Initial commit: ROS2 Gazebo GO2 simulation workspace

Made-with: Cursor

.gitignore

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+# colcon / ROS 2 workspace
+build/
+install/
+log/
+
+# Python
+__pycache__/
+*.py[cod]
+*$py.class
+*.so
+.Python
+*.egg-info/
+.eggs/
+dist/
+.pytest_cache/
+.coverage
+htmlcov/
+
+# CMake / 编译产物（若出现在源码树外可再补）
+*.o
+*.a
+
+# 编辑器与系统
+.idea/
+*.swp
+*~
+.DS_Store
+
+# 可选：若团队不提交 VS Code 配置，取消下一行注释
+# .vscode/

README.md

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+[English Version/英文版](README_EN.md)
+# 1. 项目描述
+本项目为宇树机器狗系列第一章ROS2-Gazebo仿真的基础项目仓库，该仓库会随着系列项目的推进不定时进行更新，当前计划可查看本人飞书查看项目情况[项目飞书](https://ai.feishu.cn/wiki/CVpbwLIiMiwGnekKjhMcLXTRnag?from=from_copylink)，这个项目预计将会是一个超长期项目。
+
+# 2. 项目使用
+## 2.1 直接编译使用
+进入到工作空间
+```bash
+cd go2_sim_ws
+colcon build
+source install/setup.bash
+```
+
+`gazebo_sim` 会在 `source` 后自动设置 **Gazebo 模型搜索路径**（`GZ_SIM_RESOURCE_PATH` / `IGN_GAZEBO_RESOURCE_PATH`）以及 **CycloneDDS** 配置文件路径（`CYCLONEDDS_URI` 指向包内 `dds/cyclonedds.xml`，避免使用 `file://~/...` 导致 `~` 无法展开）。若需使用自己的 DDS 配置，可在 `source` 之后执行 `unset CYCLONEDDS_URI` 或重新 `export` 为绝对路径（`file:///home/...`）。
+
+![alt text](images/image-17.png)
+
+启动，第一次启动会比较久，因为需要下载相应的场景资源。
+```bash
+ros2 launch gazebo_sim launch.py
+```
+成功启动后会如下图所示。
+![alt text](images/image-18.png)
+
+本项目配备了一个狗的前置普通单目摄像头用以模拟GO2本身的前置摄像头，同时配备了两个激光雷达，一个为模拟GO2的前置L1激光雷达，一个为模拟外界的VLP16激光雷达，两个激光雷达都可同时发布LaserScan类型数据和PointCloud2类型数据，为后续的建图和导航工作提供了便利，而后续也会更新加入D435i摄像头（已经加入D435i摄像头）。
+```bash
+cd go2_sim_ws
+source install/local_setup.bash
+ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/robot1/cmd_vel
+```
+在终端中执行上述命令后就可以使用键盘对其进行简单的控制了，同时可以使用下面的服务完成对机器狗的控制,支持的服务有walk、up、sit，分别对应走、站、趴。
+```bash
+ros2 service call /robot1/robot_behavior_command quadropted_msgs/srv/RobotBehaviorCommand "{command: 'walk'}"
+```
+## 2.2 docker使用
+在使用docker前请简单的阅读docker搭建流程指南，因为每个人的情况还是会有些许差别，而为我使用的是外挂卷的形式完成的任务。
+使用下面的命令可以很快的帮您完成想要的操作。
+```bash
+cd go2_sim_ws/src/docker
+docker compose up -d --build --remove-orphans        #容器构建
+docker compose up -d go2_sim                        #启动容器，-d为不进入docker终端,ros2_sim是众多服务中的一个服务
+docker compose ps                                    #容器查看
+docker compose exec go2_sim bash                    #进入容器
+docker compose down                                  #容器删除
+```
+进入到docker后，可以按照前面直接安装的操作来
+```bash
+colcon build
+source install/setup.bash
+```
+![alt text](images/image-19.png)
+
+启动，第一次启动会比较久，因为需要下载相应的场景资源。
+```bash
+ros2 launch gazebo_sim launch.py # 启动无扩展传感器go2
+ros2 launch gazebo_sim launch.py sensors:=true world:=warehouse.sdf # 启动带扩展传感器go2,并选定地图
+```
+成功启动后会如下图所示。
+
+![alt text](images/image-20.png)
+
+本项目配备了一个狗的前置普通单目摄像头用以模拟GO2本身的前置摄像头，同时配备了两个激光雷达，一个为模拟GO2的前置L1激光雷达，一个为模拟外界的VLP16激光雷达，两个激光雷达都可同时发布LaserScan类型数据和PointCloud2类型数据，为后续的建图和导航工作提供了便利，而后续也会更新加入D435i摄像头。
+```bash
+cd go2_sim_ws
+source install/local_setup.bash
+ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/robot1/cmd_vel
+```
+在终端中执行上述命令后就可以使用键盘对其进行简单的控制了，同时可以使用下面的服务完成对机器狗的控制,支持的服务有walk、up、sit，分别对应走、站、趴。
+```bash
+ros2 service call /robot1/robot_behavior_command quadropted_msgs/srv/RobotBehaviorCommand "{command: 'walk'}"
+```
+## 2.3 建图和导航
+建图需在终端中输入如下命令
+```bash
+ros2 launch gazebo_sim launch.py sensors:=true world:=warehouse.sdf 
+ros2 launch cartographer go2_cartographer.launch.py
+ ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/robot1/cmd_vel #【键盘控制
+ ros2 run nav2_map_server map_saver_cli -t map -f warehouse_map #保存地图
+```
+![alt text](images/image-21.png)
+
+导航需要在终端中输入如下命令
+```bash
+ros2 launch gazebo_sim launch.py sensors:=true world:=warehouse.sdf 
+ros2 launch navigation2 go2_navigation2.launch.py 
+```
+![alt text](images/image-22.png)

README_EN.md

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+# 1. Project Description
+This repository is the foundational ROS2-Gazebo simulation project for Chapter 1 of the Unitree robot dog series. The repository will be updated from time to time as the full project series progresses. You can check the current project plan on my Feishu page: [Feishu Project Page](https://ai.feishu.cn/wiki/CVpbwLIiMiwGnekKjhMcLXTRnag?from=from_copylink). This is expected to be a very long-term project.
+
+# 2. How to Use the Project
+## 2.1 Build and Run Directly
+Go to the workspace:
+```bash
+cd go2_sim_ws
+colcon build
+source install/setup.bash
+```
+
+After sourcing, the `gazebo_sim` package extends **Gazebo model search paths** (`GZ_SIM_RESOURCE_PATH` / `IGN_GAZEBO_RESOURCE_PATH`) and sets **CycloneDDS** `CYCLONEDDS_URI` to the XML shipped with the package (under `share/gazebo_sim/dds/`), avoiding broken `file://~/...` URIs where `~` is not expanded. To use your own DDS config, run `unset CYCLONEDDS_URI` after sourcing or `export` an absolute `file:///...` path.
+
+![alt text](images/image-17.png)
+
+Launch the simulation. The first launch may take longer because required world resources need to be downloaded:
+```bash
+ros2 launch gazebo_sim launch.py
+```
+After a successful launch, you should see something like this:
+![alt text](images/image-18.png)
+
+This project includes:
+- A front monocular camera to simulate the GO2 front camera
+- Two LiDAR sensors:
+  - A front L1 LiDAR to simulate GO2’s built-in LiDAR
+  - An external VLP16 LiDAR
+
+Both LiDARs can publish `LaserScan` and `PointCloud2` data simultaneously, making mapping and navigation workflows easier. A D435i camera has also been added.
+
+Use keyboard teleoperation:
+```bash
+cd go2_sim_ws
+source install/local_setup.bash
+ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/robot1/cmd_vel
+```
+
+After running the command above, you can control the robot dog with your keyboard. You can also use the following service to control behavior. Supported commands are `walk`, `up`, and `sit`.
+```bash
+ros2 service call /robot1/robot_behavior_command quadropted_msgs/srv/RobotBehaviorCommand "{command: 'walk'}"
+```
+
+## 2.2 Using Docker
+Before using Docker, please read the Docker setup guide briefly, since environments may differ. In my setup, I use mounted volumes.
+
+The following commands cover the main Docker workflow:
+```bash
+cd go2_sim_ws/src/docker
+docker compose up -d --build --remove-orphans        # Build containers
+docker compose up -d go2_sim                        # Start container in detached mode
+docker compose ps                                    # List containers
+docker compose exec go2_sim bash                    # Enter container
+docker compose down                                  # Remove containers
+```
+
+Inside the Docker container, follow the same steps as direct local usage:
+```bash
+colcon build
+source install/setup.bash
+```
+
+![alt text](images/image-19.png)
+
+Launch the simulation. First launch may take longer due to resource downloads:
+```bash
+ros2 launch gazebo_sim launch.py # Launch GO2 without extended sensors
+ros2 launch gazebo_sim launch.py sensors:=true world:=warehouse.sdf # Launch GO2 with extended sensors in selected map
+```
+After successful startup, you should see:
+
+![alt text](images/image-20.png)
+
+As above, the project includes a front monocular camera and two LiDARs (GO2 front L1 + external VLP16), both of which can publish `LaserScan` and `PointCloud2`. This supports later mapping/navigation tasks. A D435i camera is also included.
+
+```bash
+cd go2_sim_ws
+source install/local_setup.bash
+ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/robot1/cmd_vel
+```
+
+Once the command runs, you can control the robot dog with keyboard input. Behavior services support `walk`, `up`, and `sit`.
+```bash
+ros2 service call /robot1/robot_behavior_command quadropted_msgs/srv/RobotBehaviorCommand "{command: 'walk'}"
+```
+
+## 2.3 Mapping and Navigation
+For mapping, run the following commands in terminal:
+```bash
+ros2 launch gazebo_sim launch.py sensors:=true world:=warehouse.sdf
+ros2 launch cartographer go2_cartographer.launch.py
+ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/robot1/cmd_vel # keyboard control
+ros2 run nav2_map_server map_saver_cli -t map -f warehouse_map # save map
+```
+
+![alt text](images/image-21.png)
+
+For navigation, run:
+```bash
+ros2 launch gazebo_sim launch.py sensors:=true world:=warehouse.sdf
+ros2 launch navigation2 go2_navigation2.launch.py
+```
+
+![alt text](images/image-22.png)

src/cartographer/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(cartographer)
+
+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)
+
+install(DIRECTORY 
+  config 
+  launch 
+  rviz
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()

src/cartographer/config/go2_cartographer.lua

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+include "map_builder.lua"
+include "trajectory_builder.lua"
+
+options = {
+  map_builder = MAP_BUILDER,
+  trajectory_builder = TRAJECTORY_BUILDER,
+  map_frame = "map",
+  tracking_frame = "base_link",
+  -- base_link改为odom,发布map到odom之间的位姿态
+  published_frame = "odom",
+  odom_frame = "odom",
+  -- true改为false，不用提供里程计数据
+  provide_odom_frame = false,
+  -- false改为true，仅发布2D位资
+  publish_frame_projected_to_2d = true,
+  -- false改为true，使用里程计数据
+  use_odometry = true,
+  use_nav_sat = false,
+  use_landmarks = false,
+  -- 0改为1,使用一个雷达
+  num_laser_scans = 1,
+  -- 1改为0，不使用多波雷达
+  num_multi_echo_laser_scans = 0,
+  -- 10改为1，1/1=1等于不分割
+  num_subdivisions_per_laser_scan = 1,
+  num_point_clouds = 0,
+  lookup_transform_timeout_sec = 0.2,
+  submap_publish_period_sec = 0.3,
+  pose_publish_period_sec = 5e-3,
+  trajectory_publish_period_sec = 30e-3,
+  rangefinder_sampling_ratio = 1.,
+  odometry_sampling_ratio = 1.,
+  fixed_frame_pose_sampling_ratio = 1.,
+  imu_sampling_ratio = 1.,
+  landmarks_sampling_ratio = 1.,
+}
+
+
+-- false改为true，启动2D SLAM
+MAP_BUILDER.use_trajectory_builder_2d = true
+
+-- 0改成0.10,比机器人半径小的都忽略
+TRAJECTORY_BUILDER_2D.min_range = 0.5
+-- 30改成3.5,限制在雷达最大扫描范围内，越小一般越精确些
+TRAJECTORY_BUILDER_2D.max_range = 10.0
+-- 5改成3,传感器数据超出有效范围最大值
+TRAJECTORY_BUILDER_2D.missing_data_ray_length = 3.
+-- true改成false,不使用IMU数据，大家可以开启，然后对比下效果
+TRAJECTORY_BUILDER_2D.use_imu_data = false
+-- false改成true,使用实时回环检测来进行前端的扫描匹配
+TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true 
+-- 1.0改成0.1,提高对运动的敏感度
+TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.1)
+
+-- 0.55改成0.65,Fast csm的最低分数，高于此分数才进行优化。
+POSE_GRAPH.constraint_builder.min_score = 0.65
+--0.6改成0.7,全局定位最小分数，低于此分数则认为目前全局定位不准确
+POSE_GRAPH.constraint_builder.global_localization_min_score = 0.7
+
+-- 设置0可关闭全局SLAM
+-- POSE_GRAPH.optimize_every_n_nodes = 0
+
+return options

src/cartographer/launch/go2_cartographer.launch.py

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+
+import os
+from launch import LaunchDescription
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+    # 定位到功能包的地址
+    pkg_share = FindPackageShare(package='cartographer').find('cartographer')
+    
+    #=====================运行节点需要的配置=======================================================================
+    # 是否使用仿真时间，我们用gazebo，这里设置成true
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    # 地图的分辨率
+    resolution = LaunchConfiguration('resolution', default='0.05')
+    # 地图的发布周期
+    publish_period_sec = LaunchConfiguration('publish_period_sec', default='1.0')
+    # 配置文件夹路径
+    configuration_directory = LaunchConfiguration('configuration_directory',default= os.path.join(pkg_share, 'config') )
+    # 配置文件
+    configuration_basename = LaunchConfiguration('configuration_basename', default='go2_cartographer.lua')
+    rviz_config_dir = os.path.join(pkg_share, 'rviz')+"/go2_cartographer.rviz"
+    print(f"rviz config in {rviz_config_dir}")
+
+    #=====================声明三个节点，cartographer/occupancy_grid_node/rviz_node=================================
+    cartographer_node = Node(
+        package='cartographer_ros',
+        executable='cartographer_node',
+        name='cartographer_node',
+        output='screen',
+        remappings=[
+            ('/tf', '/robot1/tf'),
+            ('/tf_static', '/robot1/tf_static'),
+            ('/scan', '/robot1/velodyne'),
+            ('/odom', '/robot1/odom')
+        ],
+        parameters=[{'use_sim_time': use_sim_time}],
+        arguments=['-configuration_directory', configuration_directory,
+                   '-configuration_basename', configuration_basename])
+
+    cartographer_occupancy_grid_node = Node(
+        package='cartographer_ros',
+        executable='cartographer_occupancy_grid_node',
+        name='cartographer_occupancy_grid_node',
+        output='screen',
+        parameters=[{'use_sim_time': use_sim_time}],
+        arguments=['-resolution', resolution, '-publish_period_sec', publish_period_sec])
+
+    rviz_node = Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        arguments=['-d', rviz_config_dir],
+        parameters=[{'use_sim_time': use_sim_time}],
+        output='screen',
+        remappings=[
+            ('/tf', '/robot1/tf'),
+            ('/tf_static', '/robot1/tf_static')
+        ])
+
+    #===============================================定义启动文件========================================================
+    ld = LaunchDescription()
+    ld.add_action(cartographer_node)
+    ld.add_action(cartographer_occupancy_grid_node)
+    ld.add_action(rviz_node)
+
+    return ld

src/cartographer/launch/slam_toolbox.launch.py

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+import os
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+def generate_launch_description():
+    # -------------------------- 1. 声明启动参数 --------------------------
+    pkg_share = FindPackageShare(package='cartographer').find('cartographer')
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    rviz_config_dir = os.path.join(pkg_share, 'rviz')+"/go2_cartographer.rviz"
+    namespace_arg = DeclareLaunchArgument(
+        'namespace',
+        default_value='robot1',
+        description='Robot namespace'
+    )
+
+    # -------------------------- 2. 获取slam_toolbox默认配置文件 --------------------------
+    slam_toolbox_share = FindPackageShare('slam_toolbox')
+    default_params_file = PathJoinSubstitution(
+        [slam_toolbox_share, 'config', 'mapper_params_online_async.yaml']
+    )
+
+    # -------------------------- 3. 配置slam_toolbox节点 --------------------------
+    slam_toolbox_node = Node(
+        package='slam_toolbox',        
+        executable='async_slam_toolbox_node',  
+        name='slam_toolbox',        
+        namespace=LaunchConfiguration('namespace'),  
+        output='screen',               
+        parameters=[
+            use_sim_time,
+            default_params_file,
+            {
+                'scan_topic': 'velodyne',    
+                'odom_topic': 'odom',    
+                'base_frame': 'base_link', 
+                'odom_frame': 'odom',            
+            }
+        ],
+        remappings=[
+            ('/tf', 'tf'),
+            ('/tf_static', 'tf_static')
+        ]
+    )
+    rviz_node = Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        arguments=['-d', rviz_config_dir],
+        parameters=[{'use_sim_time': use_sim_time}],
+        output='screen',
+        remappings=[
+            ('/tf', '/robot1/tf'),
+            ('/tf_static', '/robot1/tf_static')
+        ])
+    # -------------------------- 4. 组装并返回LaunchDescription --------------------------
+    return LaunchDescription([
+        namespace_arg,
+        slam_toolbox_node,
+        rviz_node
+    ])

src/cartographer/maps/warehouse_map.yaml

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+image: warehouse_map.pgm
+mode: trinary
+resolution: 0.05
+origin: [-8.25, -7, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25

src/cartographer/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>cartographer</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="rosuser@todo.todo">rosuser</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/cartographer/rviz/go2_cartographer.rviz

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+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /LaserScan1
+      Splitter Ratio: 0.5
+    Tree Height: 1245
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: LaserScan
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 0.699999988079071
+      Class: rviz_default_plugins/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /map
+      Update Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /map_updates
+      Use Timestamp: false
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot1/robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        camera_d435:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        camera_face:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        d435i_imu:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        imu_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        lf_foot_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        lf_hip_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        lf_lower_leg_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        lf_upper_leg_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        lh_foot_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        lh_hip_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        lh_lower_leg_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        lh_upper_leg_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        lidar:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        rf_foot_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        rf_hip_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        rf_lower_leg_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        rf_upper_leg_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        rh_foot_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        rh_hip_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        rh_lower_leg_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        rh_upper_leg_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        trunk:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        velodyne:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        velodyne_imu:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 0
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: LaserScan
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.05000000074505806
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot1/velodyne
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 29.7434139251709
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.785398006439209
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.785398006439209
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1536
+  Hide Left Dock: false
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd00000004000000000000015600000566fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b00000566000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000566fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b00000566000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004dd0000003efc0100000002fb0000000800540069006d00650100000000000004dd0000025300fffffffb0000000800540069006d00650100000000000004500000000000000000000003810000056600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1245
+  X: 1315
+  Y: 27

src/docker/Dockerfile

@@ -0,0 +1,56 @@
+FROM osrf/ros:humble-desktop-full
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN apt update && \
+    apt install -y --no-install-recommends \
+    build-essential \
+    git \
+    wget \
+    ros-humble-controller-manager \
+    ros-humble-hardware-interface \
+    ros-humble-joint-state-publisher \
+    ros-humble-slam-toolbox \
+    ros-humble-navigation2 \
+    ros-humble-nav2-bringup \
+    ros-humble-rqt-robot-steering \
+    ros-humble-rmw-cyclonedds-cpp \
+    ros-humble-cyclonedds \
+    ros-humble-velodyne-description \
+    ros-humble-tf-transformations \
+    ros-humble-opennav-docking \
+    ros-humble-robot-localization \
+    ros-humble-cartographer \
+    ros-humble-cartographer-ros \
+    ros-humble-ros2-controllers \
+    ros-humble-rqt-tf-tree \
+    ros-humble-slam-toolbox \
+    ros-humble-gazebo-ros \
+    ros-humble-gazebo-plugins \
+    ros-humble-gazebo-dev && \
+    apt install -y --no-install-recommends \
+    ros-humble-ros-ign \
+    ros-humble-ign-ros2-control \
+    ros-humble-gz-ros2-control && \
+    apt clean && \
+    rm -rf /var/lib/apt/lists/*
+
+ENV DEBIAN_FRONTEND=
+
+ARG USER_ID=1000
+ARG GROUP_ID=1000
+
+RUN groupadd -g ${GROUP_ID} rosuser && \
+    useradd -u ${USER_ID} -g rosuser -m rosuser -s /bin/bash && \
+    echo "rosuser ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers
+
+WORKDIR /home/ROS2/car/ROS2-Gazebo-GO2
+
+RUN echo "source /opt/ros/humble/setup.bash" >> /home/rosuser/.bashrc && \
+    echo "export GZ_SIM_RESOURCE_PATH=/home/ROS2/car/ROS2-Gazebo-GO2/src/gazebo_sim/models" >> /home/rosuser/.bashrc && \
+    echo "export CYCLONEDDS_URI=file://home/ROS2/project/go2_sim_ws/src/docker/cyclonedds.xml" >> /home/rosuser/.bashrc
+
+USER rosuser
+
+CMD ["/bin/bash"]
+

src/docker/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/docker/docker-compose.yml

@@ -0,0 +1,33 @@
+version: '3.8'  
+
+services:
+  go2_sim:
+    build:
+      context: .  
+      dockerfile: Dockerfile 
+    image: go2_sim:latest
+    container_name: go2_sim
+    tty: true
+    stdin_open: true
+    environment:
+      - DISPLAY=${DISPLAY}
+      - NVIDIA_DRIVER_CAPABILITIES=all
+      - QT_X11_NO_MITSHM=1
+      - USER_ID=${USER_ID:-1000}
+      - GROUP_ID=${GROUP_ID:-1000}
+    devices:
+      - /dev/snd:/dev/snd
+      - /dev/dri:/dev/dri
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      - /home/huahua:/home/ROS2
+      - /dev/shm:/dev/shm  
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia  # 指定设备驱动
+              count: all      # 预留所有可用 NVIDIA GPU
+              capabilities: [gpu] # 声明 GPU 能力：容器内可调用 GPU 进行渲染/计算
+    network_mode: host
+    command: /bin/bash

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>
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+    <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"/>
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+    <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>
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+      <instance_effect url="#MaterialFBXASC032FBXASC03525-fx"/>
+    </material>
+  </library_materials>
+  <library_effects>
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+            <shininess>
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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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+      <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_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"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
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+  <library_geometries>
+    <geometry id="aws_AirconditionerB_01_collision-lib" name="aws_AirconditionerB_01_collisionMesh">
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+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
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+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#aws_AirconditionerB_01_collision"></instance_visual_scene>
+  </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>
+          <mesh>
+            <uri>model://aws_robomaker_residential_AirconditionerB_01/meshes/aws_AirconditionerB_01_collision.DAE</uri>
+            <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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+<?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>
+    <geometry id="aws_BalconyTable_01_collision-lib" name="aws_BalconyTable_01_collisionMesh">
+      <mesh>
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+</float_array>
+          <technique_common>
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+              <param name="X" type="float"/>
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+          </technique_common>
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+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
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+        </source>
+        <vertices id="aws_BalconyTable_01_collision-VERTEX">
+          <input semantic="POSITION" source="#aws_BalconyTable_01_collision-POSITION"/>
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+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="aws_BalconyTable_01_collision" name="aws_BalconyTable_01_collision">
+      <node name="aws_BalconyTable_01_collision" id="aws_BalconyTable_01_collision" sid="aws_BalconyTable_01_collision"><matrix sid="matrix">1.000000 0.000000 0.000000 -3.264275 0.000000 1.000000 0.000000 0.314791 0.000000 0.000000 1.000000 36.480736 0.000000 0.000000 0.000000 1.000000</matrix><instance_geometry url="#aws_BalconyTable_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_BalconyTable_01_collision"></instance_visual_scene>
+  </scene>
+</COLLADA>

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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src/gazebo_sim/models/aws_robomaker_residential_Bed_01/model.config

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src/gazebo_sim/models/aws_robomaker_residential_Bed_01/model.sdf

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src/gazebo_sim/models/aws_robomaker_residential_Board_01/meshes/aws_Board_01_collision.DAE

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src/gazebo_sim/models/aws_robomaker_residential_Board_01/meshes/aws_Board_01_visual.DAE

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src/gazebo_sim/models/aws_robomaker_residential_Board_01/model.config

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+<?xml version="1.0" ?>
+<model>
+    <name>aws_robomaker_residential_Board_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_Board_01/model.sdf

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+<?xml version="1.0" ?>
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+        <geometry>
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+            <scale>1 1 1</scale>
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+        </geometry>
+      </collision>
+      <visual name="visual">
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+        </geometry>
+      <meta> <layer> 2 </layer></meta>
+</visual>
+    </link>
+    
+    <static>1</static>
+  </model>
+</sdf>

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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src/gazebo_sim/models/aws_robomaker_residential_Carpet_01/model.config

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src/gazebo_sim/models/aws_robomaker_residential_Carpet_01/model.sdf

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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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+<?xml version="1.0" ?>
+<model>
+    <name>aws_robomaker_residential_ChairA_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_ChairA_01/model.sdf

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+<?xml version="1.0" ?>
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+    </link>
+  </model>
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src/gazebo_sim/models/aws_robomaker_residential_ChairD_01/meshes/aws_ChairD_01_collision.DAE

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src/gazebo_sim/models/aws_robomaker_residential_ChairD_01/model.config

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+<?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" ?>
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+  <model name="aws_robomaker_residential_ChairD_01">
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+      <inertial>
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+      <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" ?>
+<model>
+    <name>aws_robomaker_residential_Chandelier_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_Chandelier_01/model.sdf

@@ -0,0 +1,27 @@
+<?xml version="1.0" ?>
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+  <model name="aws_robomaker_residential_Chandelier_01">
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+      <collision name="collision">
+        <geometry>
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+            <scale>1 1 1</scale>
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+        </geometry>
+      </collision>
+      <visual name="visual">
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+            <uri>model://aws_robomaker_residential_Chandelier_01/meshes/aws_Chandelier_01_visual.DAE</uri>
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+        </geometry>
+      <meta> <layer> 2 </layer></meta>
+</visual>
+    </link>
+	<static>1</static>
+  </model>
+</sdf>

src/gazebo_sim/models/aws_robomaker_residential_CoffeeTable_01/meshes/aws_CoffeeTable_01_collision.DAE

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+<?xml version="1.0" encoding="utf-8"?>
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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">
+    <link name="link">
+      <inertial>
+        <mass>21.7</mass>
+
+        <inertia>
+          <ixx>0.8137499999999998</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>2.76675</iyy>
+          <iyz>0</iyz>
+          <izz>3.254</izz>
+        </inertia>
+
+
+      </inertial>
+      
+      <collision name="collision">
+        <geometry>
+          <mesh>
+            <uri>model://aws_robomaker_residential_CoffeeTable_01/meshes/aws_CoffeeTable_01_collision.DAE</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+
+        <surface>
+          <contact>
+            <ode>
+              <max_vel>0.01</max_vel>
+            </ode>
+          </contact>
+         </surface>
+      </collision>
+
+      <visual name="visual">
+	    <geometry>
+          <mesh>
+            <uri>model://aws_robomaker_residential_CoffeeTable_01/meshes/aws_CoffeeTable_01_visual.DAE</uri>
+          </mesh>
+        </geometry>
+      <meta> <layer> 1 </layer></meta>
+</visual>
+    </link>
+    <static>1</static>
+  </model>
+</sdf>