feat(sim): drivable Perseverance + auto-run + cmd_vel helpers - #12
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User reported nothing was moving. Two real causes plus a usability
gap:
1. Perseverance was <static>true</static> — visible but unable to
move. Restructure the model:
- Body link with mass/inertia carries deck, RTG, mast, arm,
and rocker rails as visuals.
- Six wheel links (fl/ml/rl/fr/mr/rr) with collisions, inertials,
and inner-pose-rotated cylinders so the link frame stays
upright and the joint axis is clean.
- Six revolute joints (axis 0 1 0 in the child frame) connect
each wheel to body.
- DiffDrive plugin (ignition-gazebo-diff-drive-system) lists all
three left + three right joints, wheel_separation 2.40,
wheel_radius 0.26, listens on /model/perseverance/cmd_vel.
2. Ignition Fortress opens paused by default. `ign gazebo` without
`-r` requires the user to click Play before commands take
effect. Add `-r` to the entrypoint so the world auto-runs.
3. ros_gz_bridge now wires /cmd_vel ↔ /model/perseverance/cmd_vel
(and the matching odometry topics) for the moon.sdf world, so
ROS-side controllers can drive the rover too.
4. New Make helpers — no ROS install needed on the host:
make sim-drive-fwd LX=0.5 (default) m/s
make sim-drive-back
make sim-drive-left spin
make sim-drive-right
make sim-drive-stop
Each shells `ign topic` inside the sim container.
Verified locally: DiffDrive subscribed to
/model/perseverance/cmd_vel; ros_gz_bridge created bidirectional
bridges; world unpause via /world/moon/control returns data: true;
cmd_vel publish accepted.
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Follow-up to #11 — that PR landed the static Perseverance + moon world; this one makes the rover actually drive.
What was wrong
<static>true</static>— visible but couldn't move.ign gazebowithout-rrequires a Play click before any commands have effect. Even with a drivable model, nothing would move on a freshmake sim-up./cmd_velplumbing for the moon world (the existingros_gz_bridgecase-statement only handled the diff_drive demo).What this PR does
docker/sim/models/perseverance/model.sdf— drop<static>, restructure:ignition-gazebo-diff-drive-system) with all three left + three right joints, wheel_separation 2.40, wheel_radius 0.26, topic/model/perseverance/cmd_vel.docker/sim/entrypoint.sh:ign gazebo -r -v 4— auto-run, no Play click required.ros_gz_bridgecase formoon.sdfwires/cmd_vel↔/model/perseverance/cmd_veland the matching odometry topics.Makefile— host-side helpers, no ROS install required:Verified locally
DiffDrive subscribing to twist messages on /model/perseverance/cmd_velin logsros_gz_bridgecreated bidirectional bridges for cmd_vel + odometryTest plan