Simulation Workspace

Install ROS2 Jazzy

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Install Gazebo Simulation

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Install Dependencies

# Clone and initialize the quad_rover_kinematics submodule
git -C ~/sim_ws/src/quad_rover_kinematics submodule update --init --recursive

# Install the required dependencies
sudo bash ~/sim_ws/install_dependencies.sh

Build the Workspace

# Build the workspace
cd ~/sim_ws
colcon build --symlink-install

Source the Workspace

# Source the workspace
source ~/sim_ws/install/setup.bash

# (Optional) Add the source command to .bashrc for automatic sourcing
echo "source ~/sim_ws/install/setup.bash" >> ~/.bashrc

Rex Rover Description

The URDF parameters for the Rex rover are located in:
rex_description/urdf/rex.urdf

This file includes configurations for:

• ZED2i camera
• Ouster LiDAR
• Wheel setup

How to Launch the Simulation

# Launch the full simulation environment
ros2 launch rex_gazebo marsyard2020.launch

# Launch essential ROS nodes
ros2 launch rex_gazebo basic_ros.launch.xml

# (Optional) Visualize data from Ouster, ZED2i, or inspect TF frames
ros2 launch rex_gazebo rviz.launch.xml

# (Optional) Compare estimated odometry with ground truth (RViz required)
ros2 run odom2path odom2path

To-Do List

1. Convert URDF to Xacro

   • Convert rex.urdf to xacro for better modularity and reusability.
   • Create new rover REX 2.0 with a new xacro file.

2. Low-Poly Mesh

   • Create a low-poly mesh for the wheels to improve simulation performance.

3. Physics Engines

   • Adjust and test the physics engines for optimal performance.

4. ArUco Landmarks

   • Obtain the ArUco landmarks CSV position list for integration.

5. CAN Bridge Integration

   • Add can_bridge and integrate it with the simulation, replacing qrk2sim.