Migrating old codebase to new repo

.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": []
+        }
+
+    ]
+}

LICENSE

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+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.

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

README.md

@@ -4,11 +4,69 @@
 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. 
 Code which is free of syntax errors and basic bugs will be moved to test (via PR) for further testing and analysis
 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
+```
+
+

docs/TODO.md

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+# 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

docs/documents.md

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+# 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

docs/graphics.md

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+# 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
+```

docs/resources.md

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+
+# 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
+<joint name="rd_to_bw" type="continuous">
+    <parent link="right_chasis"/>
+    <child link="back_swivel"/>
+    <origin xyz="${bw_pos_x} ${bw_pos_y} ${bw_pos_z}" rpy="0 0 0"/>
+    <axis xyz = "0 0 1"/>
+</joint>  
+```
+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

fast_build.sh

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+#!/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