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feat(sim): drivable Perseverance + auto-run + cmd_vel helpers #12

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Merged
bkearns merged 1 commit into from
May 5, 2026
Merged

feat(sim): drivable Perseverance + auto-run + cmd_vel helpers #12

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33 changes: 33 additions & 0 deletions Makefile
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Original file line number Diff line number Diff line change
Expand Up @@ -229,6 +229,39 @@ sim-gui: ## Open the Gazebo GUI in the default browser
(command -v xdg-open >/dev/null && xdg-open "$$URL") || \
echo "Open it manually."

# Drive helpers for the perseverance rover in the moon world. These
# publish straight to the in-container Ignition topic (no ROS install
# on the host required). Override LX / AZ to vary speed.
LX ?= 0.5
AZ ?= 0.0
SIM_CONTAINER ?= temporal-hack-lab-sim-1
GZ_DRIVE_TOPIC ?= /model/perseverance/cmd_vel

.PHONY: sim-drive-fwd
sim-drive-fwd: ## Drive the rover forward (LX m/s, override LX=)
@$(CONTAINER_ENGINE) exec $(SIM_CONTAINER) bash -c \
'ign topic -t $(GZ_DRIVE_TOPIC) -m ignition.msgs.Twist -p "linear: {x: $(LX)}"'

.PHONY: sim-drive-back
sim-drive-back: ## Drive the rover backward
@$(CONTAINER_ENGINE) exec $(SIM_CONTAINER) bash -c \
'ign topic -t $(GZ_DRIVE_TOPIC) -m ignition.msgs.Twist -p "linear: {x: -$(LX)}"'

.PHONY: sim-drive-left
sim-drive-left: ## Spin in place, left
@$(CONTAINER_ENGINE) exec $(SIM_CONTAINER) bash -c \
'ign topic -t $(GZ_DRIVE_TOPIC) -m ignition.msgs.Twist -p "angular: {z: 0.5}"'

.PHONY: sim-drive-right
sim-drive-right: ## Spin in place, right
@$(CONTAINER_ENGINE) exec $(SIM_CONTAINER) bash -c \
'ign topic -t $(GZ_DRIVE_TOPIC) -m ignition.msgs.Twist -p "angular: {z: -0.5}"'

.PHONY: sim-drive-stop
sim-drive-stop: ## Stop the rover
@$(CONTAINER_ENGINE) exec $(SIM_CONTAINER) bash -c \
'ign topic -t $(GZ_DRIVE_TOPIC) -m ignition.msgs.Twist -p "linear: {x: 0}, angular: {z: 0}"'

# =============================================================================
# CI cluster (smoke / pre-push parity) — alternate ports so it can run
# alongside `make lab-up` on the same host. Used by .git-hooks/installer-smoke.sh
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18 changes: 16 additions & 2 deletions docker/sim/entrypoint.sh
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Expand Up @@ -60,7 +60,10 @@ else
# OGRE2 will use Mesa's llvmpipe and render to the virtual fb.
export LIBGL_ALWAYS_SOFTWARE=1
export OGRE2_RTSHADERSYSTEM_WRITE_SHADERS_TO_DISK=0
ign gazebo -v 4 "$SIM_WORLD" &
# -r: start running (not paused). Without this Fortress opens
# paused and the user has to click Play before any movement
# commands have effect.
ign gazebo -r -v 4 "$SIM_WORLD" &
PIDS+=($!)

echo
Expand Down Expand Up @@ -88,8 +91,19 @@ case "$SIM_WORLD" in
-r /model/vehicle_blue/odometry:=/odom &
PIDS+=($!)
;;
moon.sdf)
sleep 4
echo "[sim] starting ros_gz_bridge: /cmd_vel ↔ /model/perseverance/cmd_vel"
ros2 run ros_gz_bridge parameter_bridge \
/model/perseverance/cmd_vel@geometry_msgs/msg/Twist@ignition.msgs.Twist \
/model/perseverance/odometry@nav_msgs/msg/Odometry@ignition.msgs.Odometry \
--ros-args \
-r /model/perseverance/cmd_vel:=/cmd_vel \
-r /model/perseverance/odometry:=/odom &
PIDS+=($!)
;;
*)
echo "[sim] no ros_gz_bridge for world '$SIM_WORLD' (no vehicle_blue)"
echo "[sim] no ros_gz_bridge wired for world '$SIM_WORLD'"
;;
esac

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254 changes: 175 additions & 79 deletions docker/sim/models/perseverance/model.sdf
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@@ -1,28 +1,35 @@
<?xml version="1.0"?>
<!--
Perseverance (Mars 2020 rover) — primitives stand-in.
Approximate dimensions per JPL public spec:
length 3.0 m
width 2.7 m (wheel-to-wheel)
height 2.2 m (top of mast)
body deck 1.2 x 1.4 x 0.40 m at z=0.65
wheel d=0.525 m, w=0.20 m (rocker-bogie: 6 wheels)
RTG ~0.32 m diameter, 0.45 m long, mounted at the rear
mass 899 kg (Earth)
Static for v1 — visible, doesn't drive. The robotic arm is shown
in stowed/folded pose along the front-right of the deck.
Perseverance (Mars 2020 rover) — primitives stand-in, drivable.

Body deck + RTG + mast + arm + rocker rails are all visuals on the
single dynamic `body` link. The six wheels are separate links
joined to the body via revolute joints. The DiffDrive plugin
groups left wheels (fl/ml/rl) and right wheels (fr/mr/rr) and
drives them in lock-step from a /model/perseverance/cmd_vel topic.

This is a simplified model: there is no rocker-bogie suspension
(no shoulder/diff joints), so the rover behaves like a tank with
three driven wheels per side. Good enough to "make it move".
-->
<sdf version="1.9">
<model name="perseverance">
<static>true</static>

<!-- Main body (deck) -->
<!-- ===== Body: every non-rotating piece is a visual on this link.
Mass + inertia approximate the real rover's 899 kg minus the
six wheels at ~30 kg each. ===== -->
<link name="body">
<pose>0 0 0.65 0 0 0</pose>
<inertial>
<mass>700</mass>
<inertia><ixx>120</ixx><iyy>140</iyy><izz>200</izz></inertia>
<inertia>
<ixx>120</ixx><iyy>140</iyy><izz>200</izz>
<ixy>0</ixy><ixz>0</ixz><iyz>0</iyz>
</inertia>
</inertial>
<collision name="deck_col">
<geometry><box><size>1.20 1.40 0.40</size></box></geometry>
</collision>
<visual name="deck">
<geometry><box><size>1.20 1.40 0.40</size></box></geometry>
<material>
Expand All @@ -36,118 +43,207 @@
<geometry><box><size>1.10 1.30 0.04</size></box></geometry>
<material><ambient>0.30 0.28 0.25 1</ambient><diffuse>0.55 0.51 0.46 1</diffuse></material>
</visual>
</link>

<!-- RTG: cylindrical generator at the rear -->
<link name="rtg">
<pose>-0.85 0 0.85 0 1.5708 0</pose>
<visual name="rtg_body">
<!-- RTG -->
<visual name="rtg">
<pose>-0.85 0 0.20 0 1.5708 0</pose>
<geometry><cylinder><radius>0.16</radius><length>0.45</length></cylinder></geometry>
<material>
<ambient>0.25 0.22 0.18 1</ambient>
<diffuse>0.45 0.40 0.34 1</diffuse>
<specular>0.25 0.25 0.25 1</specular>
</material>
</visual>
</link>

<!-- Mast: vertical pole + camera "head" -->
<link name="mast_pole">
<pose>0.50 0 1.30 0 0 0</pose>
<visual name="pole">
<!-- Mast pole + camera head -->
<visual name="mast_pole">
<pose>0.50 0 0.65 0 0 0</pose>
<geometry><cylinder><radius>0.05</radius><length>1.20</length></cylinder></geometry>
<material><ambient>0.30 0.28 0.25 1</ambient><diffuse>0.55 0.51 0.46 1</diffuse></material>
</visual>
</link>
<link name="mast_head">
<pose>0.50 0 1.95 0 0 0</pose>
<visual name="head">
<visual name="mast_head">
<pose>0.50 0 1.30 0 0 0</pose>
<geometry><box><size>0.32 0.20 0.18</size></box></geometry>
<material><ambient>0.20 0.20 0.22 1</ambient><diffuse>0.30 0.30 0.32 1</diffuse></material>
</visual>
<visual name="cam_left">
<pose>0.18 0.06 0 0 1.5708 0</pose>
<pose>0.68 0.06 1.30 0 1.5708 0</pose>
<geometry><cylinder><radius>0.035</radius><length>0.06</length></cylinder></geometry>
<material><ambient>0.05 0.05 0.05 1</ambient><diffuse>0.10 0.10 0.10 1</diffuse><specular>0.6 0.6 0.6 1</specular></material>
</visual>
<visual name="cam_right">
<pose>0.18 -0.06 0 0 1.5708 0</pose>
<pose>0.68 -0.06 1.30 0 1.5708 0</pose>
<geometry><cylinder><radius>0.035</radius><length>0.06</length></cylinder></geometry>
<material><ambient>0.05 0.05 0.05 1</ambient><diffuse>0.10 0.10 0.10 1</diffuse><specular>0.6 0.6 0.6 1</specular></material>
</visual>
</link>

<!-- Robotic arm in stowed pose along the front-right of the deck -->
<link name="arm_segment_1">
<pose>0.50 -0.65 0.85 0 0 -0.4</pose>
<visual name="v">
<!-- Stowed robotic arm -->
<visual name="arm_seg_1">
<pose>0.50 -0.65 0.20 0 0 -0.4</pose>
<geometry><cylinder><radius>0.05</radius><length>0.55</length></cylinder></geometry>
<material><ambient>0.30 0.28 0.25 1</ambient><diffuse>0.55 0.51 0.46 1</diffuse></material>
</visual>
</link>
<link name="arm_segment_2">
<pose>0.78 -0.55 0.85 0 1.2 -0.4</pose>
<visual name="v">
<visual name="arm_seg_2">
<pose>0.78 -0.55 0.20 0 1.2 -0.4</pose>
<geometry><cylinder><radius>0.045</radius><length>0.45</length></cylinder></geometry>
<material><ambient>0.30 0.28 0.25 1</ambient><diffuse>0.55 0.51 0.46 1</diffuse></material>
</visual>
</link>
<link name="arm_turret">
<pose>0.95 -0.40 0.45 0 0 0</pose>
<visual name="v">
<visual name="arm_turret">
<pose>0.95 -0.40 -0.20 0 0 0</pose>
<geometry><box><size>0.18 0.18 0.16</size></box></geometry>
<material><ambient>0.20 0.20 0.22 1</ambient><diffuse>0.30 0.30 0.32 1</diffuse></material>
</visual>

<!-- Rocker rails (cosmetic) -->
<visual name="rocker_l">
<pose>0 0.95 -0.15 0 0 0</pose>
<geometry><box><size>2.30 0.06 0.06</size></box></geometry>
<material><ambient>0.30 0.28 0.25 1</ambient><diffuse>0.55 0.51 0.46 1</diffuse></material>
</visual>
<visual name="rocker_r">
<pose>0 -0.95 -0.15 0 0 0</pose>
<geometry><box><size>2.30 0.06 0.06</size></box></geometry>
<material><ambient>0.30 0.28 0.25 1</ambient><diffuse>0.55 0.51 0.46 1</diffuse></material>
</visual>
</link>

<!-- Rocker-bogie suspension: 6 wheels, 3 per side.
Wheel d=0.525 m, w=0.20 m. Centres at z=0.26 (on flat
ground), track ±1.20 m, x = +1.10 / 0 / -1.10. -->
<!-- ===== Six wheel links. Each wheel's link frame is upright;
the cylinder's visual + collision are rotated inside the
link so the cylinder lies flat. The joint's axis points
along world Y, matching the wheel's intended spin axis. ===== -->

<!-- Reusable wheel material is inlined per-link below. Mass: 30 kg
per wheel; inertia for cylinder r=0.26, h=0.20:
Ixx = Iyy = (1/12)*m*(3r^2+h^2) ~= 1.6
Izz = (1/2)*m*r^2 ~= 1.0 (= rolling axis after rotation)
We rotate the cylinder, so the rolling moment of inertia
lines up with the joint axis. -->

<link name="wheel_fl">
<pose>1.10 1.20 0.26 1.5708 0 0</pose>
<visual name="v"><geometry><cylinder><radius>0.26</radius><length>0.20</length></cylinder></geometry>
<material><ambient>0.06 0.06 0.06 1</ambient><diffuse>0.12 0.12 0.12 1</diffuse></material></visual>
<pose>1.10 1.20 0.26 0 0 0</pose>
<inertial><mass>30</mass>
<inertia><ixx>1.6</ixx><iyy>1.0</iyy><izz>1.6</izz></inertia>
</inertial>
<collision name="c"><pose>0 0 0 1.5708 0 0</pose>
<geometry><cylinder><radius>0.26</radius><length>0.20</length></cylinder></geometry>
</collision>
<visual name="v"><pose>0 0 0 1.5708 0 0</pose>
<geometry><cylinder><radius>0.26</radius><length>0.20</length></cylinder></geometry>
<material><ambient>0.06 0.06 0.06 1</ambient><diffuse>0.12 0.12 0.12 1</diffuse></material>
</visual>
</link>
<link name="wheel_ml">
<pose>0.00 1.20 0.26 1.5708 0 0</pose>
<visual name="v"><geometry><cylinder><radius>0.26</radius><length>0.20</length></cylinder></geometry>
<material><ambient>0.06 0.06 0.06 1</ambient><diffuse>0.12 0.12 0.12 1</diffuse></material></visual>
<pose>0.00 1.20 0.26 0 0 0</pose>
<inertial><mass>30</mass>
<inertia><ixx>1.6</ixx><iyy>1.0</iyy><izz>1.6</izz></inertia>
</inertial>
<collision name="c"><pose>0 0 0 1.5708 0 0</pose>
<geometry><cylinder><radius>0.26</radius><length>0.20</length></cylinder></geometry>
</collision>
<visual name="v"><pose>0 0 0 1.5708 0 0</pose>
<geometry><cylinder><radius>0.26</radius><length>0.20</length></cylinder></geometry>
<material><ambient>0.06 0.06 0.06 1</ambient><diffuse>0.12 0.12 0.12 1</diffuse></material>
</visual>
</link>
<link name="wheel_rl">
<pose>-1.10 1.20 0.26 1.5708 0 0</pose>
<visual name="v"><geometry><cylinder><radius>0.26</radius><length>0.20</length></cylinder></geometry>
<material><ambient>0.06 0.06 0.06 1</ambient><diffuse>0.12 0.12 0.12 1</diffuse></material></visual>
<pose>-1.10 1.20 0.26 0 0 0</pose>
<inertial><mass>30</mass>
<inertia><ixx>1.6</ixx><iyy>1.0</iyy><izz>1.6</izz></inertia>
</inertial>
<collision name="c"><pose>0 0 0 1.5708 0 0</pose>
<geometry><cylinder><radius>0.26</radius><length>0.20</length></cylinder></geometry>
</collision>
<visual name="v"><pose>0 0 0 1.5708 0 0</pose>
<geometry><cylinder><radius>0.26</radius><length>0.20</length></cylinder></geometry>
<material><ambient>0.06 0.06 0.06 1</ambient><diffuse>0.12 0.12 0.12 1</diffuse></material>
</visual>
</link>
<link name="wheel_fr">
<pose>1.10 -1.20 0.26 1.5708 0 0</pose>
<visual name="v"><geometry><cylinder><radius>0.26</radius><length>0.20</length></cylinder></geometry>
<material><ambient>0.06 0.06 0.06 1</ambient><diffuse>0.12 0.12 0.12 1</diffuse></material></visual>
<pose>1.10 -1.20 0.26 0 0 0</pose>
<inertial><mass>30</mass>
<inertia><ixx>1.6</ixx><iyy>1.0</iyy><izz>1.6</izz></inertia>
</inertial>
<collision name="c"><pose>0 0 0 1.5708 0 0</pose>
<geometry><cylinder><radius>0.26</radius><length>0.20</length></cylinder></geometry>
</collision>
<visual name="v"><pose>0 0 0 1.5708 0 0</pose>
<geometry><cylinder><radius>0.26</radius><length>0.20</length></cylinder></geometry>
<material><ambient>0.06 0.06 0.06 1</ambient><diffuse>0.12 0.12 0.12 1</diffuse></material>
</visual>
</link>
<link name="wheel_mr">
<pose>0.00 -1.20 0.26 1.5708 0 0</pose>
<visual name="v"><geometry><cylinder><radius>0.26</radius><length>0.20</length></cylinder></geometry>
<material><ambient>0.06 0.06 0.06 1</ambient><diffuse>0.12 0.12 0.12 1</diffuse></material></visual>
</link>
<link name="wheel_rr">
<pose>-1.10 -1.20 0.26 1.5708 0 0</pose>
<visual name="v"><geometry><cylinder><radius>0.26</radius><length>0.20</length></cylinder></geometry>
<material><ambient>0.06 0.06 0.06 1</ambient><diffuse>0.12 0.12 0.12 1</diffuse></material></visual>
</link>

<!-- Rocker arms (visual only) -->
<link name="rocker_l">
<pose>0 0.95 0.50 0 0 0</pose>
<visual name="v">
<geometry><box><size>2.30 0.06 0.06</size></box></geometry>
<material><ambient>0.30 0.28 0.25 1</ambient><diffuse>0.55 0.51 0.46 1</diffuse></material>
<pose>0.00 -1.20 0.26 0 0 0</pose>
<inertial><mass>30</mass>
<inertia><ixx>1.6</ixx><iyy>1.0</iyy><izz>1.6</izz></inertia>
</inertial>
<collision name="c"><pose>0 0 0 1.5708 0 0</pose>
<geometry><cylinder><radius>0.26</radius><length>0.20</length></cylinder></geometry>
</collision>
<visual name="v"><pose>0 0 0 1.5708 0 0</pose>
<geometry><cylinder><radius>0.26</radius><length>0.20</length></cylinder></geometry>
<material><ambient>0.06 0.06 0.06 1</ambient><diffuse>0.12 0.12 0.12 1</diffuse></material>
</visual>
</link>
<link name="rocker_r">
<pose>0 -0.95 0.50 0 0 0</pose>
<visual name="v">
<geometry><box><size>2.30 0.06 0.06</size></box></geometry>
<material><ambient>0.30 0.28 0.25 1</ambient><diffuse>0.55 0.51 0.46 1</diffuse></material>
<link name="wheel_rr">
<pose>-1.10 -1.20 0.26 0 0 0</pose>
<inertial><mass>30</mass>
<inertia><ixx>1.6</ixx><iyy>1.0</iyy><izz>1.6</izz></inertia>
</inertial>
<collision name="c"><pose>0 0 0 1.5708 0 0</pose>
<geometry><cylinder><radius>0.26</radius><length>0.20</length></cylinder></geometry>
</collision>
<visual name="v"><pose>0 0 0 1.5708 0 0</pose>
<geometry><cylinder><radius>0.26</radius><length>0.20</length></cylinder></geometry>
<material><ambient>0.06 0.06 0.06 1</ambient><diffuse>0.12 0.12 0.12 1</diffuse></material>
</visual>
</link>

<!-- ===== Six revolute joints. Axis 0,1,0 in the child link
frame is the wheel's spin axis (along world Y). ===== -->
<joint name="wheel_fl_joint" type="revolute">
<parent>body</parent><child>wheel_fl</child>
<axis><xyz>0 1 0</xyz></axis>
</joint>
<joint name="wheel_ml_joint" type="revolute">
<parent>body</parent><child>wheel_ml</child>
<axis><xyz>0 1 0</xyz></axis>
</joint>
<joint name="wheel_rl_joint" type="revolute">
<parent>body</parent><child>wheel_rl</child>
<axis><xyz>0 1 0</xyz></axis>
</joint>
<joint name="wheel_fr_joint" type="revolute">
<parent>body</parent><child>wheel_fr</child>
<axis><xyz>0 1 0</xyz></axis>
</joint>
<joint name="wheel_mr_joint" type="revolute">
<parent>body</parent><child>wheel_mr</child>
<axis><xyz>0 1 0</xyz></axis>
</joint>
<joint name="wheel_rr_joint" type="revolute">
<parent>body</parent><child>wheel_rr</child>
<axis><xyz>0 1 0</xyz></axis>
</joint>

<!-- ===== DiffDrive: groups all 3 left + all 3 right wheels.
Topic /model/perseverance/cmd_vel; the entrypoint bridges
that to ROS 2 /cmd_vel for moon.sdf. ===== -->
<plugin filename="ignition-gazebo-diff-drive-system"
name="ignition::gazebo::systems::DiffDrive">
<left_joint>wheel_fl_joint</left_joint>
<left_joint>wheel_ml_joint</left_joint>
<left_joint>wheel_rl_joint</left_joint>
<right_joint>wheel_fr_joint</right_joint>
<right_joint>wheel_mr_joint</right_joint>
<right_joint>wheel_rr_joint</right_joint>
<wheel_separation>2.40</wheel_separation>
<wheel_radius>0.26</wheel_radius>
<topic>/model/perseverance/cmd_vel</topic>
<odom_publish_frequency>20</odom_publish_frequency>
<frame_id>perseverance/odom</frame_id>
<child_frame_id>perseverance/base_link</child_frame_id>
<max_linear_acceleration>2</max_linear_acceleration>
<max_angular_acceleration>3</max_angular_acceleration>
</plugin>
</model>
</sdf>