From 70b145286e9ac69bb35f4c51c6d9dece36f770c8 Mon Sep 17 00:00:00 2001
From: Timo <timoschneider04@gmail.com>
Date: Wed, 9 Apr 2025 08:02:54 +0200
Subject: [PATCH] wip: added config

---
 src/sherpa/config/gz_bridge.yaml          | 35 +++++++++++++++++++++++
 src/sherpa/config/mecanum_controller.yaml | 32 +++++++++++++++++++++
 2 files changed, 67 insertions(+)
 create mode 100644 src/sherpa/config/gz_bridge.yaml
 create mode 100644 src/sherpa/config/mecanum_controller.yaml

diff --git a/src/sherpa/config/gz_bridge.yaml b/src/sherpa/config/gz_bridge.yaml
new file mode 100644
index 0000000..5a18576
--- /dev/null
+++ b/src/sherpa/config/gz_bridge.yaml
@@ -0,0 +1,35 @@
+- 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
+
+- ros_topic_name: "camera/camera_info"
+  gz_topic_name: "camera/camera_info"
+  ros_type_name: "sensor_msgs/msg/CameraInfo"
+  gz_type_name: "gz.msgs.CameraInfo"
+  direction: GZ_TO_ROS
+
+- ros_topic_name: "/tf"
+  gz_topic_name: "tf"
+  ros_type_name: "tf2_msgs/msg/TFMessage"
+  gz_type_name: "gz.msgs.Pose_V"
+  direction: GZ_TO_ROS
+
+- ros_topic_name: "/joint_states"
+  gz_topic_name: "model/sherpa/joint_states"
+  ros_type_name: "sensor_msgs/msg/JointState"
+  gz_type_name: "gz.msgs.Model"
+  direction: GZ_TO_ROS
+
+- ros_topic_name: "/velodyne_points"
+  gz_topic_name: "velodyne_points/points"
+  ros_type_name: "sensor_msgs/msg/PointCloud2"
+  gz_type_name: "gz.msgs.PointCloudPacked"
+  direction: GZ_TO_ROS  
+  
+- ros_topic_name: "/imu"
+  gz_topic_name: "imu"
+  ros_type_name: "sensor_msgs/msg/Imu"
+  gz_type_name: "gz.msgs.IMU"
+  direction: GZ_TO_ROS
\ No newline at end of file
diff --git a/src/sherpa/config/mecanum_controller.yaml b/src/sherpa/config/mecanum_controller.yaml
new file mode 100644
index 0000000..44fc20c
--- /dev/null
+++ b/src/sherpa/config/mecanum_controller.yaml
@@ -0,0 +1,32 @@
+
+controller_manager:
+  ros__parameters:
+    update_rate: 100
+    # use_sim_time: true
+
+    mecanum_controller:
+      type: "mecanum_drive_controller/MecanumDriveController"
+
+    joint_state_broadcaster:
+      type: "joint_state_broadcaster/JointStateBroadcaster"
+
+
+mecanum_controller:
+  ros__parameters:
+
+    front_left_wheel_command_joint_name: "wheel_fl_joint"
+    front_right_wheel_command_joint_name: "wheel_fr_joint"
+    rear_left_wheel_command_joint_name: "wheel_bl_joint"
+    rear_right_wheel_command_joint_name: "wheel_br_joint"
+
+    kinematics:
+      base_frame_offset: { x: 0.0, y: 0.0, theta: 0.0 }
+      wheels_radius: 0.4
+      sum_of_robot_center_projection_on_X_Y_axis: 1.0
+
+    base_frame_id: "base_link"
+    odom_frame_id: "map"
+    enable_odom_tf: false
+    twist_covariance_diagonal: [0.0, 7.0, 14.0, 21.0, 28.0, 35.0]
+    pose_covariance_diagonal: [0.0, 7.0, 14.0, 21.0, 28.0, 35.0]
+    use_sim_time: True