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Overhaul Simulation

Open mrinalTheCoder opened this issue 11 months ago • 2 comments

Requirements

  • Switch to Gazebo Fortress from Gazebo Classic
  • Ensure ability to set spherical coordinates in Gazebo
  • Large terrain file
  • Functioning sensors in rover model
  • Rover URDF
  • Ability to run all autonomy missions in sim

mrinalTheCoder avatar Feb 27 '25 20:02 mrinalTheCoder

Also

  • Be able to place ARUCO tags (Need to find ARUCO tag models too) at arbitrary GPS coordinates
  • Find appropriate models for the orange mallet and water bottle (see https://urc.marssociety.org/home/requirements-guidelines)
  • For LiDAR, try using a GPU LiDAR plugin. CPU-only LiDAR plugins seem to be too slow, but experiment with both.

yambati03 avatar Mar 02 '25 16:03 yambati03

Migration guide for switching ROS2 packages from Gazebo classic (Gazebo 11) to gazebo fortress: https://gazebosim.org/docs/latest/migrating_gazebo_classic_ros2_packages/

mrinalTheCoder avatar Mar 07 '25 21:03 mrinalTheCoder