Fix odom drift

.docker/Dockerfile

@@ -78,14 +78,13 @@ RUN echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable jammy main"
 RUN mkdir -p /root/c3pzero_ws/src
 WORKDIR /root/c3pzero_ws/src
 COPY ./ ./c3pzero/
-# RUN vcs import < ./c3pzero/c3pzero.repos # I prefer to manage my repos on the host
+RUN vcs import < ./c3pzero/c3pzero.repos
 WORKDIR /root/c3pzero_ws
 # hadolint ignore=SC1091
 RUN source /opt/ros/humble/setup.bash \
     && apt-get update -y \
     && apt-get upgrade -y \
-    # TODO correct rosdep command from requiring -r command (its still looking for robotiq_description)
-    && rosdep install --from-paths src --ignore-src --rosdistro "$ROS_DISTRO" -y -r \
+    && rosdep install --from-paths src --ignore-src --rosdistro "$ROS_DISTRO" -y \
     && rm -rf /var/lib/apt/lists/*
 
 # Use CycloneDDS as the default but also setup Fast DDS to support NVIDIA Isaac Sim.
@@ -97,7 +96,7 @@ COPY ./.docker/cyclonedds_localhost.xml /root/.ros/cyclonedds_localhost.xml
 ENV FASTRTPS_DEFAULT_PROFILES_FILE=/root/.ros/fastdds.xml
 
 # Pre-download the gazebo world so it doesn't have to on the first sim launch
-RUN ign fuel download -v 4 -u https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Depot
+RUN ign fuel download -v 4 -u https://fuel.gazebosim.org/1.0/OpenRobotics/models/Depot
 
 # Set up the entrypoint for both container start and interactive terminals.
 COPY ./.docker/ros_entrypoint.sh /root/.ros/

c300/c300_bringup/config/c300_gz_controllers.yaml

@@ -12,13 +12,14 @@ diff_drive_base_controller:
   ros__parameters:
     left_wheel_names: ["drivewhl_l_joint"]
     right_wheel_names: ["drivewhl_r_joint"]
+    wheels_per_side: 1
 
-    wheel_separation: 0.539
+    wheel_separation: 0.54
     wheel_radius: 0.1715
 
     wheel_separation_multiplier: 1.0
-    left_wheel_radius_multiplier: 0.89 # TODO figure out why this multiplier needs to be offset!
-    right_wheel_radius_multiplier: 0.89
+    left_wheel_radius_multiplier: 1.0 # 0.89 # TODO figure out why this multiplier needs to be offset!
+    right_wheel_radius_multiplier: 1.0 # 0.89
 
     publish_rate: 50.0
     odom_frame_id: odom
@@ -27,6 +28,7 @@ diff_drive_base_controller:
     twist_covariance_diagonal: [0.001, 0.0, 0.0, 0.0, 0.0, 0.01]
 
     open_loop: false
+    position_feedback: true
     enable_odom_tf: true
 
     cmd_vel_timeout: 0.5

c300/c300_bringup/config/c300_isaac_controllers.yaml

@@ -12,13 +12,14 @@ diff_drive_base_controller:
   ros__parameters:
     left_wheel_names: ["drivewhl_l_joint"]
     right_wheel_names: ["drivewhl_r_joint"]
+    wheels_per_side: 1
 
-    wheel_separation: 0.539
+    wheel_separation: 0.54
     wheel_radius: 0.1715
 
     wheel_separation_multiplier: 1.0
-    left_wheel_radius_multiplier: 0.965 # TODO figure out why this multiplier needs to be offset!
-    right_wheel_radius_multiplier: 0.965
+    left_wheel_radius_multiplier: 1.0 # 0.965 # TODO figure out why this multiplier needs to be offset!
+    right_wheel_radius_multiplier: 1.0 # 0.965
 
     publish_rate: 50.0
     odom_frame_id: odom
@@ -27,6 +28,7 @@ diff_drive_base_controller:
     twist_covariance_diagonal: [0.001, 0.0, 0.0, 0.0, 0.0, 0.01]
 
     open_loop: false
+    position_feedback: true
     enable_odom_tf: true
 
     cmd_vel_timeout: 0.5

c300/c300_bringup/launch/isaac_c300.launch.py

@@ -107,6 +107,7 @@ def generate_launch_description():
     prefix = LaunchConfiguration("prefix")
     diff_drive_controller = LaunchConfiguration("diff_drive_controller")
     launch_rviz = LaunchConfiguration("launch_rviz")
+    sim_isaac = LaunchConfiguration("sim_isaac")
     use_sim_time = LaunchConfiguration("use_sim_time")
 
     robot_controllers = PathJoinSubstitution(

c3pzero.repos

@@ -5,15 +5,19 @@ repositories:
     version: main
   ros2_kortex:
     type: git
-    url: git@github.com:Kinovarobotics/ros2_kortex.git
+    url: https://github.com/Kinovarobotics/ros2_kortex.git
     version: main
+  ros2_controllers:
+    type: git
+    url: https://github.com/MarqRazz/ros2_controllers.git
+    version: fix_diff_drive_odom
   realsense-ros:
     type: git
-    url: git@github.com:MarqRazz/realsense-ros.git
+    url: https://github.com/MarqRazz/realsense-ros.git
     version: ros2-development
   ros2_robotiq_gripper:
     type: git
-    url: git@github.com:PickNikRobotics/ros2_robotiq_gripper.git
+    url: https://github.com/PickNikRobotics/ros2_robotiq_gripper.git
     version: main
   serial:
     type: git

c3pzero/c3pzero_bringup/config/c3pzero_gz_controllers.yaml

@@ -18,21 +18,23 @@ diff_drive_base_controller:
   ros__parameters:
     left_wheel_names: ["drivewhl_l_joint"]
     right_wheel_names: ["drivewhl_r_joint"]
+    wheels_per_side: 1
 
     wheel_separation: 0.540
     wheel_radius: 0.1715
 
     wheel_separation_multiplier: 1.0
-    left_wheel_radius_multiplier: 1.0
-    right_wheel_radius_multiplier: 1.0
+    left_wheel_radius_multiplier: 1.0 # 0.89 # TODO figure out why this multiplier needs to be offset!
+    right_wheel_radius_multiplier: 1.0 # 0.89
 
     publish_rate: 50.0
     odom_frame_id: odom
     base_frame_id: base_link
     pose_covariance_diagonal : [0.001, 0.001, 0.0, 0.0, 0.0, 0.01]
     twist_covariance_diagonal: [0.001, 0.0, 0.0, 0.0, 0.0, 0.01]
 
-    open_loop: true
+    open_loop: false
+    position_feedback: true
     enable_odom_tf: true
 
     cmd_vel_timeout: 0.5

c3pzero/c3pzero_bringup/config/c3pzero_isaac_controllers.yaml

@@ -18,21 +18,23 @@ diff_drive_base_controller:
   ros__parameters:
     left_wheel_names: ["drivewhl_l_joint"]
     right_wheel_names: ["drivewhl_r_joint"]
+    wheels_per_side: 1
 
-    wheel_separation: 0.540
+    wheel_separation: 0.54
     wheel_radius: 0.1715
 
     wheel_separation_multiplier: 1.0
-    left_wheel_radius_multiplier: 1.0
-    right_wheel_radius_multiplier: 1.0
+    left_wheel_radius_multiplier: 1.0 # 0.965 # TODO figure out why this multiplier needs to be offset!
+    right_wheel_radius_multiplier: 1.0 # 0.965
 
     publish_rate: 50.0
     odom_frame_id: odom
     base_frame_id: base_link
     pose_covariance_diagonal : [0.001, 0.001, 0.0, 0.0, 0.0, 0.01]
     twist_covariance_diagonal: [0.001, 0.0, 0.0, 0.0, 0.0, 0.01]
 
-    open_loop: true
+    open_loop: false
+    position_feedback: true
     enable_odom_tf: true
 
     cmd_vel_timeout: 0.5

c3pzero_ssh.repos

@@ -0,0 +1,25 @@
+repositories:
+  topic_based_ros2_control:
+    type: git
+    url: [email protected]:PickNikRobotics/topic_based_ros2_control.git
+    version: main
+  ros2_kortex:
+    type: git
+    url: [email protected]:Kinovarobotics/ros2_kortex.git
+    version: main
+  ros2_controllers:
+    type: git
+    url: [email protected]:MarqRazz/ros2_controllers.git
+    version: fix_diff_drive_odom
+  realsense-ros:
+    type: git
+    url: [email protected]:MarqRazz/realsense-ros.git
+    version: ros2-development
+  ros2_robotiq_gripper:
+    type: git
+    url: [email protected]:PickNikRobotics/ros2_robotiq_gripper.git
+    version: main
+  serial:
+    type: git
+    url: https://github.com/tylerjw/serial.git
+    version: ros2