Manual Drive sim integration and SDF creation.

src/description/models/terrain_world/model.config

@@ -0,0 +1,10 @@
+<?xml version="1.0"?>
+<model>
+  <name>terrain_world</name>
+  <version>1.0</version>
+  <sdf version="1.7">model.sdf</sdf>
+  <author>
+    <name>Rishav Nair</name>
+  </author>
+  <description>Terrain imported from Blender (.glb)</description>
+</model>

src/description/models/terrain_world/model.sdf

@@ -0,0 +1,34 @@
+<?xml version="1.0"?>
+<sdf version="1.7">
+  <model name="terrain_world">
+    <static>true</static>
+    <link name="terrain_world_link">
+      <visual name="terrain_world_visual">
+        <geometry>
+          <mesh>
+            <uri>model://terrain_world/meshes/terrain.dae</uri>
+          </mesh>
+        </geometry>
+        <!-- <material>
+          <script>
+            <uri>model://terrain/meshes/scripts</uri>
+            <name>RepeatedSand/Diffuse</name>
+          </script> 
+        </material> -->
+        <material>
+          <ambient>0.85 0.76 0.52 1</ambient>
+          <diffuse>0.85 0.76 0.52 1</diffuse>
+          <specular>0.0 0.0 0.0 1</specular>
+        </material>
+
+      </visual>
+      <collision name="terrain_world_collision">
+        <geometry>
+          <mesh>
+            <uri>model://terrain_world/meshes/terrain.dae</uri>
+          </mesh>
+        </geometry>
+      </collision>
+    </link>
+  </model>
+</sdf>

src/description/urdf/athena_drive.urdf.xacro

@@ -52,4 +52,4 @@
   </xacro:unless>
 
 
-</robot>
+</robot>

src/description/urdf/athena_drive_description.urdf.xacro

@@ -116,7 +116,7 @@
             <parent link="swerve_mount_1_link" />
             <child link="steer_1_link" />
             <axis xyz="0 1 0" />
-            <limit lower="0" upper="6.2832" effort="200" velocity="3" />
+            <limit lower="-3.1416" upper="3.1416" effort="200" velocity="3" />
         </joint>
 
         <link name="wheel_bracket_1_link">
@@ -237,7 +237,7 @@
             <parent link="swerve_mount_4_link" />
             <child link="steer_4_link" />
             <axis xyz="0 1 0" />
-            <limit lower="0" upper="6.2832" effort="200" velocity="3" />
+            <limit lower="-3.1416" upper="3.1416" effort="200" velocity="3" />
         </joint>
 
         <link name="wheel_bracket_4_link">
@@ -389,7 +389,7 @@
             <parent link="swerve_mount_2_link" />
             <child link="steer_2_link" />
             <axis xyz="0 1 0" />
-            <limit lower="0" upper="6.2832" effort="200" velocity="3" />
+            <limit lower="-3.1416" upper="3.1416" effort="200" velocity="3" />
         </joint>
 
         <link name="wheel_bracket_2_link">
@@ -510,7 +510,7 @@
             <parent link="swerve_mount_3_link" />
             <child link="steer_3_link" />
             <axis xyz="0 1 0" />
-            <limit lower="0" upper="6.28318530718" effort="200" velocity="3" />
+            <limit lower="-3.1416" upper="3.1416" effort="200" velocity="3" />
         </joint>
 
         <link name="wheel_bracket_3_link">

src/description/worlds/terrain_world.sdf

@@ -0,0 +1,32 @@
+<?xml version="1.0" ?>
+<sdf version="1.7">
+  <world name="default">
+    <spherical_coordinates>
+      <surface_model>EARTH_WGS84</surface_model>
+      <world_frame_orientation>ENU</world_frame_orientation>
+
+      <latitude_deg>38.42391162772634</latitude_deg>
+      <longitude_deg>-110.78490558433397</longitude_deg>
+
+      <elevation>0.0</elevation>
+
+      <heading_deg>0.0</heading_deg>
+    </spherical_coordinates>
+    <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>
+    <include>
+      <uri>model://terrain_world</uri>
+    </include>
+  </world>
+</sdf>

src/simulation/launch/bringup.launch.py

@@ -27,6 +27,11 @@
         default_value='empty.sdf',
         description='Gazebo world file to load'
     ),
+    DeclareLaunchArgument(
+        'world_name',
+        default_value='default',  
+        description='Name of the world inside Gazebo'
+    ),
 ]
 
 def generate_launch_description():
@@ -54,7 +59,8 @@ def generate_launch_description():
         launch_arguments=[
             ('namespace', LaunchConfiguration('namespace')),
             ('rviz', LaunchConfiguration('rviz')),
-            ('use_sim_time', LaunchConfiguration('use_sim_time'))
+            ('use_sim_time', LaunchConfiguration('use_sim_time')),
+            ('world_name', LaunchConfiguration('world_name'))
         ]
     )