Ros2 Rover Model #51
Description
A build off from updating the drive train we need a more accurate mental image of the rover. it should be as simple as possible just getting the general size from the mechanical team (solidworks measurements work) here are the main desirable components
- 6 wheels for drive 3 on each side
- Diff_drive based rover (don't worry so much on implementation yet as that is listed on another issue)
- front 2 wheels (or back, i forget) should be connected to same axle that can rotate freely on its own (add rotation limits) ask mechanical team for clarification and photos
- keep it simple, the base of the rover can be a rectangular prism and the wheels attached to rectangles, but try to get the important stuff right
making URDF's & Xacros: https://youtu.be/BcjHyhV0kIs?si=ogiTvpd9eIyW5l-y
Using Gazebo with them: https://youtu.be/IjFcr5r0nMs?si=kyZ-vt7XauJg7aK-
this also involves overhauling some systems as they don't publish proper urdf data to foxglove