From 43bdbc16f201ece9d4027f872c2f73e84fcf66a1 Mon Sep 17 00:00:00 2001 From: Breelyn Styler Date: Thu, 19 Mar 2026 13:00:07 -0400 Subject: [PATCH] Add dual SICK TIM571 lidars and nav2 obstacle avoidance to hangar_sim --- src/hangar_sim/description/ur5e_ridgeback.xml | 95 +++++++++++++++++++ .../launch/sim/localization_launch.py | 9 +- .../robot_drivers_to_persist_sim.launch.py | 20 +++- src/hangar_sim/package.xml | 1 + .../params/laser_filter_params.yaml | 20 ++++ src/hangar_sim/params/nav2_params.yaml | 87 ++++++++--------- 6 files changed, 176 insertions(+), 56 deletions(-) create mode 100644 src/hangar_sim/params/laser_filter_params.yaml diff --git a/src/hangar_sim/description/ur5e_ridgeback.xml b/src/hangar_sim/description/ur5e_ridgeback.xml index 8eb82040d..f59ffbb41 100644 --- a/src/hangar_sim/description/ur5e_ridgeback.xml +++ b/src/hangar_sim/description/ur5e_ridgeback.xml @@ -3,6 +3,8 @@