diff --git a/.vscode/tasks.json b/.vscode/tasks.json
new file mode 100644
index 0000000..3901c53
--- /dev/null
+++ b/.vscode/tasks.json
@@ -0,0 +1,72 @@
+{
+ "version": "2.0.0",
+ "tasks": [
+ {
+ "label": "Install_Dependencies",
+ "type": "shell",
+ "command": "source /opt/ros/humble/setup.sh && source install/setup.sh && sudo apt-get update && rosdep install --from-path src",
+ "group": {
+ "kind": "build",
+ "isDefault": true
+ },
+ "options": {
+ "shell": {
+ "executable": "/bin/bash",
+ "args": ["--login", "-i", "-c"] // --login loads your ~/.bashrc
+ }
+ },
+ "problemMatcher": []
+ },
+ {
+ "label": "Build",
+ "type": "shell",
+ "command": "echo '---- building -----' && source /opt/ros/humble/setup.sh && source install/setup.sh && colcon build",
+ "group": {
+ "kind": "build",
+ "isDefault": true
+ },
+ "options": {
+ "shell": {
+ "executable": "/bin/bash",
+ "args": ["--login", "-i", "-c"] // --login loads your ~/.bashrc
+ }
+ },
+ "problemMatcher": []
+ },
+ {
+ "label": "Run_Simulation",
+ "type": "shell",
+ "command": "echo '----- running simulation -----' source ~/.bashrc && source /opt/ros/humble/setup.sh && source install/setup.sh && ros2 launch simulation simulation.launch.py",
+ "group": {
+ "kind": "build",
+ "isDefault": true
+ },
+ "dependsOn": ["Build"],
+ "options": {
+ "shell": {
+ "executable": "/bin/bash",
+ "args": ["--login", "-i", "-c"] // --login loads your ~/.bashrc
+ }
+ },
+ "problemMatcher": []
+ },
+ {
+ "label": "Run_Raw_Gazebo",
+ "type": "shell",
+ "command": "echo '----- running simulation -----' source ~/.bashrc && source /opt/ros/humble/setup.sh && source install/setup.sh && ign gazebo worlds/test.world",
+ "group": {
+ "kind": "build",
+ "isDefault": true
+ },
+ "dependsOn": ["Build"],
+ "options": {
+ "shell": {
+ "executable": "/bin/bash",
+ "args": ["--login", "-i", "-c"] // --login loads your ~/.bashrc
+ }
+ },
+ "problemMatcher": []
+ }
+
+ ]
+}
\ No newline at end of file
diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000..6e0a232
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2025 Wisconsin Robotics
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/Makefile b/Makefile
new file mode 100644
index 0000000..881a1dc
--- /dev/null
+++ b/Makefile
@@ -0,0 +1,15 @@
+inst_dep:
+ sudo apt-get update
+ rosdep install --from-path src
+build_env:
+ colcon build
+ echo "DONT FORGET TO SOURCE!"
+run:
+ ros2 launch simulation simulation.launch.py
+
+clean:
+ rm -rf build/ install/ log/
+
+run_and_build: install_dependencies build run
+
+fast_build: clean build_env run
diff --git a/README.md b/README.md
index 0dbd892..7174b0d 100644
--- a/README.md
+++ b/README.md
@@ -4,7 +4,11 @@
This is the official repository for WRover Software Simulation.
## Tools and Lanugages
-Currently using Rosviz with Gazebo for simulation
+- Rosviz
+- Gazebo for simulation.
+ - ROS2GZ bridge
+ - Xacro udrf
+- Custom VSCode build scripts
## Pushing and Pulling (TODO: David)
All development work to be done on the dev branch of the repository.
@@ -12,3 +16,57 @@ Code which is free of syntax errors and basic bugs will be moved to test (via PR
Once either software lead (Aditya or David) approves the changes it will be merged to main.
Merges to main will only be done after code has been thoroughly tested and works in a reliable manner.
+## Notes
+Documentation about the software being used, resources for development, things that need to be done, can all be found in [/docs/](./docs/)
+
+
+# Simulation Setup
+starting from the root of the WiscRobo directory (where this readme is).
+- NOTE: for development purposes, it is recommended to use VScode seeing as there are custom build commands and compile tasks in VSCode
+- WSL has varying support for different graphics card. If there is trouble running the software, please refer to [/docs/graphics.md](./docs/graphics.md) and contribute to such file.
+
+### Prereqs
+These are required to be installed on the system in order for the simulation to work.
+```
+sudo apt install python3-colcon-common-extensions
+sudo apt-get install python3-rosdep2
+sudo apt install ros-humble-joint-state-publisher-gui
+```
+
+### Raw Build and Run Commands
+
+```
+# Install package dependencies
+source /opt/ros/humble/setup.sh
+sudo apt-get update
+rosdep install --from-path src
+
+# Build projcet
+colcon build
+
+# Run Sim
+source install/setup.sh
+ros2 launch simulation simulation.launch.py
+```
+
+### Shortcuts
+``` bash
+# For fast builds use fast_build script at the top level
+# This will do the entire build, source, and run routine for you
+# make sure to chmod the script
+./fast_build
+
+# clean repo
+make clean
+
+# install ros dependencies
+make inst_dep
+
+# build project
+make build_env
+
+# run after source
+make run
+```
+
+
diff --git a/docs/.gitkeep b/docs/.gitkeep
new file mode 100644
index 0000000..e69de29
diff --git a/docs/TODO.md b/docs/TODO.md
new file mode 100644
index 0000000..25924d1
--- /dev/null
+++ b/docs/TODO.md
@@ -0,0 +1,5 @@
+# TODO
+
+- [ ] Run test vs real rover to see how similar the simulation is to the real rover
+ - [ ] Calibrate the inertial values of the rover to be similar to the real thing
+ - [ ] Calibrate sensors to be similar to the sensors on the real rover
\ No newline at end of file
diff --git a/docs/documents.md b/docs/documents.md
new file mode 100644
index 0000000..d8ef4ac
--- /dev/null
+++ b/docs/documents.md
@@ -0,0 +1,5 @@
+# Docs
+These files all outline design decisions, software stack, and resources for other developers
+
+1. [development resources](./Resources.md) - a list of documents related to ROS, gazebo, and simulation development
+2. [todo](./TODO.md) - lists all things that need to get done on the rover
\ No newline at end of file
diff --git a/docs/graphics.md b/docs/graphics.md
new file mode 100644
index 0000000..7fe039d
--- /dev/null
+++ b/docs/graphics.md
@@ -0,0 +1,13 @@
+# Graphics information
+WSL is supper funky when it comes to graphics. You might need to make some changes in order to get this to render on your computer
+
+
+## INTEL Arc Graphics cards
+Intel Arc graphics cards have proven problematic, you need to use software rendering if
+possible by your computer.
+
+```bash
+# Run the following in your shell instance
+export LIBGL_ALWAYS_SOFTWARE=1
+export GALLIUM_DRIVER=llvmpipe
+```
diff --git a/docs/resources.md b/docs/resources.md
new file mode 100644
index 0000000..03eab47
--- /dev/null
+++ b/docs/resources.md
@@ -0,0 +1,42 @@
+
+# Resources and Notes
+These all serve as notes and general resources aimed at helping other developers. If you find anything useful please put it here
+
+## Gazebo Plugins
+Gazebo plugins are scarce and not very common, here are some that are found regarding plugin development.
+
+Gazebo Plugin Development
+1) [Gazebo Plugin Tutorial Website by Hrithik Verma](https://sites.google.com/view/gazebo-plugin-tutorials/3-write-a-world-plugin?authuser=0)
+2) [Gazebo Plugin Tutorial Youtube Series by Hrithik Verma](https://www.youtube.com/watch?v=UNZMce9z5Fc&list=PLOQhCaBjYnseDMTpd-b52spLSq7hg0ar1&index=1)
+
+Gazebo Documentations
+1) [Defualt Gazeo Plugins Github](https://github.com/gazebosim/gz-sim/tree/main/src/systems)
+2) [Default Gazebo Plugins Docs](https://gazebosim.org/api/gazebo/6/namespaceignition_1_1gazebo_1_1systems.html)
+3) [Gazebo API Docs](https://osrf-distributions.s3.amazonaws.com/gazebo/api/dev/index.html)
+4) [Ignition Math Docs](https://osrf-distributions.s3.amazonaws.com/ign-math/api/1.0.0/namespaceignition_1_1math.html)
+
+Gazebo ROS intigration
+1) [Example Gazebo/ROS2 project](https://github.com/gazebosim/ros_gz_project_template/tree/main)
+
+
+
+## Inertials
+This is a note about inertials. Intertials are what tell the simulation how the links interact with the world.
+A great wiki artical about this is [Moment of Inertia Wiki Page](https://en.wikipedia.org/wiki/Moment_of_inertia#Inertia_tensor), specifically the inertia tensors since that is what URDF uses.
+
+### Approximation Methods
+There are two main methods for estimating inertial values: getting it from CAD and estimating it with general shapes.
+#### CAD
+in Onshape, you can take the moment of inertia from the shapes themselves
+
+### URDF Reference frames
+Take the exampple:
+``` xml
+
+
+
+
+
+
+```
+In the case of URDF, the intertials of the child will be relative to the origin axis, the origin axis being based off the parent's frame of reference
diff --git a/fast_build.sh b/fast_build.sh
new file mode 100755
index 0000000..8dc17ad
--- /dev/null
+++ b/fast_build.sh
@@ -0,0 +1,20 @@
+#!/bin/bash
+
+# Exit on error
+set -e
+
+# clearing
+clear
+
+# Source ROS2
+source /opt/ros/humble/setup.bash
+
+# clean project and build
+make clean
+make build_env
+
+# Source workspace
+source install/setup.bash
+
+# Launch simulation
+make run
diff --git a/src/.gitkeep b/src/.gitkeep
new file mode 100644
index 0000000..e69de29
diff --git a/src/simulation/LICENSE b/src/simulation/LICENSE
new file mode 100644
index 0000000..d645695
--- /dev/null
+++ b/src/simulation/LICENSE
@@ -0,0 +1,202 @@
+
+ Apache License
+ Version 2.0, January 2004
+ http://www.apache.org/licenses/
+
+ TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
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diff --git a/src/simulation/config/ROS_gazebo_bridge_config.yaml b/src/simulation/config/ROS_gazebo_bridge_config.yaml
new file mode 100644
index 0000000..1ef3333
--- /dev/null
+++ b/src/simulation/config/ROS_gazebo_bridge_config.yaml
@@ -0,0 +1,19 @@
+---
+# Test
+- ros_topic_name: "cmd_wheel_velocity"
+ gazebo_topic_name: "cmd_wheel_velocity"
+ ros_type_name: "std_msgs/msg/Float64"
+ gz_type_name: "ignition.msgs.Double"
+ direction: ROS_TO_GZ
+# Front Drive Train Wheel
+- ros_topic_name: "rover/drive/TR_wheel_swivel"
+ gazebo_topic_name: "rover/drive/TR_wheel_swivel"
+ ros_type_name: "std_msgs/msg/Float64"
+ gz_type_name: "ignition.msgs.Double"
+ direction: ROS_TO_GZ
+# Front Swivel to Chasis
+- ros_topic_name: "rover/drive/TR_swivel_chasis"
+ gazebo_topic_name: "rover/drive/TR_swivel_chasis"
+ ros_type_name: "std_msgs/msg/Float64"
+ gz_type_name: "ignition.msgs.Double"
+ direction: ROS_TO_GZ
\ No newline at end of file
diff --git a/src/simulation/config/rviz_config.rviz b/src/simulation/config/rviz_config.rviz
new file mode 100644
index 0000000..55036c1
--- /dev/null
+++ b/src/simulation/config/rviz_config.rviz
@@ -0,0 +1,45 @@
+Panels:
+ - Class: rviz_common/Displays
+ Name: Displays
+ - Class: rviz_common/Views
+ Name: Views
+
+Visualization Manager:
+ Class: ""
+ Displays:
+ - Class: rviz_default_plugins/Grid
+ Enabled: true
+ Name: Grid
+ Value: true
+ - Class: rviz_default_plugins/RobotModel
+ Description Source: Topic
+ Description Topic: /robot_description
+ Enabled: true
+ Name: Rover_Model
+ Value: true
+ Visual Enabled: true
+ Collision Enabled: true
+ Enabled: true
+ Global Options:
+ Background Color: 48; 48; 48
+ Fixed Frame: base_link
+ Frame Rate: 30
+ Name: root
+ Tools:
+ - Class: rviz_default_plugins/MoveCamera
+ - Class: rviz_default_plugins/Select
+ Value: true
+ Views:
+ Current:
+ Class: rviz_default_plugins/Orbit
+ Distance: 2
+ Pitch: 0.5
+ Target Frame: base_link
+ Yaw: 0.8
+ Saved: ~
+
+Window Geometry:
+ Height: 900
+ Width: 1200
+ X: 0
+ Y: 0
\ No newline at end of file
diff --git a/src/simulation/launch/simulation.launch.py b/src/simulation/launch/simulation.launch.py
new file mode 100644
index 0000000..7d96a29
--- /dev/null
+++ b/src/simulation/launch/simulation.launch.py
@@ -0,0 +1,75 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import ExecuteProcess, TimerAction,SetEnvironmentVariable
+from ament_index_python.packages import get_package_share_directory
+import xacro
+import os
+from pathlib import Path
+
+
+def generate_launch_description():
+
+ # Gazebo Resource folders look one directory above the package folder
+ pkg = get_package_share_directory("simulation")
+
+ # Process xacro and write urdf to install dir
+ xacro_file = os.path.join(pkg, "urdf", "rover.urdf.xacro")
+ doc = xacro.process_file(xacro_file).toxml()
+
+
+ return LaunchDescription([
+ # Start Gazebo with the world
+ ExecuteProcess(
+ cmd=['ros2', 'launch', "ros_gz_sim", "gz_sim.launch.py", f'gz_args:=-r {os.path.join(pkg, "worlds", "test.world")}'],
+ additional_env={
+ 'GZ_SIM_RESOURCE_PATH': str(Path(pkg).parent),
+ },
+ output='screen'
+ ),
+
+ # Spawn Robot and start ROS Bridge to transfer ros messages to gazebo messages after a delay
+ TimerAction(
+ period=3.0,
+ actions=[
+ # Start the robot state publisher to publish the robot's TF frames
+ Node(
+ package='robot_state_publisher',
+ executable='robot_state_publisher',
+ parameters=[{'robot_description': doc}],
+ output='screen'
+ ),
+ Node(
+ package='joint_state_publisher_gui',
+ executable='joint_state_publisher_gui',
+ name='joint_state_publisher_gui',
+ ),
+ # Start RViz to visualize the robot
+ Node(
+ package='rviz2',
+ executable='rviz2',
+ output='screen',
+ arguments=['-d', os.path.join(pkg, "config", "rviz_config.rviz")]
+ ),
+ # Spawn the robot in Gazebo
+ Node(
+ package='ros_gz_sim',
+ executable='create',
+ arguments=[
+ '-string', doc,
+ '-name', 'rover',
+ '-x', '0', '-y', '0', '-z', '0.25'
+ ],
+ output='screen'
+ ),
+ # Start the ROS-Gazebo bridge
+ Node(
+ package='ros_gz_bridge',
+ executable='parameter_bridge',
+ parameters = [{
+ "config_file" : os.path.join(pkg, "config", "ROS_gazebo_bridge_config.yaml")
+ }],
+ output='screen'
+ )
+ ]
+ )
+ ])
diff --git a/src/simulation/meshes/main_chassis.stl b/src/simulation/meshes/main_chassis.stl
new file mode 100644
index 0000000..888e940
Binary files /dev/null and b/src/simulation/meshes/main_chassis.stl differ
diff --git a/src/simulation/meshes/rd_back_swivel.stl b/src/simulation/meshes/rd_back_swivel.stl
new file mode 100644
index 0000000..b542327
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diff --git a/src/simulation/meshes/rd_back_wheel.stl b/src/simulation/meshes/rd_back_wheel.stl
new file mode 100644
index 0000000..a9d6b1a
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diff --git a/src/simulation/meshes/rd_chasis.stl b/src/simulation/meshes/rd_chasis.stl
new file mode 100644
index 0000000..648b2d7
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diff --git a/src/simulation/meshes/rd_front_swivel.stl b/src/simulation/meshes/rd_front_swivel.stl
new file mode 100644
index 0000000..3d99e77
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diff --git a/src/simulation/meshes/rd_front_wheel.stl b/src/simulation/meshes/rd_front_wheel.stl
new file mode 100644
index 0000000..56200fa
Binary files /dev/null and b/src/simulation/meshes/rd_front_wheel.stl differ
diff --git a/src/simulation/package.xml b/src/simulation/package.xml
new file mode 100644
index 0000000..23835a3
--- /dev/null
+++ b/src/simulation/package.xml
@@ -0,0 +1,24 @@
+
+
+
+ simulation
+ 0.0.0
+ A ROS2/Gazebo Robot simulation environment for Wisconsin Robotics
+ teggatz
+ Apache-2.0
+
+ ament_copyright
+ ament_flake8
+ ament_pep257
+ python3-pytest
+
+ ros_gz_bridge
+ ros_gz_sim
+ ros2launch
+ xacro
+
+
+
+ ament_python
+
+
diff --git a/src/simulation/resource/simulation b/src/simulation/resource/simulation
new file mode 100644
index 0000000..e69de29
diff --git a/src/simulation/setup.cfg b/src/simulation/setup.cfg
new file mode 100644
index 0000000..c2bfec0
--- /dev/null
+++ b/src/simulation/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/simulation
+[install]
+install_scripts=$base/lib/simulation
diff --git a/src/simulation/setup.py b/src/simulation/setup.py
new file mode 100644
index 0000000..db2a289
--- /dev/null
+++ b/src/simulation/setup.py
@@ -0,0 +1,48 @@
+from glob import glob
+import os
+from setuptools import find_packages, setup
+
+package_name = 'simulation'
+
+def get_data_files(dir):
+ data_files = []
+ for root, dirs, files in os.walk(dir):
+ if files:
+ install_dir = os.path.join("share", package_name, root)
+ file_paths = [os.path.join(root, f) for f in files]
+ data_files.append((install_dir, file_paths))
+ return data_files
+
+
+
+setup(
+ name=package_name,
+ version='0.0.0',
+ packages=find_packages(exclude=['test']),
+ data_files=[
+ ('share/ament_index/resource_index/packages',
+ ['resource/' + package_name]),
+ ('share/' + package_name, ['package.xml']),
+ (os.path.join('share', package_name, 'launch'), glob('launch/*.py')),
+ *get_data_files("models"),
+ *get_data_files("config"),
+ *get_data_files("worlds"),
+ *get_data_files("urdf"),
+ *get_data_files("meshes"),
+ ],
+ install_requires=['setuptools'],
+ zip_safe=True,
+ maintainer='Christopher Teggatz Jr.',
+ maintainer_email='categgatzjr@gmail.com',
+ description='A ROS2/Gazebo Robot simulation environment for Wisconsin Robotics',
+ license='Apache-2.0',
+ extras_require={
+ 'test': [
+ 'pytest',
+ ],
+ },
+ entry_points={
+ 'console_scripts': [
+ ],
+ },
+)
diff --git a/src/simulation/simulation/__init__.py b/src/simulation/simulation/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/src/simulation/test/test_copyright.py b/src/simulation/test/test_copyright.py
new file mode 100644
index 0000000..97a3919
--- /dev/null
+++ b/src/simulation/test/test_copyright.py
@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+ rc = main(argv=['.', 'test'])
+ assert rc == 0, 'Found errors'
diff --git a/src/simulation/test/test_flake8.py b/src/simulation/test/test_flake8.py
new file mode 100644
index 0000000..27ee107
--- /dev/null
+++ b/src/simulation/test/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+ rc, errors = main_with_errors(argv=[])
+ assert rc == 0, \
+ 'Found %d code style errors / warnings:\n' % len(errors) + \
+ '\n'.join(errors)
diff --git a/src/simulation/test/test_pep257.py b/src/simulation/test/test_pep257.py
new file mode 100644
index 0000000..b234a38
--- /dev/null
+++ b/src/simulation/test/test_pep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+ rc = main(argv=['.', 'test'])
+ assert rc == 0, 'Found code style errors / warnings'
diff --git a/src/simulation/urdf/components/left_drive.xacro b/src/simulation/urdf/components/left_drive.xacro
new file mode 100644
index 0000000..b3f1928
--- /dev/null
+++ b/src/simulation/urdf/components/left_drive.xacro
@@ -0,0 +1,237 @@
+
+
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\ No newline at end of file
diff --git a/src/simulation/urdf/components/main_body.xacro b/src/simulation/urdf/components/main_body.xacro
new file mode 100644
index 0000000..1bf6cc5
--- /dev/null
+++ b/src/simulation/urdf/components/main_body.xacro
@@ -0,0 +1,50 @@
+
+
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\ No newline at end of file
diff --git a/src/simulation/urdf/components/right_drive.xacro b/src/simulation/urdf/components/right_drive.xacro
new file mode 100644
index 0000000..9a1c096
--- /dev/null
+++ b/src/simulation/urdf/components/right_drive.xacro
@@ -0,0 +1,237 @@
+
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diff --git a/src/simulation/urdf/components/text.urdf.xacro b/src/simulation/urdf/components/text.urdf.xacro
new file mode 100644
index 0000000..0cfa3ad
--- /dev/null
+++ b/src/simulation/urdf/components/text.urdf.xacro
@@ -0,0 +1,56 @@
+
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diff --git a/src/simulation/urdf/rover.urdf.xacro b/src/simulation/urdf/rover.urdf.xacro
new file mode 100644
index 0000000..0459d74
--- /dev/null
+++ b/src/simulation/urdf/rover.urdf.xacro
@@ -0,0 +1,19 @@
+
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diff --git a/src/simulation/urdf/util/materials.xacro b/src/simulation/urdf/util/materials.xacro
new file mode 100644
index 0000000..201bef6
--- /dev/null
+++ b/src/simulation/urdf/util/materials.xacro
@@ -0,0 +1,61 @@
+
+
+
+
+
+
+ ${r} ${g} ${b} ${a}
+ ${r} ${g} ${b} ${a}
+ 0.1 0.1 0.1 ${a}
+ 0 0 0 ${a}
+
+
+
+
+
+
+
+
+
+
+
+ ${r} ${g} ${b} ${a}
+ ${r} ${g} ${b} ${a}
+ 0.1 0.1 0.1 ${a}
+ 0 0 0 ${a}
+
+
+
+
+
+
+
+
+
+
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+
\ No newline at end of file
diff --git a/src/simulation/worlds/test.world b/src/simulation/worlds/test.world
new file mode 100644
index 0000000..c7793c0
--- /dev/null
+++ b/src/simulation/worlds/test.world
@@ -0,0 +1,76 @@
+
+
+
+
+ 0.001
+ 1.0
+
+
+
+
+
+
+
+
+
+ true
+ 0 0 10 0 0 0
+ 0.8 0.8 0.8 1
+ 0.2 0.2 0.2 1
+
+ 1000
+ 0.9
+ 0.01
+ 0.001
+
+ -0.5 0.1 -0.9
+
+
+
+ true
+
+
+
+
+ 0 0 1
+
+
+
+
+
+
+ 0 0 1
+ 100 100
+
+
+
+ 0.8 0.8 0.8 1
+ 0.8 0.8 0.8 1
+ 0.8 0.8 0.8 1
+
+
+
+
+
+ 2.0
+ 2.0
+
+
+
+
+
+
+
+
\ No newline at end of file