: 0.25
+        Shaft Radius: 0.009999999776482582
         Value: Arrow
       Topic:
         Depth: 5
@@ -201,6 +204,56 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        frontsteeringarm:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        frontsteeringarm_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        rearsteeringarm:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        rearsteeringarm_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelhub:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelhub_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelhub_3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelhub_4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelhub_5:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelhub_6:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
       Mass Properties:
         Inertia: false
         Mass: false
@@ -212,7 +265,7 @@ Visualization Manager:
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
-    Fixed Frame: map
+    Fixed Frame: base_link
     Frame Rate: 30
   Name: root
   Tools:
@@ -255,25 +308,25 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 7.667200088500977
+      Distance: 1.5269984006881714
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: -0.040253933519124985
-        Y: 0.3428667485713959
-        Z: -0.26763486862182617
+        X: 0.0002327367546968162
+        Y: 0.02922627702355385
+        Z: 0.004771401174366474
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.6953982710838318
+      Pitch: 0.5147971510887146
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 0.8203979730606079
+      Yaw: 0.7753936052322388
     Saved: ~
 Window Geometry:
   Displays:
@@ -292,4 +345,4 @@ Window Geometry:
     collapsed: false
   Width: 1854
   X: 66
-  Y: 32
+  Y: 392

perseverance/launch/rover.launch.py

@@ -82,7 +82,24 @@ def generate_launch_description():
         }.items()
     )
 
-    # --- Robot State Publisher ---
+    # --- Joint + Robot State Publisher ---
+    joint_state_publisher_node = Node(
+        package='joint_state_publisher',
+        executable='joint_state_publisher',
+        name='joint_state_publisher',
+        output='screen',
+        parameters=[
+            {
+                'robot_description': Command([
+                    FindExecutable(name='xacro'), ' ', PathJoinSubstitution(
+                        [perseverance_pkg_share, 'urdf', 'rover.urdf.xacro'])
+                ])
+            }
+        ],
+        arguments=['--ros-args', '--log-level', log_level]
+    )
+
+    # Robot State Publisher uses the same robot_description
     robot_state_publisher_node = Node(
         package='robot_state_publisher',
         executable='robot_state_publisher',
@@ -118,6 +135,7 @@ def generate_launch_description():
         log_level_arg,
         use_sim_sensors_arg,
         launch_rviz_arg,
+        joint_state_publisher_node,
         robot_state_publisher_node,
         state_estimation_launch,
         sensors_launch,

perseverance/meshes/base_link.part

@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "31ca51e87164d5a2ae3b11dc",
+    "documentMicroversion": "0dba6d6338e6299b22002650",
+    "elementId": "0c560b10021ee9a9ba857f17",
+    "fullConfiguration": "default",
+    "id": "M9T2tese22AN1PkbK",
+    "isStandardContent": false,
+    "name": "base_link <10>",
+    "partId": "JHD",
+    "suppressed": false,
+    "type": "Part"
+}

perseverance/meshes/bevel_0_85m_18t_45deg.part

@@ -1,7 +1,7 @@
 {
     "configuration": "default",
     "documentId": "31ca51e87164d5a2ae3b11dc",
-    "documentMicroversion": "da6c8fe57dd019e8cce7ef54",
+    "documentMicroversion": "0dba6d6338e6299b22002650",
     "elementId": "4bb309cd3d306bc1aa938f85",
     "fullConfiguration": "default",
     "id": "MBSqDa3bVNGEnNlZ1",

perseverance/meshes/frontsteeringarm.part

@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "31ca51e87164d5a2ae3b11dc",
+    "documentMicroversion": "0dba6d6338e6299b22002650",
+    "elementId": "924046319e5e4b20291be965",
+    "fullConfiguration": "default",
+    "id": "MNEycQvv6vf894Xvw",
+    "isStandardContent": false,
+    "name": "FrontSteeringArm <3>",
+    "partId": "JHD",
+    "suppressed": false,
+    "type": "Part"
+}

perseverance/meshes/leftbogie.part

@@ -1,7 +1,7 @@
 {
     "configuration": "default",
     "documentId": "31ca51e87164d5a2ae3b11dc",
-    "documentMicroversion": "da6c8fe57dd019e8cce7ef54",
+    "documentMicroversion": "0dba6d6338e6299b22002650",
     "elementId": "71753bf2cfe718880f4dedea",
     "fullConfiguration": "default",
     "id": "MpHKFNZGNC8m+glvp",

perseverance/meshes/leftrocker.part

@@ -1,7 +1,7 @@
 {
     "configuration": "default",
     "documentId": "31ca51e87164d5a2ae3b11dc",
-    "documentMicroversion": "da6c8fe57dd019e8cce7ef54",
+    "documentMicroversion": "0dba6d6338e6299b22002650",
     "elementId": "dc85565d008f3a4b7cf2cbdb",
     "fullConfiguration": "default",
     "id": "Majs+I8U5WgcMGbxk",

perseverance/meshes/mg995.part

@@ -1,7 +1,7 @@
 {
     "configuration": "default",
     "documentId": "31ca51e87164d5a2ae3b11dc",
-    "documentMicroversion": "da6c8fe57dd019e8cce7ef54",
+    "documentMicroversion": "0dba6d6338e6299b22002650",
     "elementId": "a84877825e678cbc1454a180",
     "fullConfiguration": "default",
     "id": "MoCr4rqjU4XnwoTqv",

perseverance/meshes/rearsteeringarm.part

@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "31ca51e87164d5a2ae3b11dc",
+    "documentMicroversion": "0dba6d6338e6299b22002650",
+    "elementId": "d1d8bd1c8cfc75a9935049e3",
+    "fullConfiguration": "default",
+    "id": "M+/VjhFIMt+ffvq5t",
+    "isStandardContent": false,
+    "name": "RearSteeringArm <1>",
+    "partId": "JHD",
+    "suppressed": false,
+    "type": "Part"
+}

perseverance/meshes/rightbogie.part

@@ -1,7 +1,7 @@
 {
     "configuration": "default",
     "documentId": "31ca51e87164d5a2ae3b11dc",
-    "documentMicroversion": "da6c8fe57dd019e8cce7ef54",
+    "documentMicroversion": "0dba6d6338e6299b22002650",
     "elementId": "55b9c124cd19b4475e41b9af",
     "fullConfiguration": "default",
     "id": "M5QhTWrQD9b2D/lYH",

perseverance/meshes/rightrocker.part

@@ -1,7 +1,7 @@
 {
     "configuration": "default",
     "documentId": "31ca51e87164d5a2ae3b11dc",
-    "documentMicroversion": "da6c8fe57dd019e8cce7ef54",
+    "documentMicroversion": "0dba6d6338e6299b22002650",
     "elementId": "b17d25c4287120d2bda18194",
     "fullConfiguration": "default",
     "id": "MhYGbcNdpCuLOu5Bd",

perseverance/meshes/wheelhub.part

@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "31ca51e87164d5a2ae3b11dc",
+    "documentMicroversion": "0dba6d6338e6299b22002650",
+    "elementId": "0710ec76e143760746396250",
+    "fullConfiguration": "default",
+    "id": "MuLazsY7nQIQEWiUm",
+    "isStandardContent": false,
+    "name": "WheelHub <9>",
+    "partId": "JHD",
+    "suppressed": false,
+    "type": "Part"
+}