AutoNav Iteration 1

.gitattributes

@@ -0,0 +1,2 @@
+*.tif filter=lfs diff=lfs merge=lfs -text
+*.dae filter=lfs diff=lfs merge=lfs -text

src/description/config/athena_drive_sim_controllers.yaml

@@ -25,6 +25,13 @@ ackermann_steering_controller:
     front_wheels_radius: 0.254
     rear_wheels_radius: 0.254
     use_stamped_vel: true
+    publish_rate: 50.0
+
+    odom_frame_id: "odom"
+    base_frame_id: "base_link"
+    publish_odom: true   
+    publish_odom_tf: true   
+    reference_timeout: 0.2
 
 
 rear_steer_position_controller:

src/description/urdf/athena_drive/athena_drive_macro.ros2_control.xacro

@@ -133,6 +133,9 @@
             <parameters>${simulation_controllers}</parameters>
           </xacro:if>
           <controller_manager_node_name>${prefix}controller_manager</controller_manager_node_name>
+          <ros>
+            <remapping>ackermann_steering_controller/tf_odometry:=/tf</remapping>
+          </ros>
         </plugin>
       </gazebo>
     </xacro:if>

src/simulation/launch/bringup.launch.py

@@ -1,6 +1,6 @@
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, ExecuteProcess, TimerAction
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
 
@@ -50,7 +50,7 @@ def generate_launch_description():
         PythonLaunchDescriptionSource([gazebo_launch]),
         launch_arguments=[
             ('use_sim_time', LaunchConfiguration('use_sim_time')),
-            ('world', LaunchConfiguration('world'))
+            ('world', LaunchConfiguration('world')),
         ]
     )
 
@@ -72,9 +72,50 @@ def generate_launch_description():
         PythonLaunchDescriptionSource([control_launch])
     )
 
+    model_name = "rover"   # <-- change to your actual model name
+
+    follow_cmd = ExecuteProcess(
+        cmd=[
+            'bash', '-c',
+            f'ign service -s /gui/follow '
+            f'--reqtype ignition.msgs.StringMsg '
+            f'--reptype ignition.msgs.Boolean '
+            f'--timeout 2000 '
+            f'--req \'data: "{model_name}"\''
+        ],
+        output='screen'
+    )
+
+    offset_cmd = ExecuteProcess(
+        cmd=[
+            'bash', '-c',
+            'ign service -s /gui/follow/offset '
+            '--reqtype ignition.msgs.Vector3d '
+            '--reptype ignition.msgs.Boolean '
+            '--timeout 2000 '
+            '--req \'x: 2.0 y: 0.0 z: 0.5\''
+        ],
+        output='screen'
+    )
+
+    # Run the follow+offset commands a few seconds after Gazebo starts
+    # (so the GUI + world + model are definitely available)
+    follow_after_delay = TimerAction(
+        period=5.0,          
+        actions=[follow_cmd]
+    )
+
+    offset_after_delay = TimerAction(
+        period=10.0,           
+        actions=[offset_cmd]
+    )
+
+
     ld = LaunchDescription(ARGUMENTS)
     ld.add_action(gazebo)
     ld.add_action(robot_spawn)
     ld.add_action(bridge)
     ld.add_action(control)
+    ld.add_action(follow_after_delay)
+    ld.add_action(offset_after_delay)
     return ld

src/simulation/launch/control.launch.py

@@ -15,7 +15,10 @@ def generate_launch_description():
         package='controller_manager',
         executable='spawner',
         arguments=['ackermann_steering_controller'],
-        output='screen'
+        output='screen',
+        remappings=[
+        ("/ackermann_steering_controller/tf_odometry", "/tf"),
+        ]
     )
 
     delayed_ackermann_controller_spawner = RegisterEventHandler(

src/subsystems/navigation/athena_map/CMakeLists.txt

@@ -0,0 +1,61 @@
+cmake_minimum_required(VERSION 3.8)
+project(athena_map)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(OpenCV REQUIRED)
+
+set(dependencies
+  rclcpp
+  nav_msgs
+  sensor_msgs
+  cv_bridge
+  OpenCV
+)
+
+add_executable(map_node src/map_node.cpp)
+target_include_directories(map_node PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+  ${OpenCV_INCLUDE_DIRS})
+
+target_compile_features(map_node PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+ament_target_dependencies(
+  map_node SYSTEM
+  ${dependencies}
+)
+
+target_link_libraries(map_node ${OpenCV_LIBRARIES})
+
+install(TARGETS map_node
+  DESTINATION lib/${PROJECT_NAME})
+
+# Install maps directory
+install(DIRECTORY maps/
+  DESTINATION share/${PROJECT_NAME}/maps)
+
+# Install launch directory
+install(DIRECTORY launch/
+  DESTINATION share/${PROJECT_NAME}/launch)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

src/subsystems/navigation/athena_map/LICENSE

@@ -0,0 +1,202 @@
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src/subsystems/navigation/athena_map/config/dem_costmap.yaml

@@ -0,0 +1,8 @@
+dem_costmap_converter:
+  ros__parameters:
+    dem_file_path: "maps/north_site800m.tif"                  # override via launch-arg if you like
+    map_resolution: 1.0
+    max_passable_slope_degrees: 15.0
+    output_frame: map
+    origin_x: 518370.0
+    origin_y: 4253272.0