Rover: add rover example

[srmainwaring]

Add launch files and configuration for a skid steer rover.

• Rover is a skid-steer Wild Thumper.
• Use playpen world containing various obstacles.
• Requires model repository SITL_Models enabled as a colcon package called ardupilot_sitl_models.

Dependencies

• Gazebo: enable models to be used in ROS 2 launch scripts SITL_Models#100

See also

• Gazebo: Add WildThumper with Lidar SITL_Models#101
• Rover: implement external control ardupilot#25204

Build

# clone additional dependency
$ cd ros2_ws/src
$ git clone https://github.com/ArduPilot/SITL_Models.git

# build
$ cd ros2_ws/src
$ colcon build --packages-up-to ardupilot_gz_bringup

Usage

$ ros2 launch ardupilot_gz_bringup wildthumper_playpen.launch.py rviz:=true use_gz_tf:=true

Figure: rover in playpen world

Figure: rover model, TF and odometry in rviz

Tasks

• Apply a filter to the TF tree passed to ArduPilot on /tf/ - the error below results from the TF message being too large.
• Or: reintroduce the namespace on the ArduPilot TF topic (revert to /ap/tf).

[micro_ros_agent-3] 2023-10-06 19:14:53.766 [RTPS_READER_HISTORY Error] Change payload size of '1660' bytes is larger than the history payload size of '1031' bytes and cannot be resized. -> Function can_change_be_added_nts

Follow up

• Add an external control class for Rover.
  • Rover: implement external control ardupilot#25204

Figure: cartographer and navigation for the rover.

rover-nav2-clip.mov

[Ryanf55]

Any chance you could update the README with a note that rover is supported and the command to run?

[srmainwaring]

Any chance you could update the README with a note that rover is supported and the command to run?

Updated in 3cc183e. Update other examples with additional args needed to resolve odom frame in rviz.

[Ryanf55]

No luck yet, still missing some data:

colcon build --packages-up-to ardupilot_gz_bringup
. install/setup.bash
ryan@B650-970:~/Dev/ros2_ws$ ros2 launch ardupilot_gz_bringup wildthumper_playpen.launch.py rviz:=true use_gz_tf:=true
file 'wildthumper_playpen.launch.py' was not found in the share directory of package 'ardupilot_gz_bringup' which is at '/home/ryan/Dev/ros2_ws/install/ardupilot_gz_bringup/share/ardupilot_gz_bringup'

[srmainwaring]

Hmm. that looks odd. wildthumper_playpen.launch.py is definitely in the launch directory, and cmake should install the entire folder to share. Are the other launch files there?

I can't replicate this issue after removing ./install/ardupilot_gz_bringup then rebuilding using the same colcon command?

Can replicate the message if I delete the launch file from ./install/ardupilot_gz_bringup/share/ardupilot_gz_bringup/launch after building, but its definitely installed in my case.

[Ryanf55]

After some iteration, it works.

Once launched, start mavproxy and you can make it move.

mavproxy.py --master udp:127.0.0.1:14550  --console --moddebug 3
mode manual
arm throttle
rc 3 1600
status servo*