Initial commit: ROS2 Gazebo GO2 simulation workspace

Made-with: Cursor

src/gazebo_sim/CMakeLists.txt

@@ -0,0 +1,40 @@
+cmake_minimum_required(VERSION 3.8)
+project(gazebo_sim)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(urdf REQUIRED)
+find_package(xacro REQUIRED)
+find_package(std_msgs REQUIRED)
+
+install(DIRECTORY
+  config
+  launch
+  world
+  rviz
+  models
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+install(FILES dds/cyclonedds.xml DESTINATION share/${PROJECT_NAME}/dds)
+
+ament_environment_hooks(
+  "${CMAKE_CURRENT_SOURCE_DIR}/environment/gazebo_models_path.dsv"
+  "${CMAKE_CURRENT_SOURCE_DIR}/environment/cyclonedds_uri.sh.in"
+)
+
+install(PROGRAMS
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(
+  PROGRAMS
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_package()

src/gazebo_sim/README.md

@@ -0,0 +1,3 @@
+# go1_description
+Quadruped robot
+This package was build with ROS2 Galactic.

src/gazebo_sim/config/ekf.yaml

@@ -0,0 +1,236 @@
+  ### ekf config file ###
+/**:
+  ekf_filter_node:
+      ros__parameters:
+
+          use_sim_time: true
+
+          
+  # The frequency, in Hz, at which the filter will output a position estimate. Note that the filter will not begin
+  # computation until it receives at least one message from one of the inputs. It will then run continuously at the
+  # frequency specified here, regardless of whether it receives more measurements. Defaults to 30 if unspecified.
+          frequency: 30.0
+
+  # The period, in seconds, after which we consider a sensor to have timed out. In this event, we carry out a predict
+  # cycle on the EKF without correcting it. This parameter can be thought of as the minimum frequency with which the
+  # filter will generate new output. Defaults to 1 / frequency if not specified.
+          sensor_timeout: 0.1
+
+  # ekf_localization_node and ukf_localization_node both use a 3D omnidirectional motion model. If this parameter is
+  # set to true, no 3D information will be used in your state estimate. Use this if you are operating in a planar
+  # environment and want to ignore the effect of small variations in the ground plane that might otherwise be detected
+  # by, for example, an IMU. Defaults to false if unspecified.
+          two_d_mode: true
+
+  # Use this parameter to provide an offset to the transform generated by ekf_localization_node. This can be used for
+  # future dating the transform, which is required for interaction with some other packages. Defaults to 0.0 if
+  # unspecified.
+          transform_time_offset: 0.0
+
+  # Use this parameter to provide specify how long the tf listener should wait for a transform to become available. 
+  # Defaults to 0.0 if unspecified.
+          transform_timeout: 0.0
+
+  # If you're having trouble, try setting this to true, and then echo the /diagnostics_agg topic to see if the node is
+  # unhappy with any settings or data.
+          print_diagnostics: true
+
+  # Debug settings. Not for the faint of heart. Outputs a ludicrous amount of information to the file specified by
+  # debug_out_file. I hope you like matrices! Please note that setting this to true will have strongly deleterious
+  # effects on the performance of the node. Defaults to false if unspecified.
+          debug: False
+
+  # Defaults to "robot_localization_debug.txt" if unspecified. Please specify the full path.
+          debug_out_file: "" 
+
+  # Whether to broadcast the transformation over the /tf topic. Defaults to true if unspecified.
+          publish_tf: true
+
+  # Whether to publish the acceleration state. Defaults to false if unspecified.
+          publish_acceleration: false
+
+  # If the filter sees a jump back in time, the filter is reset (convenient for testing with rosbags!)
+          reset_on_time_jump: true
+
+  # REP-105 (http://www.ros.org/reps/rep-0105.html) specifies four principal coordinate frames: base_link, odom, map, and
+  # earth. base_link is the coordinate frame that is affixed to the robot. Both odom and map are world-fixed frames.
+  # The robot's position in the odom frame will drift over time, but is accurate in the short term and should be
+  # continuous. The odom frame is therefore the best frame for executing local motion plans. The map frame, like the odom
+  # frame, is a world-fixed coordinate frame, and while it contains the most globally accurate position estimate for your
+  # robot, it is subject to discrete jumps, e.g., due to the fusion of GPS data or a correction from a map-based
+  # localization node. The earth frame is used to relate multiple map frames by giving them a common reference frame.
+  # ekf_localization_node and ukf_localization_node are not concerned with the earth frame.
+  # Here is how to use the following settings:
+  # 1. Set the map_frame, odom_frame, and base_link frames to the appropriate frame names for your system.
+  #     1a. If your system does not have a map_frame, just remove it, and make sure "world_frame" is set to the value of
+  #         odom_frame.
+  # 2. If you are fusing continuous position data such as wheel encoder odometry, visual odometry, or IMU data, set
+  #   "world_frame" to your odom_frame value. This is the default behavior for robot_localization's state estimation nodes.
+  # 3. If you are fusing global absolute position data that is subject to discrete jumps (e.g., GPS or position updates
+  # from landmark observations) then:
+  #     3a. Set your "world_frame" to your map_frame value
+  #     3b. MAKE SURE something else is generating the odom->base_link transform. Note that this can even be another state
+  #         estimation node from robot_localization! However, that instance should *not* fuse the global data.
+          map_frame: map                   # Defaults to "map" if unspecified
+          odom_frame: odom                 # Defaults to "odom" if unspecified
+          base_link_frame: base_link  # Defaults to "base_link" if unspecified
+          world_frame: odom                # Defaults to the value of odom_frame if unspecified
+
+  # The filter accepts an arbitrary number of inputs from each input message type (nav_msgs/Odometry,
+  # geometry_msgs/PoseWithCovarianceStamped, geometry_msgs/TwistWithCovarianceStamped,
+  # sensor_msgs/Imu). To add an input, simply append the next number in the sequence to its "base" name, e.g., odom0,
+  # odom1, twist0, twist1, imu0, imu1, imu2, etc. The value should be the topic name. These parameters obviously have no
+  # default values, and must be specified.
+          odom0: odom
+
+  # Each sensor reading updates some or all of the filter's state. These options give you greater control over which
+  # values from each measurement are fed to the filter. For example, if you have an odometry message as input, but only
+  # want to use its Z position value, then set the entire vector to false, except for the third entry. The order of the
+  # values is x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. Note that not some message types
+  # do not provide some of the state variables estimated by the filter. For example, a TwistWithCovarianceStamped message
+  # has no pose information, so the first six values would be meaningless in that case. Each vector defaults to all false
+  # if unspecified, effectively making this parameter required for each sensor.
+          odom0_config: [true, true, true,
+                        false, false, false,
+                        true,  true,  true,
+                        false, false, true,
+                        false, false, false]
+
+          #        [x_pos   , y_pos    , z_pos,
+          #         roll    , pitch    , yaw,
+          #         x_vel   , y_vel    , z_vel,
+          #         roll_vel, pitch_vel, yaw_vel,
+          #         x_accel , y_accel  , z_accel]
+
+  # If you have high-frequency data or are running with a low frequency parameter value, then you may want to increase
+  # the size of the subscription queue so that more measurements are fused.
+          odom0_queue_size: 2
+
+  # [ADVANCED] Large messages in ROS can exhibit strange behavior when they arrive at a high frequency. This is a result
+  # of Nagle's algorithm. This option tells the ROS subscriber to use the tcpNoDelay option, which disables Nagle's
+  # algorithm.
+          odom0_nodelay: false
+
+  # [ADVANCED] When measuring one pose variable with two sensors, a situation can arise in which both sensors under-
+  # report their covariances. This can lead to the filter rapidly jumping back and forth between each measurement as they
+  # arrive. In these cases, it often makes sense to (a) correct the measurement covariances, or (b) if velocity is also
+  # measured by one of the sensors, let one sensor measure pose, and the other velocity. However, doing (a) or (b) isn't
+  # always feasible, and so we expose the differential parameter. When differential mode is enabled, all absolute pose
+  # data is converted to velocity data by differentiating the absolute pose measurements. These velocities are then
+  # integrated as usual. NOTE: this only applies to sensors that provide pose measurements; setting differential to true
+  # for twist measurements has no effect.
+          odom0_differential: false
+
+  # [ADVANCED] When the node starts, if this parameter is true, then the first measurement is treated as a "zero point"
+  # for all future measurements. While you can achieve the same effect with the differential paremeter, the key
+  # difference is that the relative parameter doesn't cause the measurement to be converted to a velocity before
+  # integrating it. If you simply want your measurements to start at 0 for a given sensor, set this to true.
+          odom0_relative: false
+
+  # [ADVANCED] If your data is subject to outliers, use these threshold settings, expressed as Mahalanobis distances, to
+  # control how far away from the current vehicle state a sensor measurement is permitted to be. Each defaults to
+  # numeric_limits<double>::max() if unspecified. It is strongly recommended that these parameters be removed if not
+  # required. Data is specified at the level of pose and twist variables, rather than for each variable in isolation.
+  # For messages that have both pose and twist data, the parameter specifies to which part of the message we are applying
+  # the thresholds.
+          odom0_pose_rejection_threshold: 5.0
+          odom0_twist_rejection_threshold: 1.0
+
+          imu0: imu_plugin/out
+          imu0_config: [false, false, false,
+                        true,  true,  true,
+                        false, false, false,
+                        true,  true,  true,
+                        true,  true,  true]
+
+          #        [x_pos   , y_pos    , z_pos,
+          #         roll    , pitch    , yaw,
+          #         x_vel   , y_vel    , z_vel,
+          #         roll_vel, pitch_vel, yaw_vel,
+          #         x_accel , y_accel  , z_accel]
+          
+          imu0_nodelay: false
+          imu0_differential: false
+          imu0_relative: true
+          imu0_queue_size: 7
+          imu0_pose_rejection_threshold: 0.8                 # Note the difference in parameter names
+          imu0_twist_rejection_threshold: 0.8                #
+          imu0_linear_acceleration_rejection_threshold: 0.8  #
+
+  # [ADVANCED] Some IMUs automatically remove acceleration due to gravity, and others don't. If yours doesn't, please set
+  # this to true, and *make sure* your data conforms to REP-103, specifically, that the data is in ENU frame.
+          imu0_remove_gravitational_acceleration: true
+
+  # [ADVANCED]  The EKF and UKF models follow a standard predict/correct cycle. During prediction, if there is no
+  # acceleration reference, the velocity at time t+1 is simply predicted to be the same as the velocity at time t. During
+  # correction, this predicted value is fused with the measured value to produce the new velocity estimate. This can be
+  # problematic, as the final velocity will effectively be a weighted average of the old velocity and the new one. When
+  # this velocity is the integrated into a new pose, the result can be sluggish covergence. This effect is especially
+  # noticeable with LIDAR data during rotations. To get around it, users can try inflating the process_noise_covariance
+  # for the velocity variable in question, or decrease the  variance of the variable in question in the measurement
+  # itself. In addition, users can also take advantage of the control command being issued to the robot at the time we
+  # make the prediction. If control is used, it will get converted into an acceleration term, which will be used during
+  # predicition. Note that if an acceleration measurement for the variable in question is available from one of the
+  # inputs, the control term will be ignored.
+  # Whether or not we use the control input during predicition. Defaults to false.
+          use_control: false
+  # Whether the input (assumed to be cmd_vel) is a geometry_msgs/Twist or geometry_msgs/TwistStamped message. Defaults to
+  # false.
+          stamped_control: false
+  # The last issued control command will be used in prediction for this period. Defaults to 0.2.
+          control_timeout: 0.2
+  # Which velocities are being controlled. Order is vx, vy, vz, vroll, vpitch, vyaw.
+          control_config: [true, true, false, false, false, true]
+  # Places limits on how large the acceleration term will be. Should match your robot's kinematics.
+          acceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 3.4]
+  # Acceleration and deceleration limits are not always the same for robots.
+          deceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 4.5]
+  # If your robot cannot instantaneously reach its acceleration limit, the permitted change can be controlled with these
+  # gains
+          acceleration_gains: [0.8, 0.0, 0.0, 0.0, 0.0, 0.9]
+  # If your robot cannot instantaneously reach its deceleration limit, the permitted change can be controlled with these
+  # gains
+          deceleration_gains: [1.0, 0.0, 0.0, 0.0, 0.0, 1.0]
+  # [ADVANCED] The process noise covariance matrix can be difficult to tune, and can vary for each application, so it is
+  # exposed as a configuration parameter. This matrix represents the noise we add to the total error after each
+  # prediction step. The better the omnidirectional motion model matches your system, the smaller these values can be.
+  # However, if users find that a given variable is slow to converge, one approach is to increase the
+  # process_noise_covariance diagonal value for the variable in question, which will cause the filter's predicted error
+  # to be larger, which will cause the filter to trust the incoming measurement more during correction. The values are
+  # ordered as x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. Defaults to the matrix below if
+  # unspecified.
+          process_noise_covariance: [0.05,   0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                                    0.0,    0.05,   0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                                    0.0,    0.0,    0.06,   0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                                    0.0,    0.0,    0.0,    0.03,   0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                                    0.0,    0.0,    0.0,    0.0,    0.03,   0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                                    0.0,    0.0,    0.0,    0.0,    0.0,    0.06,   0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                                    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.025,   0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                                    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.025,   0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                                    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.04,   0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                                    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.01,   0.0,    0.0,    0.0,    0.0,    0.0,
+                                    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.01,   0.0,    0.0,    0.0,    0.0,
+                                    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.02,   0.0,    0.0,    0.0,
+                                    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.01,   0.0,    0.0,
+                                    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.01,   0.0,
+                                    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.015]
+  # [ADVANCED] This represents the initial value for the state estimate error covariance matrix. Setting a diagonal
+  # value (variance) to a large value will result in rapid convergence for initial measurements of the variable in
+  # question. Users should take care not to use large values for variables that will not be measured directly. The values
+  # are ordered as x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. Defaults to the matrix below
+  #if unspecified.
+          initial_estimate_covariance: [1e-9,   0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
+                                        0.0,    1e-9,   0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
+                                        0.0,    0.0,    1e-9,   0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
+                                        0.0,    0.0,    0.0,    1e-9,   0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
+                                        0.0,    0.0,    0.0,    0.0,    1e-9,   0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
+                                        0.0,    0.0,    0.0,    0.0,    0.0,    1e-9,   0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
+                                        0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    1e-9,   0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
+                                        0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    1e-9,   0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
+                                        0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    1e-9,   0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
+                                        0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    1e-9,    0.0,     0.0,     0.0,    0.0,    0.0,
+                                        0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     1e-9,    0.0,     0.0,    0.0,    0.0,
+                                        0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     1e-9,    0.0,    0.0,    0.0,
+                                        0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     1e-9,   0.0,    0.0,
+                                        0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    1e-9,   0.0,
+                                        0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    1e-9]

src/gazebo_sim/config/gaz_ros2_ctl_use_sim.yaml

@@ -0,0 +1,3 @@
+controller_manager:
+  ros__parameters:
+    use_sim_time: true

src/gazebo_sim/config/gz_bridge.yaml

@@ -0,0 +1,5 @@
+- ros_topic_name: "clock"
+  gz_topic_name: "clock"
+  ros_type_name: "rosgraph_msgs/msg/Clock"
+  gz_type_name: "gz.msgs.Clock"
+  direction: GZ_TO_ROS

src/gazebo_sim/config/robot_control.yaml

@@ -0,0 +1,27 @@
+/**:
+  controller_manager:
+    ros__parameters:
+      update_rate: 100 #Hz
+
+      joint_state_broadcaster:
+        type: joint_state_broadcaster/JointStateBroadcaster
+
+      joint_group_controller:
+        type: position_controllers/JointGroupPositionController
+
+  joint_group_controller:
+    ros__parameters:
+      joints:
+        - FR_hip_joint
+        - FR_thigh_joint
+        - FR_calf_joint
+        - FL_hip_joint
+        - FL_thigh_joint
+        - FL_calf_joint
+        - RR_hip_joint
+        - RR_thigh_joint
+        - RR_calf_joint
+        - RL_hip_joint
+        - RL_thigh_joint
+        - RL_calf_joint
+

src/gazebo_sim/config/robots.yaml

@@ -0,0 +1,18 @@
+robots:
+  - name: robot1
+    x_pose: '0.0'
+    y_pose: '0.0'
+    z_pose: '0.8'
+  # - name: robot2
+  #   x_pose: '-2.0'
+  #   y_pose: '0.0'
+  #   z_pose: '0.8'
+  # - name: robot3
+  #   x_pose: '0.0'
+  #   y_pose: '-2.0'
+  #   z_pose: '0.8'
+  # - name: robot4
+  #   x_pose: '-2.0'
+  #   y_pose: '-2.0'
+  #   z_pose: '0.8'
+  # add more robots if you need, but unable multi robots in cyclonedds config file

src/gazebo_sim/dds/cyclonedds.xml

@@ -0,0 +1,14 @@
+<CycloneDDS>
+  <Domain>
+    <General>
+      <Interfaces>
+        <NetworkInterface name="lo" multicast="true" />
+      </Interfaces>
+      <DontRoute>true</DontRoute>
+    </General>
+      <Discovery>
+        <ParticipantIndex>auto</ParticipantIndex>
+        <MaxAutoParticipantIndex>100</MaxAutoParticipantIndex>
+    </Discovery>
+  </Domain>
+</CycloneDDS>

src/gazebo_sim/environment/cyclonedds_uri.sh.in

@@ -0,0 +1,2 @@
+# CycloneDDS: use absolute path (file://~/... does not expand ~)
+export CYCLONEDDS_URI="file://@CMAKE_INSTALL_PREFIX@/share/gazebo_sim/dds/cyclonedds.xml"

src/gazebo_sim/environment/gazebo_models_path.dsv

@@ -0,0 +1,2 @@
+prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;share/gazebo_sim/models
+prepend-non-duplicate;IGN_GAZEBO_RESOURCE_PATH;share/gazebo_sim/models

src/gazebo_sim/launch/gazebo_go2_self.launch.py

@@ -0,0 +1,259 @@
+import os
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import (
+    IncludeLaunchDescription,
+    DeclareLaunchArgument,
+    ExecuteProcess,
+    GroupAction,
+    RegisterEventHandler
+)
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch_ros.descriptions import ComposableNode
+from launch.conditions import IfCondition
+from launch_ros.actions import Node, SetRemap, ComposableNodeContainer
+from launch.event_handlers import OnProcessExit
+import xacro, yaml
+
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    # ---------- 基础配置 ----------
+    package_name = 'gazebo_sim'
+    pkg_path = get_package_share_directory(package_name)
+    robots_file_path = os.path.join(pkg_path, 'config', 'robots.yaml')
+
+    # 多机器人配置 
+    with open(robots_file_path, 'r') as file:
+        yaml_data = yaml.safe_load(file)
+    robots = yaml_data['robots']
+    
+    # ---------- 声明启动参数 ----------
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    declare_use_sim_time = DeclareLaunchArgument(
+        name='use_sim_time',
+        default_value='true',
+        description='仿真时间是否使用'
+    )
+
+    enable_rviz = LaunchConfiguration('enable_rviz', default='true')
+    declare_enable_rviz = DeclareLaunchArgument(
+        name='enable_rviz', default_value=enable_rviz, description='Enable rviz launch'
+    )
+
+    ld.add_action(declare_enable_rviz)
+    ld.add_action(declare_use_sim_time)
+
+    # ---------- 多机器人全局话题重映射 ----------
+    remappings=[
+            ("/tf", "tf"),
+            ("/tf_static", "tf_static"),
+            ("/scan", "scan"),
+            ("/odom", "odometry/filtered")
+        ]
+    
+    # ---------- Gazebo-ROS时间同步配置 ----------
+    bridge_params = os.path.join(pkg_path,'config','gz_bridge.yaml')
+    ros_gz_bridge_clock = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        arguments=[
+            '--ros-args',
+            '-p',
+            f'config_file:={bridge_params}',
+        ]
+    )
+    ld.add_action(ros_gz_bridge_clock)   
+
+    # ---------- 多机器人循环启动 ----------
+    last_action = None
+
+    for i, robot in enumerate(robots):
+        namespace = robot['name']
+        robot_name = robot['name']
+        xacro_file = os.path.join(os.path.join(get_package_share_directory('go2_description')), 'xacro', 'robot.xacro') ## CHANGE ME!!!!
+        robot_desc = xacro.process_file(xacro_file, mappings={'robot_name': robot_name}).toxml()
+        params_robot_state_publisher = {'robot_description': robot_desc, 'use_sim_time': use_sim_time}
+
+        node_robot_state_publisher = Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            output='screen',
+            namespace=namespace,
+            parameters=[params_robot_state_publisher],
+            remappings=remappings
+        )
+
+        spawn_entity = Node(
+            package='ros_gz_sim',
+            executable='create',
+            namespace=namespace,
+            arguments=[
+                '-topic', f'/{namespace}/robot_description',
+                '-name', f'{namespace}_my_bot',
+                '-allow_renaming', 'true',
+                '-x', robot['x_pose'],
+                '-y', robot['y_pose'],
+                '-z', robot['z_pose'],
+                # '-Y', robot['Y_pose']
+            ],
+            output='screen'
+        )
+
+        ros_gz_bridge = Node(
+            package='ros_gz_bridge',
+            executable='parameter_bridge',
+            namespace=namespace,
+            name='ros_gz_bridge',
+            output='screen',
+            arguments=[
+                f'/{namespace}/imu_plugin/out@sensor_msgs/msg/Imu@gz.msgs.IMU',
+                f'/{namespace}/scan@sensor_msgs/msg/LaserScan@gz.msgs.LaserScan',
+                f'/{namespace}/scan/points@sensor_msgs/msg/PointCloud2@gz.msgs.PointCloudPacked',
+                f'/{namespace}/tf@tf2_msgs/msg/TFMessage@gz.msgs.Pose_V',
+                f'/{namespace}/joint_states@sensor_msgs/msg/JointState@gz.msgs.Model',
+                f'/{namespace}/color/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo',
+                f'/{namespace}/color/image_raw@sensor_msgs/msg/Image@gz.msgs.Image',
+                # f'/{namespace}/clock@rosgraph_msgs/msg/Clock@gz.msgs.Clock'
+            ]
+        )
+        start_gazebo_ros_image_bridge_cmd = Node(
+            package='ros_gz_image',
+            executable='image_bridge',
+            namespace=namespace,
+            arguments=['color/image_raw', 
+                       ],
+            output='screen',
+        )
+
+        joint_state_broadcaster = Node(
+            package='controller_manager',
+            executable='spawner',
+            namespace=namespace,
+            name='joint_state_broadcaster',
+            arguments=['joint_state_broadcaster'],
+            output='screen',
+            remappings=remappings
+        )
+
+        joint_group_controller = Node(
+            package='controller_manager',
+            executable='spawner',
+            namespace=namespace,
+            name='joint_group_controller',
+            arguments=['joint_group_controller'],
+            output='screen',
+            remappings=remappings
+        )
+
+        controller = Node(
+            package='quadropted_controller',
+            executable='robot_controller_gazebo.py',
+            name='quadruped_controller',
+            namespace=namespace,
+            output='screen',
+            remappings=remappings
+        )
+
+        odom = Node(
+            package='quadropted_controller',
+            executable='QuadrupedOdometryNode.py',
+            name='odom',
+            namespace=namespace,
+            output='screen',
+            parameters=[{
+                "verbose": False,
+                'publish_rate': 50,
+                'open_loop': False,
+                'has_imu_heading': True,
+                'is_gazebo': True,
+                'imu_topic': f'/{namespace}/imu',
+                'base_frame_id': "base_link",
+                'odom_frame_id': "odom",
+                'clock_topic': f'/clock',
+                'enable_odom_tf': True,
+            }],
+            remappings=remappings
+        )
+
+        rviz_launch_file = os.path.join(pkg_path, 'launch', 'rviz_launch.py')
+        rviz_config_file = os.path.join(pkg_path, 'rviz', 'go2_self.rviz')
+
+        rviz = IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(rviz_launch_file),
+            launch_arguments={
+                "namespace": namespace,
+                "use_namespace": 'true',
+                "rviz_config": rviz_config_file,
+            }.items(),
+            condition=IfCondition(enable_rviz)
+        )
+
+        cmd_vel_pub = Node(
+            package='quadropted_controller',
+            executable='cmd_vel_pub.py',
+            namespace=namespace,
+            name='cmd_vel_pub',
+            output='screen',
+            remappings=remappings
+        )
+
+        fake_bms = ExecuteProcess(
+            cmd=[
+                'ros2', 'topic', 'pub', f'/{namespace}/battery_state', 'sensor_msgs/msg/BatteryState',
+                "{header: {stamp: {sec: 0, nanosec: 0}, frame_id: ''}, voltage: 24.0, percentage: 0.8, capacity: 10.0}",
+                '-r', '1'
+            ],
+            output='log'
+        )
+        robot_localization_file_path = os.path.join(pkg_path, 'config', 'ekf.yaml')
+        # Start robot localization using an Extended Kalman filter
+        start_robot_localization_cmd = Node(
+            package='robot_localization',
+            executable='ekf_node',
+            name='ekf_filter_node',
+            namespace=namespace,
+            output='screen',
+            parameters=[robot_localization_file_path, 
+            {'use_sim_time': use_sim_time}],
+            remappings=remappings)
+
+        robot_control = GroupAction([
+            SetRemap(src="/tf", dst="tf"),
+            SetRemap(src="/tf_static", dst="tf_static"),
+            joint_state_broadcaster,
+            joint_group_controller,
+            controller,
+            cmd_vel_pub,
+            odom,
+            start_robot_localization_cmd,
+            fake_bms,
+        ])
+
+        # 当前机器人动作组
+        robot_group = GroupAction([
+            node_robot_state_publisher,
+            spawn_entity,
+            ros_gz_bridge,
+            start_gazebo_ros_image_bridge_cmd,
+            robot_control,
+            rviz,
+        ])
+
+        if last_action is None:
+            ld.add_action(robot_group)
+        else:
+            spawn_robot_event = RegisterEventHandler(
+                event_handler=OnProcessExit(
+                    target_action=last_action,
+                    on_exit=[robot_group]
+                )
+            )
+            ld.add_action(spawn_robot_event)
+
+        last_action = joint_group_controller
+
+    return ld

src/gazebo_sim/launch/gazebo_go2_sensors.launch.py

@@ -0,0 +1,278 @@
+import os
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import (
+    IncludeLaunchDescription,
+    DeclareLaunchArgument,
+    ExecuteProcess,
+    GroupAction,
+    RegisterEventHandler
+)
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch_ros.descriptions import ComposableNode
+from launch.conditions import IfCondition
+from launch_ros.actions import Node, SetRemap, ComposableNodeContainer
+from launch.event_handlers import OnProcessExit
+import xacro, yaml
+
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    # ---------- 基础配置 ----------
+    package_name = 'gazebo_sim'
+    pkg_path = get_package_share_directory(package_name)
+    robots_file_path = os.path.join(pkg_path, 'config', 'robots.yaml')
+
+    # 多机器人配置 
+    with open(robots_file_path, 'r') as file:
+        yaml_data = yaml.safe_load(file)
+    robots = yaml_data['robots']
+    
+    # ---------- 声明启动参数 ----------
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    declare_use_sim_time = DeclareLaunchArgument(
+        name='use_sim_time',
+        default_value='true',
+        description='仿真时间是否使用'
+    )
+
+    enable_rviz = LaunchConfiguration('enable_rviz', default='true')
+    declare_enable_rviz = DeclareLaunchArgument(
+        name='enable_rviz', default_value=enable_rviz, description='Enable rviz launch'
+    )
+
+    ld.add_action(declare_enable_rviz)
+    ld.add_action(declare_use_sim_time)
+
+    # ---------- 多机器人全局话题重映射 ----------
+    remappings=[
+            ("/tf", "tf"),
+            ("/tf_static", "tf_static"),
+            ("/scan", "scan"),
+            ("/odom", "odometry/filtered")
+        ]
+    
+    # ---------- Gazebo-ROS时间同步配置 ----------
+    bridge_params = os.path.join(pkg_path,'config','gz_bridge.yaml')
+    ros_gz_bridge_clock = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        arguments=[
+            '--ros-args',
+            '-p',
+            f'config_file:={bridge_params}',
+        ]
+    )
+    ld.add_action(ros_gz_bridge_clock)   
+
+    # ---------- 多机器人循环启动 ----------
+    last_action = None
+
+    for i, robot in enumerate(robots):
+        namespace = robot['name']
+        robot_name = robot['name']
+        xacro_file = os.path.join(os.path.join(get_package_share_directory('go2_description')), 'xacro', 'robot_VLP_D435i.xacro') ## CHANGE ME!!!!
+        robot_desc = xacro.process_file(xacro_file, mappings={'robot_name': robot_name}).toxml()
+        params_robot_state_publisher = {'robot_description': robot_desc, 'use_sim_time': use_sim_time}
+
+        node_robot_state_publisher = Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            output='screen',
+            namespace=namespace,
+            parameters=[params_robot_state_publisher],
+            remappings=remappings
+        )
+
+        spawn_entity = Node(
+            package='ros_gz_sim',
+            executable='create',
+            namespace=namespace,
+            arguments=[
+                '-topic', f'/{namespace}/robot_description',
+                '-name', f'{namespace}_my_bot',
+                '-allow_renaming', 'true',
+                '-x', robot['x_pose'],
+                '-y', robot['y_pose'],
+                '-z', robot['z_pose'],
+                # '-Y', robot['Y_pose']
+            ],
+            output='screen'
+        )
+
+        ros_gz_bridge = Node(
+            package='ros_gz_bridge',
+            executable='parameter_bridge',
+            namespace=namespace,
+            name='ros_gz_bridge',
+            output='screen',
+            arguments=[
+                f'/{namespace}/imu_plugin/out@sensor_msgs/msg/Imu@gz.msgs.IMU',
+                f'/{namespace}/scan@sensor_msgs/msg/LaserScan@gz.msgs.LaserScan',
+                f'/{namespace}/scan/points@sensor_msgs/msg/PointCloud2@gz.msgs.PointCloudPacked',
+                f'/{namespace}/velodyne@sensor_msgs/msg/LaserScan@gz.msgs.LaserScan',
+                f'/{namespace}/velodyne/points@sensor_msgs/msg/PointCloud2@gz.msgs.PointCloudPacked',
+                f'/{namespace}/velodyne_imu@sensor_msgs/msg/Imu@gz.msgs.IMU',
+                f'/{namespace}/tf@tf2_msgs/msg/TFMessage@gz.msgs.Pose_V',
+                f'/{namespace}/joint_states@sensor_msgs/msg/JointState@gz.msgs.Model',
+                f'/{namespace}/color/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo',
+                f'/{namespace}/color/image_raw@sensor_msgs/msg/Image@gz.msgs.Image',
+                f'/{namespace}/d435i_imu@sensor_msgs/msg/Imu@gz.msgs.IMU',
+                # f'/{namespace}/clock@rosgraph_msgs/msg/Clock@gz.msgs.Clock'
+            ]
+        )
+        start_gazebo_ros_image_bridge_cmd = Node(
+            package='ros_gz_image',
+            executable='image_bridge',
+            namespace=namespace,
+            arguments=['color/image_raw', 
+                       ],
+            output='screen',
+        )
+        gz_image_bridge_node = Node(
+            package="ros_gz_image",
+            executable="image_bridge",
+            namespace=namespace,
+            arguments=[
+                f'/{namespace}/rgbd_d435/depth_image',
+                f'/{namespace}/rgbd_d435/image',
+            ],
+            output="screen",
+            parameters=[
+                {'use_sim_time': True,
+                'camera.image.compressed.jpeg_quality': 75},
+            ],
+        )
+
+        joint_state_broadcaster = Node(
+            package='controller_manager',
+            executable='spawner',
+            namespace=namespace,
+            name='joint_state_broadcaster',
+            arguments=['joint_state_broadcaster'],
+            output='screen',
+            remappings=remappings
+        )
+
+        joint_group_controller = Node(
+            package='controller_manager',
+            executable='spawner',
+            namespace=namespace,
+            name='joint_group_controller',
+            arguments=['joint_group_controller'],
+            output='screen',
+            remappings=remappings
+        )
+
+        controller = Node(
+            package='quadropted_controller',
+            executable='robot_controller_gazebo.py',
+            name='quadruped_controller',
+            namespace=namespace,
+            output='screen',
+            remappings=remappings
+        )
+
+        odom = Node(
+            package='quadropted_controller',
+            executable='QuadrupedOdometryNode.py',
+            name='odom',
+            namespace=namespace,
+            output='screen',
+            parameters=[{
+                "verbose": False,
+                'publish_rate': 50,
+                'open_loop': False,
+                'has_imu_heading': True,
+                'is_gazebo': True,
+                'imu_topic': f'/{namespace}/imu',
+                'base_frame_id': "base_link",
+                'odom_frame_id': "odom",
+                'clock_topic': f'/clock',
+                'enable_odom_tf': True,
+            }],
+            remappings=remappings
+        )
+
+        rviz_launch_file = os.path.join(pkg_path, 'launch', 'rviz_launch.py')
+        rviz_config_file = os.path.join(pkg_path, 'rviz', 'go2_sensors.rviz')
+
+        rviz = IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(rviz_launch_file),
+            launch_arguments={
+                "namespace": namespace,
+                "use_namespace": 'true',
+                "rviz_config": rviz_config_file,
+            }.items(),
+            condition=IfCondition(enable_rviz)
+        )
+
+        cmd_vel_pub = Node(
+            package='quadropted_controller',
+            executable='cmd_vel_pub.py',
+            namespace=namespace,
+            name='cmd_vel_pub',
+            output='screen',
+            remappings=remappings
+        )
+
+        fake_bms = ExecuteProcess(
+            cmd=[
+                'ros2', 'topic', 'pub', f'/{namespace}/battery_state', 'sensor_msgs/msg/BatteryState',
+                "{header: {stamp: {sec: 0, nanosec: 0}, frame_id: ''}, voltage: 24.0, percentage: 0.8, capacity: 10.0}",
+                '-r', '1'
+            ],
+            output='log'
+        )
+        robot_localization_file_path = os.path.join(pkg_path, 'config', 'ekf.yaml')
+        # Start robot localization using an Extended Kalman filter
+        start_robot_localization_cmd = Node(
+            package='robot_localization',
+            executable='ekf_node',
+            name='ekf_filter_node',
+            namespace=namespace,
+            output='screen',
+            parameters=[robot_localization_file_path, 
+            {'use_sim_time': use_sim_time}],
+            remappings=remappings)
+
+        robot_control = GroupAction([
+            SetRemap(src="/tf", dst="tf"),
+            SetRemap(src="/tf_static", dst="tf_static"),
+            joint_state_broadcaster,
+            joint_group_controller,
+            controller,
+            cmd_vel_pub,
+            odom,
+            start_robot_localization_cmd,
+            fake_bms,
+        ])
+
+        # 当前机器人动作组
+        robot_group = GroupAction([
+            node_robot_state_publisher,
+            spawn_entity,
+            ros_gz_bridge,
+            start_gazebo_ros_image_bridge_cmd,
+            robot_control,
+            gz_image_bridge_node,
+            rviz,
+        ])
+
+        if last_action is None:
+            ld.add_action(robot_group)
+        else:
+            spawn_robot_event = RegisterEventHandler(
+                event_handler=OnProcessExit(
+                    target_action=last_action,
+                    on_exit=[robot_group]
+                )
+            )
+            ld.add_action(spawn_robot_event)
+
+        last_action = joint_group_controller
+
+    return ld

src/gazebo_sim/launch/launch.py

@@ -0,0 +1,97 @@
+import os
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription, LaunchContext
+from launch.actions import (
+    IncludeLaunchDescription,
+    DeclareLaunchArgument,
+    ExecuteProcess,
+    RegisterEventHandler,
+    OpaqueFunction  
+)
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch.event_handlers import OnProcessExit
+from launch_ros.actions import SetParameter
+
+def create_gazebo_action(context: LaunchContext, package_name: str):
+    world_name = LaunchConfiguration('world').perform(context)
+    pkg_path = get_package_share_directory(package_name)
+    world_file = os.path.join(pkg_path, 'world', world_name)
+    
+    gazebo_action = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(os.path.join(
+            get_package_share_directory('ros_gz_sim'), 'launch', 'gz_sim.launch.py')),
+        launch_arguments={
+            'gz_args': ['-r -v4 ', world_file], 
+            'on_exit_shutdown': 'true'
+        }.items()
+    )
+    return [gazebo_action]
+
+def choose_launch_file(context, *args, **kwargs):
+    use_sensors = LaunchConfiguration('sensors').perform(context)
+    package_name = 'gazebo_sim'
+    pkg_path = get_package_share_directory(package_name)
+    
+    if use_sensors.lower() == 'true':
+        launch_file = 'gazebo_go2_sensors.launch.py'
+    else:
+        launch_file = 'gazebo_go2_self.launch.py'
+    
+    return [
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                os.path.join(pkg_path, 'launch', launch_file)
+            )
+        )
+    ]
+
+def generate_launch_description():
+    ld = LaunchDescription()
+    package_name = 'gazebo_sim'
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    ld.add_action(DeclareLaunchArgument(
+        'use_sim_time', 
+        default_value='true',
+        description='是否使用仿真时间'
+    ))
+    ld.add_action(SetParameter(name='use_sim_time', value=use_sim_time))
+
+    ld.add_action(DeclareLaunchArgument(
+        'sensors',
+        default_value='false',
+        description='是否启动传感器版launch文件（默认启动无外置传感器版）'
+    ))
+
+    ld.add_action(DeclareLaunchArgument(
+        'world',
+        default_value='rmuc_2025_world.sdf',
+        description='指定要加载的Gazebo世界文件（需放在gazebo_sim/world目录下）'
+    ))
+
+    gazebo_action = OpaqueFunction(
+        function=create_gazebo_action,
+        args=[package_name]  
+    )
+    ld.add_action(gazebo_action)
+
+
+    pause = ExecuteProcess(
+        cmd=['sleep', '6'],
+        output='screen'
+    )
+    ld.add_action(pause)
+
+    go2_sensors_launch = OpaqueFunction(function=choose_launch_file)
+
+    launch_after_pause = RegisterEventHandler(
+        event_handler=OnProcessExit(
+            target_action=pause,
+            on_exit=[go2_sensors_launch]
+        )
+    )
+    ld.add_action(launch_after_pause)
+
+    return ld

src/gazebo_sim/launch/launch_sim.launch.py

@@ -0,0 +1,196 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+from launch_ros.actions import Node
+import xacro
+
+
+def generate_launch_description():
+
+    package_name='gazebo_sim'
+    namespace = '/robot1'
+    name = 'robot1'
+
+    # Process the URDF file
+    pkg_path = os.path.join(get_package_share_directory(package_name))
+    xacro_file = os.path.join(pkg_path,'xacro','robot.xacro')
+    remappings = [
+        ("/tf", "tf"),
+        ("/tf_static", "tf_static"),
+        ("/scan", "scan"),
+        ("/odom", "odom")
+    ]
+
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    declare_use_sim_time = DeclareLaunchArgument(
+        name='use_sim_time', default_value=use_sim_time, description='仿真时间'
+    )
+
+
+    world = os.path.join(pkg_path, 'world', 'empty.world')    
+    # Include the Gazebo launch file, provided by the ros_gz_sim package
+    gazebo = IncludeLaunchDescription(
+                PythonLaunchDescriptionSource([os.path.join(
+                    get_package_share_directory('ros_gz_sim'), 'launch', 'gz_sim.launch.py')]),
+                    launch_arguments={'gz_args': ['-r -v4 ', world], 'on_exit_shutdown': 'true'}.items()
+             )
+
+    # Run the spawner node from the ros_gz_sim package. The entity name doesn't really matter if you only have a single robot.
+    spawn_entity = Node(package='ros_gz_sim', executable='create', namespace=namespace,
+                        arguments=['-topic', f'{namespace}/robot_description',
+                                   '-name', f'{namespace}/my_bot',
+                                   '-z', '0.4'],
+                        output='screen')
+
+
+
+    robot_desc = xacro.process_file(
+            xacro_file,
+            mappings={'robot_name': name}
+        ).toxml() 
+    
+    params = {'robot_description': robot_desc, 'use_sim_time': use_sim_time}
+
+    node_robot_state_publisher = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        output='screen',
+        namespace=namespace,
+        parameters=[params],
+        remappings=remappings
+    )
+
+    bridge_params = os.path.join(get_package_share_directory(package_name),'config','gz_bridge.yaml')
+    ros_gz_bridge = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        namespace=namespace,
+        arguments=[
+            f"{namespace}/imu_plugin/out@sensor_msgs/msg/Imu@gz.msgs.IMU",
+            f"{namespace}/scan@sensor_msgs/msg/LaserScan@gz.msgs.LaserScan",
+            f"{namespace}/tf@tf2_msgs/msg/TFMessage@gz.msgs.Pose_V",
+            f"{namespace}/joint_states@sensor_msgs/msg/JointState@gz.msgs.Model"
+        ]
+    )
+
+    ros_gz_bridge_clock = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        arguments=[
+            '--ros-args',
+            '-p',
+            f'config_file:={bridge_params}',
+        ]
+    )
+
+    joint_state_broadcaster = Node(
+        package="controller_manager",
+        executable="spawner",
+        namespace=namespace,
+        arguments=["joint_state_broadcaster"],
+        remappings=remappings
+
+    )
+
+    joint_group_controller = Node(
+        package="controller_manager",
+        executable="spawner",
+        namespace=namespace,
+        arguments=["joint_group_controller"],
+        output="screen",
+        remappings=remappings
+
+    )
+
+    controller = Node(
+        package='quadropted_controller',
+        executable='robot_controller_gazebo.py',
+        name='quadruped_controller',
+        namespace=namespace,
+        output='screen',
+        remappings=remappings
+
+    )
+
+
+    cmd_vel_pub = Node(
+        package='quadropted_controller',
+        executable='cmd_vel_pub.py',
+        name='cmd_vel_pub',
+        namespace=namespace,
+        output='screen',
+    )
+
+    odom =Node(
+        package='quadropted_controller',
+        executable='QuadrupedOdometryNode.py',
+        name='odom',
+        namespace=namespace,
+        output='screen',
+        parameters=[{
+                "verbose": False,
+                'publish_rate': 50,
+                'open_loop': False,
+                'has_imu_heading': True,
+                'is_gazebo': True,
+                'imu_topic': f"/{namespace}/imu",
+                'base_frame_id': "base",
+                'odom_frame_id': "odom",
+                'clock_topic': '/clock',
+                'enable_odom_tf': True,
+        }],
+        remappings=remappings
+    )
+
+    params_file = os.path.join(get_package_share_directory(package_name), 'config', 'nav2_params.yaml')
+    map_dir = os.path.join(get_package_share_directory(package_name), 'maps', 'warehouse_map.yaml')
+
+    bringup_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_path, 'launch', 'nav2', 'bringup_launch.py')),
+        launch_arguments={
+            'map': map_dir,
+            'use_namespace': 'True',
+            'namespace': namespace,
+            'params_file': params_file,
+            'autostart': 'true',
+            'use_sim_time': 'True',
+            'log_level': 'warn',
+            'map_server': 'True'
+        }.items()
+    )
+
+    rviz_config_file = os.path.join(pkg_path, 'config', 'multi_nav2_default_view.rviz')
+    rviz = IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(os.path.join(pkg_path, 'launch', "rviz_launch.py")),
+            launch_arguments={
+                "namespace": namespace,
+                "use_namespace": 'true',
+                "rviz_config": rviz_config_file,
+            }.items()
+        )
+
+    # Launch them all!
+    return LaunchDescription([
+        declare_use_sim_time,
+        node_robot_state_publisher,
+        gazebo,
+        spawn_entity,
+        ros_gz_bridge,
+        ros_gz_bridge_clock,
+        joint_state_broadcaster,
+        joint_group_controller,
+        controller,
+        cmd_vel_pub,
+        odom,
+        rviz,
+        # bringup_cmd
+    ])

src/gazebo_sim/launch/rviz_launch.py

@@ -0,0 +1,109 @@
+# Copyright (c) 2018 Intel Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, EmitEvent, RegisterEventHandler
+from launch.conditions import IfCondition, UnlessCondition
+from launch.event_handlers import OnProcessExit
+from launch.events import Shutdown
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from nav2_common.launch import ReplaceString
+
+
+def generate_launch_description():
+    # Get the launch directory
+    bringup_dir = get_package_share_directory('gazebo_sim')
+
+    # Create the launch configuration variables
+    namespace = LaunchConfiguration('namespace')
+    use_namespace = LaunchConfiguration('use_namespace')
+    rviz_config_file = LaunchConfiguration('rviz_config')
+
+    # Declare the launch arguments
+    declare_namespace_cmd = DeclareLaunchArgument(
+        'namespace',
+        default_value='navigation',
+        description=('Top-level namespace. The value will be used to replace the '
+                     '<robot_namespace> keyword on the rviz config file.'))
+
+    declare_use_namespace_cmd = DeclareLaunchArgument(
+        'use_namespace',
+        default_value='false',
+        description='Whether to apply a namespace to the navigation stack')
+
+    declare_rviz_config_file_cmd = DeclareLaunchArgument(
+        'rviz_config',
+        default_value=os.path.join(bringup_dir, 'rviz', 'multi_nav2_default_view.rviz'),
+        description='Full path to the RVIZ config file to use')
+
+    # Launch rviz
+    start_rviz_cmd = Node(
+        condition=UnlessCondition(use_namespace),
+        package='rviz2',
+        executable='rviz2',
+        arguments=['-d', rviz_config_file],
+        output='screen')
+
+    namespaced_rviz_config_file = ReplaceString(
+            source_file=rviz_config_file,
+            replacements={'<robot_namespace>': ('/', namespace)})
+
+    start_namespaced_rviz_cmd = Node(
+        condition=IfCondition(use_namespace),
+        package='rviz2',
+        executable='rviz2',
+        namespace=namespace,
+        arguments=['-d', namespaced_rviz_config_file],
+        output='screen',
+        remappings=[('/tf', 'tf'),
+                    ('/tf_static', 'tf_static'),
+                    ('/goal_pose', 'goal_pose'),
+                    ("/odom", "odometry/filtered"),
+                    ('/clicked_point', 'clicked_point'),
+                    ('/initialpose', 'initialpose')])
+
+    exit_event_handler = RegisterEventHandler(
+        condition=UnlessCondition(use_namespace),
+        event_handler=OnProcessExit(
+            target_action=start_rviz_cmd,
+            on_exit=EmitEvent(event=Shutdown(reason='rviz exited'))))
+
+    exit_event_handler_namespaced = RegisterEventHandler(
+        condition=IfCondition(use_namespace),
+        event_handler=OnProcessExit(
+            target_action=start_namespaced_rviz_cmd,
+            on_exit=EmitEvent(event=Shutdown(reason='rviz exited'))))
+
+    # Create the launch description and populate
+    ld = LaunchDescription()
+
+    # Declare the launch options
+    ld.add_action(declare_namespace_cmd)
+    ld.add_action(declare_use_namespace_cmd)
+    ld.add_action(declare_rviz_config_file_cmd)
+
+    # Add any conditioned actions
+    ld.add_action(start_rviz_cmd)
+    ld.add_action(start_namespaced_rviz_cmd)
+
+    # Add other nodes and processes we need
+    ld.add_action(exit_event_handler)
+    ld.add_action(exit_event_handler_namespaced)
+
+    return ld

src/gazebo_sim/models/Apriltag36_11_00000/meshes/tag36_11_00000.dae

@@ -0,0 +1,128 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <up_axis>Y_UP</up_axis>
+        <created>Mi. Mai 22 10:04:10 2019</created>
+        <modified>Mi. Mai 22 10:04:10 2019</modified>
+    </asset>
+    <library_images>
+        <image id="texture0" name="texture0">
+            <init_from>../materials/textures/tag36_11_00000.png</init_from>
+        </image>
+    </library_images>
+    <library_materials>
+        <material id="material0" name="material0">
+            <instance_effect url="#material0-fx"/>
+        </material>
+    </library_materials>
+    <library_effects>
+        <effect id="material0-fx">
+            <profile_COMMON>
+                <newparam sid="texture0-surface">
+                    <surface type="2D">
+                        <init_from>texture0</init_from>
+                        <format>R8G8B8</format>
+                    </surface>
+                </newparam>
+                <newparam sid="texture0-sampler">
+                    <sampler2D>
+                        <source>texture0-surface</source>
+                        <minfilter>LINEAR</minfilter>
+                        <magfilter>LINEAR</magfilter>
+                    </sampler2D>
+                </newparam>
+                <technique sid="common">
+<blinn>
+    <emission>
+        <color>0 0 0 1</color>
+    </emission>
+    <ambient>
+        <color>0.2 0.2 0.2 1</color>
+    </ambient>
+    <diffuse>
+        <texture texture="texture0" texcoord="UVSET0"/>
+    </diffuse>
+    <specular>
+        <color>0 0 0 1</color>
+    </specular>
+    <shininess>
+        <float>0.1</float>
+    </shininess>
+    <reflective>
+        <color>0 0 0 1</color>
+    </reflective>
+    <reflectivity>
+        <float>0.1</float>
+    </reflectivity>
+</blinn>
+                </technique>
+            </profile_COMMON>
+        </effect>
+    </library_effects>
+    <library_geometries>
+        <geometry id="shape0-lib" name="shape0">
+            <mesh>
+                <source id="shape0-lib-positions" name="position">
+                    <float_array id="shape0-lib-positions-array" count="24">-0.05 0.05 5e-05 -0.05 -0.05 5e-05 0.05 -0.05 5e-05 0.05 0.05 5e-05 0.05 0.05 -5e-05 0.05 -0.05 -5e-05 -0.05 0.05 -5e-05 -0.05 -0.05 -5e-05</float_array>
+                    <technique_common>
+                        <accessor count="8" source="#shape0-lib-positions-array" stride="3">
+                            <param name="X" type="float"/>
+                            <param name="Y" type="float"/>
+                            <param name="Z" type="float"/>
+                        </accessor>
+                    </technique_common>
+                </source>
+                <source id="shape0-lib-normals" name="normal">
+                    <float_array id="shape0-lib-normals-array" count="36">0 0 1 0 0 1 0 0 -1 0 0 -1 0 -1 0 0 -1 0 1 0 0 1 0 0 0 1 0 0 1 0 -1 0 0 -1 0 0</float_array>
+                    <technique_common>
+                        <accessor count="12" source="#shape0-lib-normals-array" stride="3">
+                            <param name="X" type="float"/>
+                            <param name="Y" type="float"/>
+                            <param name="Z" type="float"/>
+                        </accessor>
+                    </technique_common>
+                </source>
+                <source id="shape0-lib-map" name="map">
+                    <float_array id="shape0-lib-map-array" count="72">0 1 1 0 1 1 1 0 0 1 0 0 0 0 1 1 1 0 1 1 0 0 0 1 0 0 1 0 0 0 1 0 0 0 1 0 1 0 1 1 1 1 1 1 1 0 1 0 1 1 0 1 1 1 0 1 1 1 0 1 0 0 0 1 0 1 0 1 0 0 0 0</float_array>
+                    <technique_common>
+                        <accessor count="36" source="#shape0-lib-map-array" stride="2">
+                            <param name="U" type="float"/>
+                            <param name="V" type="float"/>
+                        </accessor>
+                    </technique_common>
+                </source>
+                <vertices id="shape0-lib-vertices">
+                    <input semantic="POSITION" source="#shape0-lib-positions"/>
+                </vertices>
+                <triangles count="12" material="material0">
+                    <input offset="0" semantic="VERTEX" source="#shape0-lib-vertices"/>
+                    <input offset="1" semantic="NORMAL" source="#shape0-lib-normals"/>
+                    <input offset="2" semantic="TEXCOORD" source="#shape0-lib-map"/>
+                    <p>0 0 0 2 0 1 3 0 2 2 1 3 0 1 4 1 1 5 7 2 6 4 2 7 5 2 8 4 3 9 7 3 10 6 3 11 7 4 12 2 4 13 1 4 14 2 5 15 7 5 16 5 5 17 2 6 18 4 6 19 3 6 20 4 7 21 2 7 22 5 7 23 4 8 24 0 8 25 3 8 26 0 9 27 4 9 28 6 9 29 7 10 30 0 10 31 6 10 32 0 11 33 7 11 34 1 11 35</p>
+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="material0" target="#material0">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD"/>
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>

src/gazebo_sim/models/Apriltag36_11_00000/model.config

@@ -0,0 +1,14 @@
+<?xml version="1.0" ?>
+<model>
+    <name>Apriltag36_11_00000</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+   
+      <author>
+       <name>Kenji Koide</name>
+       <email>koide@dei.unipd.it</email>
+      </author>
+    
+    <description>Apriltag model</description>
+</model>
+

src/gazebo_sim/models/Apriltag36_11_00000/model.sdf

@@ -0,0 +1,51 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='Apriltag36_11_00000'>
+    <link name="link">
+      <inertial>
+        <pose>0 0 0 0 0 0</pose>
+        <mass>0.5</mass>
+        <inertia>
+          <ixx>0.0001</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0001</iyy>
+          <iyz>0</iyz>
+          <izz>0.0001</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://Apriltag36_11_00000/meshes/tag36_11_00000.dae</uri>
+          </mesh>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1.0</mu>
+              <mu2>1.0</mu2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <kp>10000000.0</kp>
+              <kd>1.0</kd>
+              <min_depth>0.001</min_depth>
+              <max_vel>0.1</max_vel>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+      <visual name="visual">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://Apriltag36_11_00000/meshes/tag36_11_00000.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+  </model>
+</sdf>

src/gazebo_sim/models/aws_robomaker_residential_AirconditionerA_01/meshes/aws_AirconditionerA_01_collision.DAE

@@ -0,0 +1,209 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-10-15T11:34:48Z</created><keywords></keywords><modified>2018-10-15T11:34:48Z</modified><revision></revision><subject></subject><title></title><unit meter="0.010000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
+  <library_materials>
+    <material id="MaterialFBXASC032FBXASC03525" name="MaterialFBXASC032FBXASC03525">
+      <instance_effect url="#MaterialFBXASC032FBXASC03525-fx"/>
+    </material>
+  </library_materials>
+  <library_effects>
+    <effect id="MaterialFBXASC032FBXASC03525-fx" name="MaterialFBXASC032FBXASC03525">
+      <profile_COMMON>
+        <technique sid="standard">
+          <phong>
+            <emission>
+              <color sid="emission">0.000000  0.000000 0.000000 1.000000</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.588000  0.588000 0.588000 1.000000</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.588000  0.588000 0.588000 1.000000</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.000000  0.000000 0.000000 1.000000</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">2.000000</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0.000000  0.000000 0.000000 1.000000</color>
+            </reflective>
+            <reflectivity>
+              <float sid="reflectivity">1.000000</float>
+            </reflectivity>
+            <transparent opaque="RGB_ZERO">
+              <color sid="transparent">1.000000  1.000000 1.000000 1.000000</color>
+            </transparent>
+            <transparency>
+              <float sid="transparency">0.800000</float>
+            </transparency>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_geometries>
+    <geometry id="aws_AirconditionerA_01_collision-lib" name="aws_AirconditionerA_01_collisionMesh">
+      <mesh>
+        <source id="aws_AirconditionerA_01_collision-POSITION">
+          <float_array id="aws_AirconditionerA_01_collision-POSITION-array" count="48">
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+</float_array>
+          <technique_common>
+            <accessor source="#aws_AirconditionerA_01_collision-POSITION-array" count="16" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="aws_AirconditionerA_01_collision-Normal0">
+          <float_array id="aws_AirconditionerA_01_collision-Normal0-array" count="144">
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+</float_array>
+          <technique_common>
+            <accessor source="#aws_AirconditionerA_01_collision-Normal0-array" count="48" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="aws_AirconditionerA_01_collision-UV0">
+          <float_array id="aws_AirconditionerA_01_collision-UV0-array" count="96">
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+        </vertices>
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+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="aws_Airconditioner_01_collision" name="aws_Airconditioner_01_collision">
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+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#aws_Airconditioner_01_collision"></instance_visual_scene>
+  </scene>
+</COLLADA>

src/gazebo_sim/models/aws_robomaker_residential_AirconditionerA_01/model.config

@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>aws_robomaker_residential_AirconditionerA_01</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name></name>
+        <email></email>
+    </author>
+    <description></description>
+</model>

src/gazebo_sim/models/aws_robomaker_residential_AirconditionerA_01/model.sdf

@@ -0,0 +1,27 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="aws_robomaker_residential_AirconditionerA_01">
+    <link name="link">
+      <inertial>
+        <mass>1</mass>
+      </inertial>
+      <collision name="collision">
+        <geometry>
+          <mesh>
+            <uri>model://aws_robomaker_residential_AirconditionerA_01/meshes/aws_AirconditionerA_01_collision.DAE</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="visual">
+	    <geometry>
+          <mesh>
+            <uri>model://aws_robomaker_residential_AirconditionerA_01/meshes/aws_AirconditionerA_01_visual.DAE</uri>
+          </mesh>
+        </geometry>
+      <meta> <layer> 1 </layer></meta>
+</visual>
+    </link>
+	<static>1</static>
+  </model>
+</sdf>

src/gazebo_sim/models/aws_robomaker_residential_AirconditionerB_01/meshes/aws_AirconditionerB_01_collision.DAE

@@ -0,0 +1,111 @@
+<?xml version="1.0" encoding="utf-8"?>
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+  <library_geometries>
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+    </visual_scene>
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+  <scene>
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+  </scene>
+</COLLADA>

src/gazebo_sim/models/aws_robomaker_residential_AirconditionerB_01/model.config

@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>aws_robomaker_residential_AirconditionerB_01</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name></name>
+        <email></email>
+    </author>
+    <description></description>
+</model>

src/gazebo_sim/models/aws_robomaker_residential_AirconditionerB_01/model.sdf

@@ -0,0 +1,26 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="aws_robomaker_residential_AirconditionerB_01">
+    <link name="link">
+      <inertial>
+        <mass>1</mass>
+      </inertial>
+      <collision name="collision">
+        <geometry>
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+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="visual">
+	    <geometry>
+          <mesh>
+            <uri>model://aws_robomaker_residential_AirconditionerB_01/meshes/aws_AirconditionerB_01_visual.DAE</uri>
+          </mesh>
+        </geometry>
+      <meta> <layer> 1 </layer></meta>
+</visual>
+    </link>
+  </model>
+</sdf>

src/gazebo_sim/models/aws_robomaker_residential_BalconyTable_01/meshes/aws_BalconyTable_01_collision.DAE

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src/gazebo_sim/models/aws_robomaker_residential_BalconyTable_01/model.config

@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>aws_robomaker_residential_BalconyTable_01</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name></name>
+        <email></email>
+    </author>
+    <description></description>
+</model>

src/gazebo_sim/models/aws_robomaker_residential_BalconyTable_01/model.sdf

@@ -0,0 +1,26 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="aws_robomaker_residential_BalconyTable_01">
+    <link name="link">
+      <inertial>
+        <mass>15</mass>
+      </inertial>
+      <collision name="collision">
+        <geometry>
+          <mesh>
+            <uri>model://aws_robomaker_residential_BalconyTable_01/meshes/aws_BalconyTable_01_collision.DAE</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="visual">
+	    <geometry>
+          <mesh>
+            <uri>model://aws_robomaker_residential_BalconyTable_01/meshes/aws_BalconyTable_01_visual.DAE</uri>
+          </mesh>
+        </geometry>
+      <meta> <layer> 1 </layer></meta>
+</visual>
+    </link>
+  </model>
+</sdf>

src/gazebo_sim/models/aws_robomaker_residential_Ball_01/model.config

@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>aws_robomaker_residential_Ball_01</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name></name>
+        <email></email>
+    </author>
+    <description></description>
+</model>

src/gazebo_sim/models/aws_robomaker_residential_Ball_01/model.sdf

@@ -0,0 +1,79 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="aws_robomaker_residential_Ball_01">
+    <link name="link">
+      <inertial>
+        <mass>0.12</mass>
+        <!-- 0.4 * M * r^2 -->
+        <!-- 2r = 62cm -->
+          <inertia>
+            <ixx>0.030752</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.030752</iyy>
+            <iyz>0</iyz>
+            <izz>0.030752</izz>
+          </inertia>
+      </inertial>
+      <collision name="collision">
+
+        <!--  <pose frame=''>0.0 0 0.31 0 -0 0</pose> -->
+    
+        <geometry>
+        <!-- 
+          <mesh>
+            <uri>file://models/aws_robomaker_residential_Ball_01/meshes/aws_Ball_01_collision.DAE</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        -->
+          <sphere>
+            <radius>0.31 </radius>
+          </sphere>
+          
+        </geometry>
+
+        <surface>
+          <friction>
+            <ode>
+              <mu>0.85</mu>
+              <mu2>0.85</mu2>
+            </ode>
+          </friction>
+
+        <!-- Add some bounciness to the ball -->
+<!-- 
+          <bounce>
+            <restitution_coefficient>0.85</restitution_coefficient>
+            <threshold>0.01</threshold>
+          </bounce>
+-->
+          <contact>
+            <ode>
+              <kd>8500</kd>
+              <max_vel>5.1</max_vel>
+            </ode>
+          </contact>
+        </surface>
+
+      </collision>
+      <visual name="visual">
+	    <geometry>
+      <!--
+          <mesh>
+            <uri>file://models/aws_robomaker_residential_Ball_01/meshes/aws_Ball_01_visual.DAE</uri>
+          </mesh>
+      -->
+          <sphere>
+            <radius>0.31 </radius>
+          </sphere>
+      </geometry>
+          <material>
+            <diffuse>0.12 0.76 0.97 1</diffuse>
+            <ambient>0.03 0.21 0.27 1</ambient>
+          </material>
+          <!--  <pose frame=''>0.0 0 0.31 0 -0 0</pose> -->
+      <meta> <layer> 1 </layer></meta>
+</visual>
+    </link>
+  </model>
+</sdf>

src/gazebo_sim/models/aws_robomaker_residential_Bed_01/meshes/aws_Bed_01_collision.DAE

@@ -0,0 +1,387 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
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+  <library_geometries>
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+      <mesh>
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+        </source>
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+        </vertices>
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+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="aws_ bed_01_collision" name="aws_ bed_01_collision">
+      <node name="aws_ bed_01_collision" id="aws_ bed_01_collision" sid="aws_ bed_01_collision"><matrix sid="matrix">1.000000 0.000000 0.000000 0.559067 0.000000 1.000000 0.000000 0.264473 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix><instance_geometry url="#aws_ bed_01_collision-lib"/><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra></node>
+      <extra><technique profile="MAX3D"><frame_rate>30.000000</frame_rate></technique><technique profile="FCOLLADA"><start_time>0.000000</start_time><end_time>3.333333</end_time></technique></extra>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#aws_ bed_01_collision"></instance_visual_scene>
+  </scene>
+</COLLADA>

src/gazebo_sim/models/aws_robomaker_residential_Bed_01/model.config

@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>aws_robomaker_residential_Bed_01</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name></name>
+        <email></email>
+    </author>
+    <description></description>
+</model>

src/gazebo_sim/models/aws_robomaker_residential_Bed_01/model.sdf

@@ -0,0 +1,27 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="aws_robomaker_residential_Bed_01">
+    <link name="link">
+      <inertial>
+        <mass>22.6</mass>
+      </inertial>
+      <collision name="collision">
+        <geometry>
+          <mesh>
+            <uri>model://aws_robomaker_residential_Bed_01/meshes/aws_Bed_01_collision.DAE</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="visual">
+	    <geometry>
+          <mesh>
+            <uri>model://aws_robomaker_residential_Bed_01/meshes/aws_Bed_01_visual.DAE</uri>
+          </mesh>
+        </geometry>
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src/gazebo_sim/models/aws_robomaker_residential_Board_01/model.config

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+    <author>
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+        <email></email>
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src/gazebo_sim/models/aws_robomaker_residential_Board_01/model.sdf

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src/gazebo_sim/models/aws_robomaker_residential_Carpet_01/meshes/aws_Carpet_01_collision.DAE

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src/gazebo_sim/models/aws_robomaker_residential_Carpet_01/meshes/aws_Carpet_01_visual.DAE

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+    </geometry>
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+  <scene>
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+  </scene>
+</COLLADA>

src/gazebo_sim/models/aws_robomaker_residential_Carpet_01/model.config

@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>aws_robomaker_residential_Carpet_01</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name></name>
+        <email></email>
+    </author>
+    <description></description>
+</model>

src/gazebo_sim/models/aws_robomaker_residential_Carpet_01/model.sdf

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+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="aws_robomaker_residential_Carpet_01">
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+      <inertial>
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+      </inertial>
+      
+      <collision name="collision">
+
+        <geometry>
+          <mesh>
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+            <!-- <scale>0.9 0.9 0.9</scale> -->
+            <scale>1 1 0.95</scale>
+          </mesh>
+        </geometry>
+
+        <surface>        
+          <friction>
+            <ode> 
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+              <mu2>50</mu2>
+            </ode>
+          </friction>
+          <contact>
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+          </contact>
+        </surface>
+
+        <pose>0 0 -0.01 0 0 0 </pose>
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+      
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+</visual>
+    </link>
+
+    <static>1</static>
+    
+  </model>
+</sdf>

src/gazebo_sim/models/aws_robomaker_residential_ChairA_01/meshes/aws_ChairA_01_collision.DAE

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src/gazebo_sim/models/aws_robomaker_residential_ChairA_01/model.config

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+    <author>
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+        <email></email>
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+</model>

src/gazebo_sim/models/aws_robomaker_residential_ChairA_01/model.sdf

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src/gazebo_sim/models/aws_robomaker_residential_ChairD_01/meshes/aws_ChairD_01_collision.DAE

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+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#aws_ChairD_01_collision"></instance_visual_scene>
+  </scene>
+</COLLADA>

src/gazebo_sim/models/aws_robomaker_residential_ChairD_01/model.config

@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>aws_robomaker_residential_ChairD_01</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name></name>
+        <email></email>
+    </author>
+    <description></description>
+</model>

src/gazebo_sim/models/aws_robomaker_residential_ChairD_01/model.sdf

@@ -0,0 +1,39 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="aws_robomaker_residential_ChairD_01">
+    <link name="link">
+
+      <inertial>
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+          <inertia>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyz>0</iyz>
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+
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+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+
+      </collision>
+      <visual name="visual">
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+          </mesh>
+        </geometry>
+      <meta> <layer> 1 </layer></meta>
+</visual>
+    </link>
+  </model>
+</sdf>

src/gazebo_sim/models/aws_robomaker_residential_Chandelier_01/meshes/aws_Chandelier_01_collision.DAE

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src/gazebo_sim/models/aws_robomaker_residential_Chandelier_01/model.config

@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
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+    <name>aws_robomaker_residential_Chandelier_01</name>
+    <version>1.0</version>
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+    <author>
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+        <email></email>
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src/gazebo_sim/models/aws_robomaker_residential_Chandelier_01/model.sdf

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+</visual>
+    </link>
+	<static>1</static>
+  </model>
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src/gazebo_sim/models/aws_robomaker_residential_CoffeeTable_01/meshes/aws_CoffeeTable_01_collision.DAE

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src/gazebo_sim/models/aws_robomaker_residential_CoffeeTable_01/model.config

@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>aws_robomaker_residential_CoffeeTable_01</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name></name>
+        <email></email>
+    </author>
+    <description></description>
+</model>

src/gazebo_sim/models/aws_robomaker_residential_CoffeeTable_01/model.sdf

@@ -0,0 +1,48 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="aws_robomaker_residential_CoffeeTable_01">
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+</visual>
+    </link>
+    <static>1</static>
+  </model>
+</sdf>

src/gazebo_sim/models/aws_robomaker_residential_CookingBench_01/meshes/aws_CookingBench_01_collision.DAE

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src/gazebo_sim/models/aws_robomaker_residential_CookingBench_01/model.config

@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
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+    <name>aws_robomaker_residential_CookingBench_01</name>
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+    <author>
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src/gazebo_sim/models/aws_robomaker_residential_CookingBench_01/model.sdf

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src/gazebo_sim/models/aws_robomaker_residential_Curtain_01/meshes/aws_Curtain_01_collision.DAE

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src/gazebo_sim/models/aws_robomaker_residential_Curtain_01/model.config

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+<?xml version="1.0" ?>
+<model>
+    <name>aws_robomaker_residential_Curtain_01</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name></name>
+        <email></email>
+    </author>
+    <description></description>
+</model>

src/gazebo_sim/models/aws_robomaker_residential_Curtain_01/model.sdf

@@ -0,0 +1,27 @@
+<?xml version="1.0" ?>
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+</sdf>

src/gazebo_sim/models/aws_robomaker_residential_DeskPortraitA_01/meshes/aws_DeskPortraitA_01_collision.DAE

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src/gazebo_sim/models/aws_robomaker_residential_DeskPortraitA_01/model.config

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+<?xml version="1.0" ?>
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+    <name>aws_robomaker_residential_DeskPortraitA_01</name>
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+    <author>
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src/gazebo_sim/models/aws_robomaker_residential_DeskPortraitA_01/model.sdf

@@ -0,0 +1,37 @@
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src/gazebo_sim/models/aws_robomaker_residential_DeskPortraitA_02/meshes/aws_DeskPortraitA_01_collision.DAE

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