diff --git a/.vscode/tasks.json b/.vscode/tasks.json
new file mode 100644
index 0000000..3901c53
--- /dev/null
+++ b/.vscode/tasks.json
@@ -0,0 +1,72 @@
+{
+ "version": "2.0.0",
+ "tasks": [
+ {
+ "label": "Install_Dependencies",
+ "type": "shell",
+ "command": "source /opt/ros/humble/setup.sh && source install/setup.sh && sudo apt-get update && rosdep install --from-path src",
+ "group": {
+ "kind": "build",
+ "isDefault": true
+ },
+ "options": {
+ "shell": {
+ "executable": "/bin/bash",
+ "args": ["--login", "-i", "-c"] // --login loads your ~/.bashrc
+ }
+ },
+ "problemMatcher": []
+ },
+ {
+ "label": "Build",
+ "type": "shell",
+ "command": "echo '---- building -----' && source /opt/ros/humble/setup.sh && source install/setup.sh && colcon build",
+ "group": {
+ "kind": "build",
+ "isDefault": true
+ },
+ "options": {
+ "shell": {
+ "executable": "/bin/bash",
+ "args": ["--login", "-i", "-c"] // --login loads your ~/.bashrc
+ }
+ },
+ "problemMatcher": []
+ },
+ {
+ "label": "Run_Simulation",
+ "type": "shell",
+ "command": "echo '----- running simulation -----' source ~/.bashrc && source /opt/ros/humble/setup.sh && source install/setup.sh && ros2 launch simulation simulation.launch.py",
+ "group": {
+ "kind": "build",
+ "isDefault": true
+ },
+ "dependsOn": ["Build"],
+ "options": {
+ "shell": {
+ "executable": "/bin/bash",
+ "args": ["--login", "-i", "-c"] // --login loads your ~/.bashrc
+ }
+ },
+ "problemMatcher": []
+ },
+ {
+ "label": "Run_Raw_Gazebo",
+ "type": "shell",
+ "command": "echo '----- running simulation -----' source ~/.bashrc && source /opt/ros/humble/setup.sh && source install/setup.sh && ign gazebo worlds/test.world",
+ "group": {
+ "kind": "build",
+ "isDefault": true
+ },
+ "dependsOn": ["Build"],
+ "options": {
+ "shell": {
+ "executable": "/bin/bash",
+ "args": ["--login", "-i", "-c"] // --login loads your ~/.bashrc
+ }
+ },
+ "problemMatcher": []
+ }
+
+ ]
+}
\ No newline at end of file
diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000..6e0a232
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2025 Wisconsin Robotics
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/Makefile b/Makefile
new file mode 100644
index 0000000..881a1dc
--- /dev/null
+++ b/Makefile
@@ -0,0 +1,15 @@
+inst_dep:
+ sudo apt-get update
+ rosdep install --from-path src
+build_env:
+ colcon build
+ echo "DONT FORGET TO SOURCE!"
+run:
+ ros2 launch simulation simulation.launch.py
+
+clean:
+ rm -rf build/ install/ log/
+
+run_and_build: install_dependencies build run
+
+fast_build: clean build_env run
diff --git a/README.md b/README.md
index 0102931..98bb843 100644
--- a/README.md
+++ b/README.md
@@ -5,6 +5,11 @@
This is the official repository for WRover Software Simulation.
## Tools and Lanugages
+- Rosviz
+- Gazebo for simulation.
+ - ROS2GZ bridge
+ - Xacro udrf
+- Custom VSCode build scripts
Currently using Rosviz with Gazebo for simulation.
@@ -36,4 +41,57 @@ Currently using Rosviz with Gazebo for simulation.
- Code that is free of syntax errors and basic bugs should be merged into the test branch by opening a pull request.
-- The test branch will be periodically merged into main after thorough testing.
+## Notes
+Documentation about the software being used, resources for development, things that need to be done, can all be found in [/docs/](./docs/)
+
+
+# Simulation Setup
+starting from the root of the WiscRobo directory (where this readme is).
+- NOTE: for development purposes, it is recommended to use VScode seeing as there are custom build commands and compile tasks in VSCode
+- WSL has varying support for different graphics card. If there is trouble running the software, please refer to [/docs/graphics.md](./docs/graphics.md) and contribute to such file.
+
+### Prereqs
+These are required to be installed on the system in order for the simulation to work.
+```
+sudo apt install python3-colcon-common-extensions
+sudo apt-get install python3-rosdep2
+sudo apt install ros-humble-joint-state-publisher-gui
+```
+
+### Raw Build and Run Commands
+
+```
+# Install package dependencies
+source /opt/ros/humble/setup.sh
+sudo apt-get update
+rosdep install --from-path src
+
+# Build projcet
+colcon build
+
+# Run Sim
+source install/setup.sh
+ros2 launch simulation simulation.launch.py
+```
+
+### Shortcuts
+``` bash
+# For fast builds use fast_build script at the top level
+# This will do the entire build, source, and run routine for you
+# make sure to chmod the script
+./fast_build
+
+# clean repo
+make clean
+
+# install ros dependencies
+make inst_dep
+
+# build project
+make build_env
+
+# run after source
+make run
+```
+
+
diff --git a/docs/.gitkeep b/docs/.gitkeep
new file mode 100644
index 0000000..e69de29
diff --git a/docs/TODO.md b/docs/TODO.md
new file mode 100644
index 0000000..25924d1
--- /dev/null
+++ b/docs/TODO.md
@@ -0,0 +1,5 @@
+# TODO
+
+- [ ] Run test vs real rover to see how similar the simulation is to the real rover
+ - [ ] Calibrate the inertial values of the rover to be similar to the real thing
+ - [ ] Calibrate sensors to be similar to the sensors on the real rover
\ No newline at end of file
diff --git a/docs/documents.md b/docs/documents.md
new file mode 100644
index 0000000..d8ef4ac
--- /dev/null
+++ b/docs/documents.md
@@ -0,0 +1,5 @@
+# Docs
+These files all outline design decisions, software stack, and resources for other developers
+
+1. [development resources](./Resources.md) - a list of documents related to ROS, gazebo, and simulation development
+2. [todo](./TODO.md) - lists all things that need to get done on the rover
\ No newline at end of file
diff --git a/docs/graphics.md b/docs/graphics.md
new file mode 100644
index 0000000..7fe039d
--- /dev/null
+++ b/docs/graphics.md
@@ -0,0 +1,13 @@
+# Graphics information
+WSL is supper funky when it comes to graphics. You might need to make some changes in order to get this to render on your computer
+
+
+## INTEL Arc Graphics cards
+Intel Arc graphics cards have proven problematic, you need to use software rendering if
+possible by your computer.
+
+```bash
+# Run the following in your shell instance
+export LIBGL_ALWAYS_SOFTWARE=1
+export GALLIUM_DRIVER=llvmpipe
+```
diff --git a/docs/resources.md b/docs/resources.md
new file mode 100644
index 0000000..03eab47
--- /dev/null
+++ b/docs/resources.md
@@ -0,0 +1,42 @@
+
+# Resources and Notes
+These all serve as notes and general resources aimed at helping other developers. If you find anything useful please put it here
+
+## Gazebo Plugins
+Gazebo plugins are scarce and not very common, here are some that are found regarding plugin development.
+
+Gazebo Plugin Development
+1) [Gazebo Plugin Tutorial Website by Hrithik Verma](https://sites.google.com/view/gazebo-plugin-tutorials/3-write-a-world-plugin?authuser=0)
+2) [Gazebo Plugin Tutorial Youtube Series by Hrithik Verma](https://www.youtube.com/watch?v=UNZMce9z5Fc&list=PLOQhCaBjYnseDMTpd-b52spLSq7hg0ar1&index=1)
+
+Gazebo Documentations
+1) [Defualt Gazeo Plugins Github](https://github.com/gazebosim/gz-sim/tree/main/src/systems)
+2) [Default Gazebo Plugins Docs](https://gazebosim.org/api/gazebo/6/namespaceignition_1_1gazebo_1_1systems.html)
+3) [Gazebo API Docs](https://osrf-distributions.s3.amazonaws.com/gazebo/api/dev/index.html)
+4) [Ignition Math Docs](https://osrf-distributions.s3.amazonaws.com/ign-math/api/1.0.0/namespaceignition_1_1math.html)
+
+Gazebo ROS intigration
+1) [Example Gazebo/ROS2 project](https://github.com/gazebosim/ros_gz_project_template/tree/main)
+
+
+
+## Inertials
+This is a note about inertials. Intertials are what tell the simulation how the links interact with the world.
+A great wiki artical about this is [Moment of Inertia Wiki Page](https://en.wikipedia.org/wiki/Moment_of_inertia#Inertia_tensor), specifically the inertia tensors since that is what URDF uses.
+
+### Approximation Methods
+There are two main methods for estimating inertial values: getting it from CAD and estimating it with general shapes.
+#### CAD
+in Onshape, you can take the moment of inertia from the shapes themselves
+
+### URDF Reference frames
+Take the exampple:
+``` xml
+
+
+
+
+
+
+```
+In the case of URDF, the intertials of the child will be relative to the origin axis, the origin axis being based off the parent's frame of reference
diff --git a/fast_build.sh b/fast_build.sh
new file mode 100755
index 0000000..8dc17ad
--- /dev/null
+++ b/fast_build.sh
@@ -0,0 +1,20 @@
+#!/bin/bash
+
+# Exit on error
+set -e
+
+# clearing
+clear
+
+# Source ROS2
+source /opt/ros/humble/setup.bash
+
+# clean project and build
+make clean
+make build_env
+
+# Source workspace
+source install/setup.bash
+
+# Launch simulation
+make run
diff --git a/src/.gitkeep b/src/.gitkeep
new file mode 100644
index 0000000..e69de29
diff --git a/src/simulation/LICENSE b/src/simulation/LICENSE
new file mode 100644
index 0000000..d645695
--- /dev/null
+++ b/src/simulation/LICENSE
@@ -0,0 +1,202 @@
+
+ Apache License
+ Version 2.0, January 2004
+ http://www.apache.org/licenses/
+
+ TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
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diff --git a/src/simulation/config/ROS_gazebo_bridge_config.yaml b/src/simulation/config/ROS_gazebo_bridge_config.yaml
new file mode 100644
index 0000000..1ef3333
--- /dev/null
+++ b/src/simulation/config/ROS_gazebo_bridge_config.yaml
@@ -0,0 +1,19 @@
+---
+# Test
+- ros_topic_name: "cmd_wheel_velocity"
+ gazebo_topic_name: "cmd_wheel_velocity"
+ ros_type_name: "std_msgs/msg/Float64"
+ gz_type_name: "ignition.msgs.Double"
+ direction: ROS_TO_GZ
+# Front Drive Train Wheel
+- ros_topic_name: "rover/drive/TR_wheel_swivel"
+ gazebo_topic_name: "rover/drive/TR_wheel_swivel"
+ ros_type_name: "std_msgs/msg/Float64"
+ gz_type_name: "ignition.msgs.Double"
+ direction: ROS_TO_GZ
+# Front Swivel to Chasis
+- ros_topic_name: "rover/drive/TR_swivel_chasis"
+ gazebo_topic_name: "rover/drive/TR_swivel_chasis"
+ ros_type_name: "std_msgs/msg/Float64"
+ gz_type_name: "ignition.msgs.Double"
+ direction: ROS_TO_GZ
\ No newline at end of file
diff --git a/src/simulation/config/rviz_config.rviz b/src/simulation/config/rviz_config.rviz
new file mode 100644
index 0000000..55036c1
--- /dev/null
+++ b/src/simulation/config/rviz_config.rviz
@@ -0,0 +1,45 @@
+Panels:
+ - Class: rviz_common/Displays
+ Name: Displays
+ - Class: rviz_common/Views
+ Name: Views
+
+Visualization Manager:
+ Class: ""
+ Displays:
+ - Class: rviz_default_plugins/Grid
+ Enabled: true
+ Name: Grid
+ Value: true
+ - Class: rviz_default_plugins/RobotModel
+ Description Source: Topic
+ Description Topic: /robot_description
+ Enabled: true
+ Name: Rover_Model
+ Value: true
+ Visual Enabled: true
+ Collision Enabled: true
+ Enabled: true
+ Global Options:
+ Background Color: 48; 48; 48
+ Fixed Frame: base_link
+ Frame Rate: 30
+ Name: root
+ Tools:
+ - Class: rviz_default_plugins/MoveCamera
+ - Class: rviz_default_plugins/Select
+ Value: true
+ Views:
+ Current:
+ Class: rviz_default_plugins/Orbit
+ Distance: 2
+ Pitch: 0.5
+ Target Frame: base_link
+ Yaw: 0.8
+ Saved: ~
+
+Window Geometry:
+ Height: 900
+ Width: 1200
+ X: 0
+ Y: 0
\ No newline at end of file
diff --git a/src/simulation/launch/simulation.launch.py b/src/simulation/launch/simulation.launch.py
new file mode 100644
index 0000000..7d96a29
--- /dev/null
+++ b/src/simulation/launch/simulation.launch.py
@@ -0,0 +1,75 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import ExecuteProcess, TimerAction,SetEnvironmentVariable
+from ament_index_python.packages import get_package_share_directory
+import xacro
+import os
+from pathlib import Path
+
+
+def generate_launch_description():
+
+ # Gazebo Resource folders look one directory above the package folder
+ pkg = get_package_share_directory("simulation")
+
+ # Process xacro and write urdf to install dir
+ xacro_file = os.path.join(pkg, "urdf", "rover.urdf.xacro")
+ doc = xacro.process_file(xacro_file).toxml()
+
+
+ return LaunchDescription([
+ # Start Gazebo with the world
+ ExecuteProcess(
+ cmd=['ros2', 'launch', "ros_gz_sim", "gz_sim.launch.py", f'gz_args:=-r {os.path.join(pkg, "worlds", "test.world")}'],
+ additional_env={
+ 'GZ_SIM_RESOURCE_PATH': str(Path(pkg).parent),
+ },
+ output='screen'
+ ),
+
+ # Spawn Robot and start ROS Bridge to transfer ros messages to gazebo messages after a delay
+ TimerAction(
+ period=3.0,
+ actions=[
+ # Start the robot state publisher to publish the robot's TF frames
+ Node(
+ package='robot_state_publisher',
+ executable='robot_state_publisher',
+ parameters=[{'robot_description': doc}],
+ output='screen'
+ ),
+ Node(
+ package='joint_state_publisher_gui',
+ executable='joint_state_publisher_gui',
+ name='joint_state_publisher_gui',
+ ),
+ # Start RViz to visualize the robot
+ Node(
+ package='rviz2',
+ executable='rviz2',
+ output='screen',
+ arguments=['-d', os.path.join(pkg, "config", "rviz_config.rviz")]
+ ),
+ # Spawn the robot in Gazebo
+ Node(
+ package='ros_gz_sim',
+ executable='create',
+ arguments=[
+ '-string', doc,
+ '-name', 'rover',
+ '-x', '0', '-y', '0', '-z', '0.25'
+ ],
+ output='screen'
+ ),
+ # Start the ROS-Gazebo bridge
+ Node(
+ package='ros_gz_bridge',
+ executable='parameter_bridge',
+ parameters = [{
+ "config_file" : os.path.join(pkg, "config", "ROS_gazebo_bridge_config.yaml")
+ }],
+ output='screen'
+ )
+ ]
+ )
+ ])
diff --git a/src/simulation/meshes/main_chassis.stl b/src/simulation/meshes/main_chassis.stl
new file mode 100644
index 0000000..888e940
Binary files /dev/null and b/src/simulation/meshes/main_chassis.stl differ
diff --git a/src/simulation/meshes/rd_back_swivel.stl b/src/simulation/meshes/rd_back_swivel.stl
new file mode 100644
index 0000000..b542327
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diff --git a/src/simulation/meshes/rd_back_wheel.stl b/src/simulation/meshes/rd_back_wheel.stl
new file mode 100644
index 0000000..a9d6b1a
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diff --git a/src/simulation/meshes/rd_chasis.stl b/src/simulation/meshes/rd_chasis.stl
new file mode 100644
index 0000000..648b2d7
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diff --git a/src/simulation/meshes/rd_front_swivel.stl b/src/simulation/meshes/rd_front_swivel.stl
new file mode 100644
index 0000000..3d99e77
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diff --git a/src/simulation/meshes/rd_front_wheel.stl b/src/simulation/meshes/rd_front_wheel.stl
new file mode 100644
index 0000000..56200fa
Binary files /dev/null and b/src/simulation/meshes/rd_front_wheel.stl differ
diff --git a/src/simulation/package.xml b/src/simulation/package.xml
new file mode 100644
index 0000000..23835a3
--- /dev/null
+++ b/src/simulation/package.xml
@@ -0,0 +1,24 @@
+
+
+
+ simulation
+ 0.0.0
+ A ROS2/Gazebo Robot simulation environment for Wisconsin Robotics
+ teggatz
+ Apache-2.0
+
+ ament_copyright
+ ament_flake8
+ ament_pep257
+ python3-pytest
+
+ ros_gz_bridge
+ ros_gz_sim
+ ros2launch
+ xacro
+
+
+
+ ament_python
+
+
diff --git a/src/simulation/resource/simulation b/src/simulation/resource/simulation
new file mode 100644
index 0000000..e69de29
diff --git a/src/simulation/setup.cfg b/src/simulation/setup.cfg
new file mode 100644
index 0000000..c2bfec0
--- /dev/null
+++ b/src/simulation/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/simulation
+[install]
+install_scripts=$base/lib/simulation
diff --git a/src/simulation/setup.py b/src/simulation/setup.py
new file mode 100644
index 0000000..db2a289
--- /dev/null
+++ b/src/simulation/setup.py
@@ -0,0 +1,48 @@
+from glob import glob
+import os
+from setuptools import find_packages, setup
+
+package_name = 'simulation'
+
+def get_data_files(dir):
+ data_files = []
+ for root, dirs, files in os.walk(dir):
+ if files:
+ install_dir = os.path.join("share", package_name, root)
+ file_paths = [os.path.join(root, f) for f in files]
+ data_files.append((install_dir, file_paths))
+ return data_files
+
+
+
+setup(
+ name=package_name,
+ version='0.0.0',
+ packages=find_packages(exclude=['test']),
+ data_files=[
+ ('share/ament_index/resource_index/packages',
+ ['resource/' + package_name]),
+ ('share/' + package_name, ['package.xml']),
+ (os.path.join('share', package_name, 'launch'), glob('launch/*.py')),
+ *get_data_files("models"),
+ *get_data_files("config"),
+ *get_data_files("worlds"),
+ *get_data_files("urdf"),
+ *get_data_files("meshes"),
+ ],
+ install_requires=['setuptools'],
+ zip_safe=True,
+ maintainer='Christopher Teggatz Jr.',
+ maintainer_email='categgatzjr@gmail.com',
+ description='A ROS2/Gazebo Robot simulation environment for Wisconsin Robotics',
+ license='Apache-2.0',
+ extras_require={
+ 'test': [
+ 'pytest',
+ ],
+ },
+ entry_points={
+ 'console_scripts': [
+ ],
+ },
+)
diff --git a/src/simulation/simulation/__init__.py b/src/simulation/simulation/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/src/simulation/test/test_copyright.py b/src/simulation/test/test_copyright.py
new file mode 100644
index 0000000..97a3919
--- /dev/null
+++ b/src/simulation/test/test_copyright.py
@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+ rc = main(argv=['.', 'test'])
+ assert rc == 0, 'Found errors'
diff --git a/src/simulation/test/test_flake8.py b/src/simulation/test/test_flake8.py
new file mode 100644
index 0000000..27ee107
--- /dev/null
+++ b/src/simulation/test/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+ rc, errors = main_with_errors(argv=[])
+ assert rc == 0, \
+ 'Found %d code style errors / warnings:\n' % len(errors) + \
+ '\n'.join(errors)
diff --git a/src/simulation/test/test_pep257.py b/src/simulation/test/test_pep257.py
new file mode 100644
index 0000000..b234a38
--- /dev/null
+++ b/src/simulation/test/test_pep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+ rc = main(argv=['.', 'test'])
+ assert rc == 0, 'Found code style errors / warnings'
diff --git a/src/simulation/urdf/components/left_drive.xacro b/src/simulation/urdf/components/left_drive.xacro
new file mode 100644
index 0000000..b3f1928
--- /dev/null
+++ b/src/simulation/urdf/components/left_drive.xacro
@@ -0,0 +1,237 @@
+
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\ No newline at end of file
diff --git a/src/simulation/urdf/components/main_body.xacro b/src/simulation/urdf/components/main_body.xacro
new file mode 100644
index 0000000..1bf6cc5
--- /dev/null
+++ b/src/simulation/urdf/components/main_body.xacro
@@ -0,0 +1,50 @@
+
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\ No newline at end of file
diff --git a/src/simulation/urdf/components/right_drive.xacro b/src/simulation/urdf/components/right_drive.xacro
new file mode 100644
index 0000000..9a1c096
--- /dev/null
+++ b/src/simulation/urdf/components/right_drive.xacro
@@ -0,0 +1,237 @@
+
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diff --git a/src/simulation/urdf/components/text.urdf.xacro b/src/simulation/urdf/components/text.urdf.xacro
new file mode 100644
index 0000000..0cfa3ad
--- /dev/null
+++ b/src/simulation/urdf/components/text.urdf.xacro
@@ -0,0 +1,56 @@
+
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diff --git a/src/simulation/urdf/rover.urdf.xacro b/src/simulation/urdf/rover.urdf.xacro
new file mode 100644
index 0000000..0459d74
--- /dev/null
+++ b/src/simulation/urdf/rover.urdf.xacro
@@ -0,0 +1,19 @@
+
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diff --git a/src/simulation/urdf/util/materials.xacro b/src/simulation/urdf/util/materials.xacro
new file mode 100644
index 0000000..201bef6
--- /dev/null
+++ b/src/simulation/urdf/util/materials.xacro
@@ -0,0 +1,61 @@
+
+
+
+
+
+
+ ${r} ${g} ${b} ${a}
+ ${r} ${g} ${b} ${a}
+ 0.1 0.1 0.1 ${a}
+ 0 0 0 ${a}
+
+
+
+
+
+
+
+
+
+
+
+ ${r} ${g} ${b} ${a}
+ ${r} ${g} ${b} ${a}
+ 0.1 0.1 0.1 ${a}
+ 0 0 0 ${a}
+
+
+
+
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+
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+
\ No newline at end of file
diff --git a/src/simulation/worlds/test.world b/src/simulation/worlds/test.world
new file mode 100644
index 0000000..c7793c0
--- /dev/null
+++ b/src/simulation/worlds/test.world
@@ -0,0 +1,76 @@
+
+
+
+
+ 0.001
+ 1.0
+
+
+
+
+
+
+
+
+
+ true
+ 0 0 10 0 0 0
+ 0.8 0.8 0.8 1
+ 0.2 0.2 0.2 1
+
+ 1000
+ 0.9
+ 0.01
+ 0.001
+
+ -0.5 0.1 -0.9
+
+
+
+ true
+
+
+
+
+ 0 0 1
+
+
+
+
+
+
+ 0 0 1
+ 100 100
+
+
+
+ 0.8 0.8 0.8 1
+ 0.8 0.8 0.8 1
+ 0.8 0.8 0.8 1
+
+
+
+
+
+ 2.0
+ 2.0
+
+
+
+
+
+
+
+
\ No newline at end of file