From 7b179cb0b3e8f7e2b850224740f25b6bebeb4316 Mon Sep 17 00:00:00 2001
From: Ryan Liao <ryan.liao0305@gmail.com>
Date: Sun, 26 Jan 2025 19:05:19 -0500
Subject: [PATCH 01/11] Make IMU dimension specific

---
 common_xacro/urdf/sensor/imu.xacro     | 28 ++++++-------
 marvin_simulation/urdf/constants.xacro | 54 ++++++++++++--------------
 marvin_simulation/urdf/marvin.xacro    |  2 +-
 3 files changed, 40 insertions(+), 44 deletions(-)

diff --git a/common_xacro/urdf/sensor/imu.xacro b/common_xacro/urdf/sensor/imu.xacro
index 086fd2e..122fa5c 100644
--- a/common_xacro/urdf/sensor/imu.xacro
+++ b/common_xacro/urdf/sensor/imu.xacro
@@ -6,32 +6,34 @@
 <!-- Joint Type: fixed -->
 <!-- Plugin: libgazebo_ros_imu_sensor.so -->
 <!-- Param name: the name of the IMU. Published topic is /{name}_controller/out -->
-<!-- Param mass: mass of the IMU -->
-<!-- Param length: length of the IMU -->
-<!-- Param width: width of the IMU -->
-<!-- Param height: height of the IMU -->
 <!-- Param parent: name of the parent link, defaulted to base_link -->
 <!-- Param joint_origin: location of the IMU relative to parent link -->
 <robot xmlns:xacro="http://ros.org/wiki/xacro" name="caster">
-    <xacro:macro name="imu" params="name mass length width height parent:=base_link *joint_origin">
+    <xacro:macro name="imu" params="name parent:=base_link *joint_origin">
         <!-- Includes -->
         <xacro:include filename="$(find common_xacro)/urdf/physics/inertia.xacro"/>
 
+        <!-- Constants -->
+        <xacro:property name="mass" value="0.025"/>
+        <xacro:property name="length" value="0.05"/>
+        <xacro:property name="width" value="0.03"/>
+        <xacro:property name="height" value="0.01"/>
+
         <!-- Imu base link -->
-        <link name="${name}_base_link" />
+        <link name="${name}_base_link"/>
 
         <joint name="${name}_base_joint" type="fixed">
-            <xacro:insert_block name="joint_origin" />
-            <parent link="${parent}" />
-            <child link="${name}_base_link" />
-            <axis xyz="0 1 0" />
+            <xacro:insert_block name="joint_origin"/>
+            <parent link="${parent}"/>
+            <child link="${name}_base_link"/>
+            <axis xyz="0 1 0"/>
         </joint>
 
 
         <!-- Imu link -->
         <link name="${name}_link">
 		    <xacro:box_inertia mass="${mass}" length="${length}" width="${width}" height="${height}">
-                <origin xyz="0 0 0" rpy="0 0 0" />
+                <origin xyz="0 0 0" rpy="0 0 0"/>
             </xacro:box_inertia>
 
             <visual>
@@ -51,8 +53,8 @@
 
         <joint name="${name}_joint" type="fixed">
             <origin xyz="0 0 ${height/2}" rpy="0 0 0"/>
-            <parent link="${name}_base_link" />
-            <child link="${name}_link" />
+            <parent link="${name}_base_link"/>
+            <child link="${name}_link"/>
         </joint>
 
 
diff --git a/marvin_simulation/urdf/constants.xacro b/marvin_simulation/urdf/constants.xacro
index a05e997..489a496 100644
--- a/marvin_simulation/urdf/constants.xacro
+++ b/marvin_simulation/urdf/constants.xacro
@@ -2,40 +2,40 @@
 
 <robot xmlns:xacro="http://ros.org/wiki/xacro" name="constants">
     <!-- Chassis Constants -->
-    <xacro:property name="chassis_length" value="${45.5*0.0254}" />
-    <xacro:property name="chassis_width" value="${24*0.0254}" />
-    <xacro:property name="chassis_height" value="${22*0.0254}" />
-    <xacro:property name="chassis_z_offset" value="${4.375*0.0254}" />
+    <xacro:property name="chassis_length" value="${45.5*0.0254}"/>
+    <xacro:property name="chassis_width" value="${24*0.0254}"/>
+    <xacro:property name="chassis_height" value="${22*0.0254}"/>
+    <xacro:property name="chassis_z_offset" value="${4.375*0.0254}"/>
 
-    <xacro:property name="chassis_tower_length" value="${8*0.0254}" />
-    <xacro:property name="chassis_tower_height" value="${31*0.0254}" />
+    <xacro:property name="chassis_tower_length" value="${8*0.0254}"/>
+    <xacro:property name="chassis_tower_height" value="${31*0.0254}"/>
 
-    <xacro:property name="chassis_payload_length" value="${14.25*0.0254}" />
-    <xacro:property name="chassis_payload_height" value="${8*0.0254}" />
+    <xacro:property name="chassis_payload_length" value="${14.25*0.0254}"/>
+    <xacro:property name="chassis_payload_height" value="${8*0.0254}"/>
 
-    <xacro:property name="chassis_electrical_length" value="${15.25*0.0254}" />
-    <xacro:property name="chassis_electrical_height" value="${22*0.0254}" />
+    <xacro:property name="chassis_electrical_length" value="${15.25*0.0254}"/>
+    <xacro:property name="chassis_electrical_height" value="${22*0.0254}"/>
 
-    <xacro:property name="chassis_caster_length" value="${8*0.0254}" />
-    <xacro:property name="chassis_caster_height" value="${2.25*0.0254}" />
-    <xacro:property name="chassis_caster_z_offset" value="${2*0.0254}" />
+    <xacro:property name="chassis_caster_length" value="${8*0.0254}"/>
+    <xacro:property name="chassis_caster_height" value="${2.25*0.0254}"/>
+    <xacro:property name="chassis_caster_z_offset" value="${2*0.0254}"/>
 
     <!-- Chassis Inertial Constants -->
-    <xacro:property name="chassis_mass" value="29.9371" />
-    <xacro:property name="com_x" value="${-4.0*0.0254}" />
-    <xacro:property name="com_y" value="0.0" />
-    <xacro:property name="com_z" value="${6.1875*0.0254-chassis_z_offset}" />
+    <xacro:property name="chassis_mass" value="29.9371"/>
+    <xacro:property name="com_x" value="${-4.0*0.0254}"/>
+    <xacro:property name="com_y" value="0.0"/>
+    <xacro:property name="com_z" value="${6.1875*0.0254-chassis_z_offset}"/>
 
 	<!-- Caster Constants -->
-    <xacro:property name="caster_x_offset" value="${-24.625*0.0254}" />
-    <xacro:property name="caster_radius" value="${3.5*0.0254}" />
-    <xacro:property name="caster_mass" value="0.1" />
+    <xacro:property name="caster_x_offset" value="${-24.625*0.0254}"/>
+    <xacro:property name="caster_radius" value="${3.5*0.0254}"/>
+    <xacro:property name="caster_mass" value="0.1"/>
 
 	<!-- Wheel Constants -->
-    <xacro:property name="wheel_radius" value="${6.1875*0.0254}" />
-    <xacro:property name="wheel_width" value="${4*0.0254}" />
-    <xacro:property name="wheel_mass" value="5" />
-    <xacro:property name="track_width" value="${31*0.0254}" />
+    <xacro:property name="wheel_radius" value="${6.1875*0.0254}"/>
+    <xacro:property name="wheel_width" value="${4*0.0254}"/>
+    <xacro:property name="wheel_mass" value="5"/>
+    <xacro:property name="track_width" value="${31*0.0254}"/>
 
     <!-- Lidar Constants -->
     <xacro:property name="lidar_height" value="${32.55*0.0254}"/>
@@ -48,10 +48,4 @@
     <xacro:property name="camera_angle" value="${10 * 0.01745327777}"/>
     <xacro:property name="camera_x_offset" value="${(4+2.66916)*0.0254}"/> 
     <xacro:property name="camera_z_offset" value="${(31-1.80395)*0.0254}"/> 
-
-    <!-- IMU Constants -->
-    <xacro:property name="imu_mass" value="0.025"/>
-    <xacro:property name="imu_length" value="0.05"/>
-    <xacro:property name="imu_width" value="0.03"/>
-    <xacro:property name="imu_height" value="0.01"/>
 </robot>
\ No newline at end of file
diff --git a/marvin_simulation/urdf/marvin.xacro b/marvin_simulation/urdf/marvin.xacro
index 215a616..8b6585e 100644
--- a/marvin_simulation/urdf/marvin.xacro
+++ b/marvin_simulation/urdf/marvin.xacro
@@ -55,7 +55,7 @@
 
 	<!-- IMU -->
     <xacro:include filename="$(find common_xacro)/urdf/sensor/imu.xacro" />
-    <xacro:imu name="imu" mass="${imu_mass}" length="${imu_length}" width="${imu_width}" height="${imu_height}">
+    <xacro:imu name="imu">
 		<origin xyz="${-chassis_tower_length / 2 - chassis_electrical_length/2} 0 ${chassis_electrical_height}" rpy="0 0 0" />
     </xacro:imu>
 

From 181c9f74d7e922e9116170956d306f17df31490b Mon Sep 17 00:00:00 2001
From: Ryan Liao <ryan.liao0305@gmail.com>
Date: Sun, 26 Jan 2025 19:10:55 -0500
Subject: [PATCH 02/11] Make Depth Camera dimension specific

---
 common_xacro/urdf/sensor/depth_camera.xacro | 12 +++++++-----
 marvin_simulation/urdf/constants.xacro      |  4 ----
 marvin_simulation/urdf/marvin.xacro         |  2 +-
 3 files changed, 8 insertions(+), 10 deletions(-)

diff --git a/common_xacro/urdf/sensor/depth_camera.xacro b/common_xacro/urdf/sensor/depth_camera.xacro
index 2ff1f5a..ebdebd7 100644
--- a/common_xacro/urdf/sensor/depth_camera.xacro
+++ b/common_xacro/urdf/sensor/depth_camera.xacro
@@ -6,16 +6,18 @@
 <!-- Joint Type: fixed -->
 <!-- Plugin: libgazebo_ros_camera.so (depth camera) -->
 <!-- Param name: the name of the depth camera. All published topics will start with /{name} -->
-<!-- Param mass: mass of the depth camera -->
-<!-- Param length: length of the depth camera -->
-<!-- Param width: width of the depth camera -->
-<!-- Param height: height of the depth camera -->
 <!-- Param parent: name of the parent link, defaulted to base_link -->
 <!-- Param joint_origin: location of the depth camera relative to parent link -->
 <robot xmlns:xacro="http://ros.org/wiki/xacro" name="depth_camera">
-    <xacro:macro name="depth_camera" params="name mass length width height parent:=base_link *joint_origin">
+    <xacro:macro name="depth_camera" params="name parent:=base_link *joint_origin">
         <!-- Includes -->
         <xacro:include filename="$(find common_xacro)/urdf/physics/inertia.xacro"/>
+        
+        <!-- Constants -->
+        <xacro:property name="mass" value="0.230"/>
+        <xacro:property name="length" value="0.04310"/>
+        <xacro:property name="width" value="0.17525"/>
+        <xacro:property name="height" value="0.03025"/>
 
         <!-- Depth camera base link -->
         <link name="${name}_base_link" />
diff --git a/marvin_simulation/urdf/constants.xacro b/marvin_simulation/urdf/constants.xacro
index 489a496..91860f5 100644
--- a/marvin_simulation/urdf/constants.xacro
+++ b/marvin_simulation/urdf/constants.xacro
@@ -41,10 +41,6 @@
     <xacro:property name="lidar_height" value="${32.55*0.0254}"/>
 
     <!-- Camera Constants -->
-    <xacro:property name="camera_mass" value="0.230"/>
-    <xacro:property name="camera_length" value="0.04310"/>
-    <xacro:property name="camera_width" value="0.17525"/>
-    <xacro:property name="camera_height" value="0.03025"/>
     <xacro:property name="camera_angle" value="${10 * 0.01745327777}"/>
     <xacro:property name="camera_x_offset" value="${(4+2.66916)*0.0254}"/> 
     <xacro:property name="camera_z_offset" value="${(31-1.80395)*0.0254}"/> 
diff --git a/marvin_simulation/urdf/marvin.xacro b/marvin_simulation/urdf/marvin.xacro
index 8b6585e..a3e3439 100644
--- a/marvin_simulation/urdf/marvin.xacro
+++ b/marvin_simulation/urdf/marvin.xacro
@@ -41,7 +41,7 @@
 
     <!-- Camera -->
 	<xacro:include filename="$(find common_xacro)/urdf/sensor/depth_camera.xacro" />
-	<xacro:depth_camera name="zed" mass="${camera_mass}" length = "${camera_length}" width="${camera_width}" height="${camera_height}" parent="base_link">
+	<xacro:depth_camera name="zed">
 		<origin xyz="${camera_x_offset} 0 ${camera_z_offset}" rpy="0 ${camera_angle} 0" />
 	</xacro:depth_camera>
 

From d81dd4f2b79229fae0833d1ddc012861e78a6467 Mon Sep 17 00:00:00 2001
From: Ryan Liao <ryan.liao0305@gmail.com>
Date: Sun, 26 Jan 2025 19:17:40 -0500
Subject: [PATCH 03/11] Make Caster dimension specific

---
 common_xacro/urdf/wheel/caster.xacro   | 8 +++++---
 marvin_simulation/urdf/constants.xacro | 6 +++---
 marvin_simulation/urdf/marvin.xacro    | 4 ++--
 3 files changed, 10 insertions(+), 8 deletions(-)

diff --git a/common_xacro/urdf/wheel/caster.xacro b/common_xacro/urdf/wheel/caster.xacro
index ea4a932..6296ea3 100644
--- a/common_xacro/urdf/wheel/caster.xacro
+++ b/common_xacro/urdf/wheel/caster.xacro
@@ -5,15 +5,17 @@
 <!-- Mounting Location: center of the sphere -->
 <!-- Joint Type: fixed -->
 <!-- Param name: the name of the caster -->
-<!-- Param mass: mass of the caster -->
-<!-- Param radius: radius of the caster -->
 <!-- Param parent: name of the parent link, defaulted to base_link -->
 <!-- Param joint_origin: location of the caster relative to parent link -->
 <robot xmlns:xacro="http://ros.org/wiki/xacro" name="caster">
-    <xacro:macro name="caster" params="name mass radius parent:=base_link *joint_origin">
+    <xacro:macro name="caster" params="name parent:=base_link *joint_origin">
         <!-- Includes -->
         <xacro:include filename="$(find common_xacro)/urdf/physics/inertia.xacro"/>
 
+        <!-- Constants -->
+        <xacro:property name="radius" value="${3.5*0.0254}"/>
+        <xacro:property name="mass" value="0.1"/>
+
         <!-- Caster link -->
         <link name="${name}_link">
             <xacro:sphere_inertia mass="${mass}" radius="${radius}">
diff --git a/marvin_simulation/urdf/constants.xacro b/marvin_simulation/urdf/constants.xacro
index 91860f5..8680782 100644
--- a/marvin_simulation/urdf/constants.xacro
+++ b/marvin_simulation/urdf/constants.xacro
@@ -28,14 +28,14 @@
 
 	<!-- Caster Constants -->
     <xacro:property name="caster_x_offset" value="${-24.625*0.0254}"/>
-    <xacro:property name="caster_radius" value="${3.5*0.0254}"/>
-    <xacro:property name="caster_mass" value="0.1"/>
+    <xacro:property name="caster_z_offset" value="${-0.875*0.0254}"/>
 
 	<!-- Wheel Constants -->
+    <xacro:property name="track_width" value="${31*0.0254}"/>
+
     <xacro:property name="wheel_radius" value="${6.1875*0.0254}"/>
     <xacro:property name="wheel_width" value="${4*0.0254}"/>
     <xacro:property name="wheel_mass" value="5"/>
-    <xacro:property name="track_width" value="${31*0.0254}"/>
 
     <!-- Lidar Constants -->
     <xacro:property name="lidar_height" value="${32.55*0.0254}"/>
diff --git a/marvin_simulation/urdf/marvin.xacro b/marvin_simulation/urdf/marvin.xacro
index a3e3439..0964ac1 100644
--- a/marvin_simulation/urdf/marvin.xacro
+++ b/marvin_simulation/urdf/marvin.xacro
@@ -24,8 +24,8 @@
 
     <!-- Caster -->
     <xacro:include filename="$(find common_xacro)/urdf/wheel/caster.xacro"/>
-	<xacro:caster name="caster" mass="${caster_mass}" radius="${caster_radius}">
-        <origin xyz="${caster_x_offset} 0 ${caster_radius-chassis_z_offset}" rpy="0 0 0" />
+	<xacro:caster name="caster">
+        <origin xyz="${caster_x_offset} 0 ${caster_z_offset}" rpy="0 0 0" />
 	</xacro:caster>
 
 

From ce5f461f0e1a9c30331078e1956318b0005ba305 Mon Sep 17 00:00:00 2001
From: Ryan Liao <ryan.liao0305@gmail.com>
Date: Sun, 26 Jan 2025 19:27:59 -0500
Subject: [PATCH 04/11] Make Wheel dimension specific

---
 common_xacro/urdf/wheel/wheel.xacro    | 10 ++++++----
 marvin_simulation/urdf/constants.xacro |  7 ++-----
 marvin_simulation/urdf/marvin.xacro    | 10 +++++-----
 marvin_simulation/urdf/plugins.xacro   |  4 ++--
 4 files changed, 15 insertions(+), 16 deletions(-)

diff --git a/common_xacro/urdf/wheel/wheel.xacro b/common_xacro/urdf/wheel/wheel.xacro
index 59feb64..60526ed 100644
--- a/common_xacro/urdf/wheel/wheel.xacro
+++ b/common_xacro/urdf/wheel/wheel.xacro
@@ -5,16 +5,18 @@
 <!-- Mounting Location: Center of cylinder -->
 <!-- Joint Type: continuous -->
 <!-- Param name: the name of the wheel -->
-<!-- Param mass: mass of the wheel -->
-<!-- Param radius: radius of the wheel -->
-<!-- Param width: width of the wheel -->
 <!-- Param parent: name of the parent link, defaulted to base_link -->
 <!-- Param joint_origin: location of the wheel relative to parent link -->
 <robot xmlns:xacro="http://ros.org/wiki/xacro" name="wheel">
-    <xacro:macro name="wheel" params="name mass radius width parent:=base_link *joint_origin">
+    <xacro:macro name="wheel" params="name parent:=base_link *joint_origin">
         <!-- Includes -->
         <xacro:include filename="$(find common_xacro)/urdf/physics/inertia.xacro"/>
 
+        <!-- Constants -->
+        <xacro:property name="radius" value="${6.1875*0.0254}"/>
+        <xacro:property name="width" value="${4*0.0254}"/>
+        <xacro:property name="mass" value="5"/>
+
         <!-- Wheel link -->
         <link name="${name}_link">
             <xacro:cylinder_inertia mass="${mass}" radius="${radius}" height="${width}">
diff --git a/marvin_simulation/urdf/constants.xacro b/marvin_simulation/urdf/constants.xacro
index 8680782..c5ff3f2 100644
--- a/marvin_simulation/urdf/constants.xacro
+++ b/marvin_simulation/urdf/constants.xacro
@@ -31,11 +31,8 @@
     <xacro:property name="caster_z_offset" value="${-0.875*0.0254}"/>
 
 	<!-- Wheel Constants -->
-    <xacro:property name="track_width" value="${31*0.0254}"/>
-
-    <xacro:property name="wheel_radius" value="${6.1875*0.0254}"/>
-    <xacro:property name="wheel_width" value="${4*0.0254}"/>
-    <xacro:property name="wheel_mass" value="5"/>
+    <xacro:property name="wheel_x_offset" value="${15.5*0.0254}"/>
+    <xacro:property name="wheel_z_offset" value="${1.8125*0.0254}"/>
 
     <!-- Lidar Constants -->
     <xacro:property name="lidar_height" value="${32.55*0.0254}"/>
diff --git a/marvin_simulation/urdf/marvin.xacro b/marvin_simulation/urdf/marvin.xacro
index 0964ac1..300f46a 100644
--- a/marvin_simulation/urdf/marvin.xacro
+++ b/marvin_simulation/urdf/marvin.xacro
@@ -31,11 +31,11 @@
 
     <!-- Wheels -->
     <xacro:include filename="$(find common_xacro)/urdf/wheel/wheel.xacro"/>
-	<xacro:wheel name="right_wheel" mass="${wheel_mass}" radius="${wheel_radius}" width="${wheel_width}">
-		<origin xyz="0 -${track_width / 2} ${wheel_radius-chassis_z_offset}" rpy="0 0 0" />
+	<xacro:wheel name="right_wheel">
+		<origin xyz="0 ${-wheel_x_offset} ${wheel_z_offset}" rpy="0 0 0" />
 	</xacro:wheel>
-	<xacro:wheel name="left_wheel" mass="${wheel_mass}" radius="${wheel_radius}" width="${wheel_width}">
-		<origin xyz="0 ${track_width/2} ${wheel_radius-chassis_z_offset}" rpy="0 0 0" />
+	<xacro:wheel name="left_wheel">
+		<origin xyz="0 ${wheel_x_offset} ${wheel_z_offset}" rpy="0 0 0" />
 	</xacro:wheel>
 
 
@@ -64,7 +64,7 @@
     <link name="encoder" />
 
 	<joint name="encoder_joint" type="fixed">
-		<origin xyz="0 0 ${wheel_radius-chassis_z_offset}" rpy="0 0 0" />
+		<origin xyz="0 0 ${wheel_z_offset}" rpy="0 0 0" />
 		<parent link="base_link" />
 		<child link="encoder" />
 		<axis xyz="0 1 0" />
diff --git a/marvin_simulation/urdf/plugins.xacro b/marvin_simulation/urdf/plugins.xacro
index 6b8cacf..6e3c563 100644
--- a/marvin_simulation/urdf/plugins.xacro
+++ b/marvin_simulation/urdf/plugins.xacro
@@ -9,8 +9,8 @@
 
 			<left_joint>left_wheel_joint</left_joint>
 			<right_joint>right_wheel_joint</right_joint>
-			<wheel_separation>${track_width}</wheel_separation>
-			<wheel_diameter>${2 * wheel_radius}</wheel_diameter>
+			<wheel_separation>${2 * wheel_x_offset}</wheel_separation>
+			<wheel_diameter>${2 * 6.1875*0.0254}</wheel_diameter>
 			<publish_tf>true</publish_tf>
 			<publish_wheel_tf>true</publish_wheel_tf>
 

From 5ebd0334505d32436fa072e4b50d20b9f2262b57 Mon Sep 17 00:00:00 2001
From: Ryan Liao <ryan.liao0305@gmail.com>
Date: Sun, 26 Jan 2025 19:28:44 -0500
Subject: [PATCH 05/11] Rename lidar constant for convention

---
 marvin_simulation/urdf/constants.xacro | 2 +-
 marvin_simulation/urdf/marvin.xacro    | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/marvin_simulation/urdf/constants.xacro b/marvin_simulation/urdf/constants.xacro
index c5ff3f2..9b379cb 100644
--- a/marvin_simulation/urdf/constants.xacro
+++ b/marvin_simulation/urdf/constants.xacro
@@ -35,7 +35,7 @@
     <xacro:property name="wheel_z_offset" value="${1.8125*0.0254}"/>
 
     <!-- Lidar Constants -->
-    <xacro:property name="lidar_height" value="${32.55*0.0254}"/>
+    <xacro:property name="lidar_z_offset" value="${32.55*0.0254}"/>
 
     <!-- Camera Constants -->
     <xacro:property name="camera_angle" value="${10 * 0.01745327777}"/>
diff --git a/marvin_simulation/urdf/marvin.xacro b/marvin_simulation/urdf/marvin.xacro
index 300f46a..60b7a10 100644
--- a/marvin_simulation/urdf/marvin.xacro
+++ b/marvin_simulation/urdf/marvin.xacro
@@ -49,7 +49,7 @@
     <!-- Lidar -->
     <xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro" />
 	<xacro:VLP-16 parent="base_link" name="velodyne" topic="/velodyne_points" hz="20" samples="440" gpu="true">
-		<origin xyz="0 0 ${lidar_height}" rpy="0 0 0" />
+		<origin xyz="0 0 ${lidar_z_offset}" rpy="0 0 0" />
 	</xacro:VLP-16>
 
 

From 885d5bee90f4580f7d44351a95aa861e8c9518c5 Mon Sep 17 00:00:00 2001
From: Ryan Liao <ryan.liao0305@gmail.com>
Date: Tue, 4 Feb 2025 20:23:53 -0500
Subject: [PATCH 06/11] Move world directory to common, add common prefix to
 packages

---
 README.md                                     |   6 +--
 marvin_simulation/urdf/plugins.xacro          |  30 -------------
 scripts/setup.bash                            |   2 +-
 .../CMakeLists.txt                            |   4 +-
 .../package.xml                               |   4 +-
 .../urdf/physics/inertia.xacro                |   0
 .../urdf/sensor/depth_camera.xacro            |   2 +-
 .../urdf/sensor/imu.xacro                     |   2 +-
 .../urdf/wheel/caster.xacro                   |   2 +-
 .../urdf/wheel/wheel.xacro                    |   2 +-
 .../world/CHANGES.md                          |   0
 .../world/LICENSE                             |   0
 .../world/basic_obstacles.world               |   0
 .../world/empty.world                         |   0
 .../world/igvc.world                          |   0
 .../world/igvc_flat.world                     |   0
 .../world/igvc_flatV2.world                   |   0
 .../world/igvc_flat_wall.world                |   0
 .../textures/Construction_Barrel_Diffuse.png  | Bin
 .../textures/Construction_Barrel_Spec.png     | Bin
 .../meshes/construction_barrel.dae            |   0
 .../construction_barrel/model-1_3.sdf         |   0
 .../construction_barrel/model-1_4.sdf         |   0
 .../construction_barrel/model.config          |   0
 .../construction_barrel/model.sdf             |   0
 .../materials/scripts/grass_plane.material    |   0
 .../materials/scripts/igvc_grass.material     |   0
 .../materials/scripts/igvc_pavement.material  |   0
 .../scripts/igvc_pavement_old.material        |   0
 .../materials/scripts/pavement_plane.material |   0
 .../materials/textures/IGVC_grass.png         | Bin
 .../materials/textures/IGVC_grass_large.png   | Bin
 .../textures/IGVC_grass_original.png          | Bin
 .../materials/textures/IGVC_pavement.png      | Bin
 .../materials/textures/IGVC_pavementV2.png    | Bin
 .../textures/IGVC_pavement_original.png       | Bin
 .../materials/textures/grass.png              | Bin
 .../materials/textures/grey.PNG               | Bin
 .../igvc_basic_ground/model.config            |   0
 .../igvc_models/igvc_basic_ground/model.sdf   |   0
 .../world/igvc_models/install_models.sh       |   0
 .../world/igvc_wall.world                     |   0
 .../CMakeLists.txt                            |   4 +-
 .../launch/display.launch.py                  |   2 +-
 .../launch/simulation.launch.py               |   5 ++-
 .../package.xml                               |   2 +-
 .../rviz/display.rviz                         |   0
 .../rviz/simulation.rviz                      |   0
 .../urdf/chassis.xacro                        |   4 +-
 .../urdf/constants.xacro                      |   0
 .../urdf/marvin.xacro                         |  41 ++++++++++++++----
 51 files changed, 54 insertions(+), 58 deletions(-)
 delete mode 100644 marvin_simulation/urdf/plugins.xacro
 rename {common_xacro => simulation_common}/CMakeLists.txt (94%)
 rename {common_xacro => simulation_common}/package.xml (89%)
 rename {common_xacro => simulation_common}/urdf/physics/inertia.xacro (100%)
 rename {common_xacro => simulation_common}/urdf/sensor/depth_camera.xacro (97%)
 rename {common_xacro => simulation_common}/urdf/sensor/imu.xacro (97%)
 rename {common_xacro => simulation_common}/urdf/wheel/caster.xacro (95%)
 rename {common_xacro => simulation_common}/urdf/wheel/wheel.xacro (96%)
 rename {marvin_simulation => simulation_common}/world/CHANGES.md (100%)
 rename {marvin_simulation => simulation_common}/world/LICENSE (100%)
 rename {marvin_simulation => simulation_common}/world/basic_obstacles.world (100%)
 rename {marvin_simulation => simulation_common}/world/empty.world (100%)
 rename {marvin_simulation => simulation_common}/world/igvc.world (100%)
 rename {marvin_simulation => simulation_common}/world/igvc_flat.world (100%)
 rename {marvin_simulation => simulation_common}/world/igvc_flatV2.world (100%)
 rename {marvin_simulation => simulation_common}/world/igvc_flat_wall.world (100%)
 rename {marvin_simulation => simulation_common}/world/igvc_models/igvc_basic_ground/construction_barrel/materials/textures/Construction_Barrel_Diffuse.png (100%)
 rename {marvin_simulation => simulation_common}/world/igvc_models/igvc_basic_ground/construction_barrel/materials/textures/Construction_Barrel_Spec.png (100%)
 rename {marvin_simulation => simulation_common}/world/igvc_models/igvc_basic_ground/construction_barrel/meshes/construction_barrel.dae (100%)
 rename {marvin_simulation => simulation_common}/world/igvc_models/igvc_basic_ground/construction_barrel/model-1_3.sdf (100%)
 rename {marvin_simulation => simulation_common}/world/igvc_models/igvc_basic_ground/construction_barrel/model-1_4.sdf (100%)
 rename {marvin_simulation => simulation_common}/world/igvc_models/igvc_basic_ground/construction_barrel/model.config (100%)
 rename {marvin_simulation => simulation_common}/world/igvc_models/igvc_basic_ground/construction_barrel/model.sdf (100%)
 rename {marvin_simulation => simulation_common}/world/igvc_models/igvc_basic_ground/materials/scripts/grass_plane.material (100%)
 rename {marvin_simulation => simulation_common}/world/igvc_models/igvc_basic_ground/materials/scripts/igvc_grass.material (100%)
 rename {marvin_simulation => simulation_common}/world/igvc_models/igvc_basic_ground/materials/scripts/igvc_pavement.material (100%)
 rename {marvin_simulation => simulation_common}/world/igvc_models/igvc_basic_ground/materials/scripts/igvc_pavement_old.material (100%)
 rename {marvin_simulation => simulation_common}/world/igvc_models/igvc_basic_ground/materials/scripts/pavement_plane.material (100%)
 rename {marvin_simulation => simulation_common}/world/igvc_models/igvc_basic_ground/materials/textures/IGVC_grass.png (100%)
 rename {marvin_simulation => simulation_common}/world/igvc_models/igvc_basic_ground/materials/textures/IGVC_grass_large.png (100%)
 rename {marvin_simulation => simulation_common}/world/igvc_models/igvc_basic_ground/materials/textures/IGVC_grass_original.png (100%)
 rename {marvin_simulation => simulation_common}/world/igvc_models/igvc_basic_ground/materials/textures/IGVC_pavement.png (100%)
 rename {marvin_simulation => simulation_common}/world/igvc_models/igvc_basic_ground/materials/textures/IGVC_pavementV2.png (100%)
 rename {marvin_simulation => simulation_common}/world/igvc_models/igvc_basic_ground/materials/textures/IGVC_pavement_original.png (100%)
 rename {marvin_simulation => simulation_common}/world/igvc_models/igvc_basic_ground/materials/textures/grass.png (100%)
 rename {marvin_simulation => simulation_common}/world/igvc_models/igvc_basic_ground/materials/textures/grey.PNG (100%)
 rename {marvin_simulation => simulation_common}/world/igvc_models/igvc_basic_ground/model.config (100%)
 rename {marvin_simulation => simulation_common}/world/igvc_models/igvc_basic_ground/model.sdf (100%)
 rename {marvin_simulation => simulation_common}/world/igvc_models/install_models.sh (100%)
 rename {marvin_simulation => simulation_common}/world/igvc_wall.world (100%)
 rename {marvin_simulation => simulation_marvin}/CMakeLists.txt (93%)
 rename {marvin_simulation => simulation_marvin}/launch/display.launch.py (96%)
 rename {marvin_simulation => simulation_marvin}/launch/simulation.launch.py (92%)
 rename {marvin_simulation => simulation_marvin}/package.xml (96%)
 rename {marvin_simulation => simulation_marvin}/rviz/display.rviz (100%)
 rename {marvin_simulation => simulation_marvin}/rviz/simulation.rviz (100%)
 rename {marvin_simulation => simulation_marvin}/urdf/chassis.xacro (94%)
 rename {marvin_simulation => simulation_marvin}/urdf/constants.xacro (100%)
 rename {marvin_simulation => simulation_marvin}/urdf/marvin.xacro (61%)

diff --git a/README.md b/README.md
index 8a71b4e..4feb20e 100644
--- a/README.md
+++ b/README.md
@@ -35,9 +35,9 @@ The simulation is fairly computation intensive so a GPU is recommended. Note tha
 4. ```source install/setup.bash```
 
 ### Launching
-Running ```ros2 launch marvin_simulation display.launch.py``` will open RViz and display the robot model. This launch file is made to quickly check if the robot model is correctly formatted and used internally when developing the stack.
+Running ```ros2 launch simulation_marvin display.launch.py``` will open RViz and display the robot model. This launch file is made to quickly check if the robot model is correctly formatted and used internally when developing the stack.
 
-Running ```ros2 launch marvin_simulation simulation.launch.py``` will spawn the robot in Gazebo and visualize sensor outputs in RViz. Any project interfacing with the simulation should use this launch file.
+Running ```ros2 launch simulation_marvin simulation.launch.py``` will spawn the robot in Gazebo and visualize sensor outputs in RViz. Any project interfacing with the simulation should use this launch file.
 
 
 ## Interfacing with the Stack
@@ -101,4 +101,4 @@ This error is caused by [snap variables leaking into terminal variables](https:/
 ## Credits
 Jason Ning and Kari Naga on the sensors team, who created the original URDF files and the Gazebo World in the [marvin](https://github.com/umigv/marvin/tree/main/urdf) repository.  
 
-[UTRA ART](https://github.com/UTRA-ART) for their [full IGVC course world](https://github.com/UTRA-ART/Caffeine/tree/master/worlds/). Any file or folder containing IGVC is under the original [Apache 2.0 license](https://github.com/umigv/simulation_stack/blob/igvc_course/marvin_simulation/world/LICENSE)
+[UTRA ART](https://github.com/UTRA-ART) for their [full IGVC course world](https://github.com/UTRA-ART/Caffeine/tree/master/worlds/). Any file or folder containing IGVC is under the original [Apache 2.0 license](https://github.com/umigv/simulation_stack/blob/igvc_course/simulation_marvin/world/LICENSE)
diff --git a/marvin_simulation/urdf/plugins.xacro b/marvin_simulation/urdf/plugins.xacro
deleted file mode 100644
index 6e3c563..0000000
--- a/marvin_simulation/urdf/plugins.xacro
+++ /dev/null
@@ -1,30 +0,0 @@
-<?xml version="1.0"?>
-
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="plugins">
-	<gazebo>
-		<plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
-			<update_rate>100.0</update_rate>
-			<robot_base_frame>base_link</robot_base_frame>
-			<command_topic>cmd_vel</command_topic>
-
-			<left_joint>left_wheel_joint</left_joint>
-			<right_joint>right_wheel_joint</right_joint>
-			<wheel_separation>${2 * wheel_x_offset}</wheel_separation>
-			<wheel_diameter>${2 * 6.1875*0.0254}</wheel_diameter>
-			<publish_tf>true</publish_tf>
-			<publish_wheel_tf>true</publish_wheel_tf>
-
-			<max_wheel_acceleration>1.8</max_wheel_acceleration>
-			<max_wheel_torque>30</max_wheel_torque>
-
-			<odometrySource>encoder</odometrySource>
-			<odometry_topic>odom</odometry_topic>
-			<odometry_frame>odom</odometry_frame>
-			<publish_odom>true</publish_odom>
-			<publish_odom_tf>true</publish_odom_tf>
-
-			<legacy_mode>false</legacy_mode>
-			<ros_debug_level>na</ros_debug_level>
-		</plugin>
-	</gazebo>
-</robot>
\ No newline at end of file
diff --git a/scripts/setup.bash b/scripts/setup.bash
index 88ac132..be90d5f 100755
--- a/scripts/setup.bash
+++ b/scripts/setup.bash
@@ -19,6 +19,6 @@ colcon build --symlink-install
 source install/setup.bash)
 
 # Install IGVC World Models
-bash marvin_simulation/world/igvc_models/install_models.sh)
+bash simulation_common/world/igvc_models/install_models.sh)
 
 echo "Setup successful!"
diff --git a/common_xacro/CMakeLists.txt b/simulation_common/CMakeLists.txt
similarity index 94%
rename from common_xacro/CMakeLists.txt
rename to simulation_common/CMakeLists.txt
index b51d6a0..566bfac 100644
--- a/common_xacro/CMakeLists.txt
+++ b/simulation_common/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.8)
-project(common_xacro)
+project(simulation_common)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
@@ -12,7 +12,7 @@ find_package(ament_cmake REQUIRED)
 # find_package(<dependency> REQUIRED)
 
 install(
-  DIRECTORY urdf
+  DIRECTORY urdf world
   DESTINATION share/${PROJECT_NAME}
 )
 
diff --git a/common_xacro/package.xml b/simulation_common/package.xml
similarity index 89%
rename from common_xacro/package.xml
rename to simulation_common/package.xml
index 524fadf..a83b090 100644
--- a/common_xacro/package.xml
+++ b/simulation_common/package.xml
@@ -1,9 +1,9 @@
 <?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>common_xacro</name>
+  <name>simulation_common</name>
   <version>1.0.0</version>
-  <description>ARV Common Xacro Files</description>
+  <description>ARV Simulation Common Files</description>
   <maintainer email="ryanliao@umich.edu">Ryan Liao</maintainer>
   <license>MIT</license>
 
diff --git a/common_xacro/urdf/physics/inertia.xacro b/simulation_common/urdf/physics/inertia.xacro
similarity index 100%
rename from common_xacro/urdf/physics/inertia.xacro
rename to simulation_common/urdf/physics/inertia.xacro
diff --git a/common_xacro/urdf/sensor/depth_camera.xacro b/simulation_common/urdf/sensor/depth_camera.xacro
similarity index 97%
rename from common_xacro/urdf/sensor/depth_camera.xacro
rename to simulation_common/urdf/sensor/depth_camera.xacro
index ebdebd7..ffbd623 100644
--- a/common_xacro/urdf/sensor/depth_camera.xacro
+++ b/simulation_common/urdf/sensor/depth_camera.xacro
@@ -11,7 +11,7 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro" name="depth_camera">
     <xacro:macro name="depth_camera" params="name parent:=base_link *joint_origin">
         <!-- Includes -->
-        <xacro:include filename="$(find common_xacro)/urdf/physics/inertia.xacro"/>
+        <xacro:include filename="$(find simulation_common)/urdf/physics/inertia.xacro"/>
         
         <!-- Constants -->
         <xacro:property name="mass" value="0.230"/>
diff --git a/common_xacro/urdf/sensor/imu.xacro b/simulation_common/urdf/sensor/imu.xacro
similarity index 97%
rename from common_xacro/urdf/sensor/imu.xacro
rename to simulation_common/urdf/sensor/imu.xacro
index 122fa5c..7eaaf4b 100644
--- a/common_xacro/urdf/sensor/imu.xacro
+++ b/simulation_common/urdf/sensor/imu.xacro
@@ -11,7 +11,7 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro" name="caster">
     <xacro:macro name="imu" params="name parent:=base_link *joint_origin">
         <!-- Includes -->
-        <xacro:include filename="$(find common_xacro)/urdf/physics/inertia.xacro"/>
+        <xacro:include filename="$(find simulation_common)/urdf/physics/inertia.xacro"/>
 
         <!-- Constants -->
         <xacro:property name="mass" value="0.025"/>
diff --git a/common_xacro/urdf/wheel/caster.xacro b/simulation_common/urdf/wheel/caster.xacro
similarity index 95%
rename from common_xacro/urdf/wheel/caster.xacro
rename to simulation_common/urdf/wheel/caster.xacro
index 6296ea3..8bfb55d 100644
--- a/common_xacro/urdf/wheel/caster.xacro
+++ b/simulation_common/urdf/wheel/caster.xacro
@@ -10,7 +10,7 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro" name="caster">
     <xacro:macro name="caster" params="name parent:=base_link *joint_origin">
         <!-- Includes -->
-        <xacro:include filename="$(find common_xacro)/urdf/physics/inertia.xacro"/>
+        <xacro:include filename="$(find simulation_common)/urdf/physics/inertia.xacro"/>
 
         <!-- Constants -->
         <xacro:property name="radius" value="${3.5*0.0254}"/>
diff --git a/common_xacro/urdf/wheel/wheel.xacro b/simulation_common/urdf/wheel/wheel.xacro
similarity index 96%
rename from common_xacro/urdf/wheel/wheel.xacro
rename to simulation_common/urdf/wheel/wheel.xacro
index 60526ed..f8c4d98 100644
--- a/common_xacro/urdf/wheel/wheel.xacro
+++ b/simulation_common/urdf/wheel/wheel.xacro
@@ -10,7 +10,7 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro" name="wheel">
     <xacro:macro name="wheel" params="name parent:=base_link *joint_origin">
         <!-- Includes -->
-        <xacro:include filename="$(find common_xacro)/urdf/physics/inertia.xacro"/>
+        <xacro:include filename="$(find simulation_common)/urdf/physics/inertia.xacro"/>
 
         <!-- Constants -->
         <xacro:property name="radius" value="${6.1875*0.0254}"/>
diff --git a/marvin_simulation/world/CHANGES.md b/simulation_common/world/CHANGES.md
similarity index 100%
rename from marvin_simulation/world/CHANGES.md
rename to simulation_common/world/CHANGES.md
diff --git a/marvin_simulation/world/LICENSE b/simulation_common/world/LICENSE
similarity index 100%
rename from marvin_simulation/world/LICENSE
rename to simulation_common/world/LICENSE
diff --git a/marvin_simulation/world/basic_obstacles.world b/simulation_common/world/basic_obstacles.world
similarity index 100%
rename from marvin_simulation/world/basic_obstacles.world
rename to simulation_common/world/basic_obstacles.world
diff --git a/marvin_simulation/world/empty.world b/simulation_common/world/empty.world
similarity index 100%
rename from marvin_simulation/world/empty.world
rename to simulation_common/world/empty.world
diff --git a/marvin_simulation/world/igvc.world b/simulation_common/world/igvc.world
similarity index 100%
rename from marvin_simulation/world/igvc.world
rename to simulation_common/world/igvc.world
diff --git a/marvin_simulation/world/igvc_flat.world b/simulation_common/world/igvc_flat.world
similarity index 100%
rename from marvin_simulation/world/igvc_flat.world
rename to simulation_common/world/igvc_flat.world
diff --git a/marvin_simulation/world/igvc_flatV2.world b/simulation_common/world/igvc_flatV2.world
similarity index 100%
rename from marvin_simulation/world/igvc_flatV2.world
rename to simulation_common/world/igvc_flatV2.world
diff --git a/marvin_simulation/world/igvc_flat_wall.world b/simulation_common/world/igvc_flat_wall.world
similarity index 100%
rename from marvin_simulation/world/igvc_flat_wall.world
rename to simulation_common/world/igvc_flat_wall.world
diff --git a/marvin_simulation/world/igvc_models/igvc_basic_ground/construction_barrel/materials/textures/Construction_Barrel_Diffuse.png b/simulation_common/world/igvc_models/igvc_basic_ground/construction_barrel/materials/textures/Construction_Barrel_Diffuse.png
similarity index 100%
rename from marvin_simulation/world/igvc_models/igvc_basic_ground/construction_barrel/materials/textures/Construction_Barrel_Diffuse.png
rename to simulation_common/world/igvc_models/igvc_basic_ground/construction_barrel/materials/textures/Construction_Barrel_Diffuse.png
diff --git a/marvin_simulation/world/igvc_models/igvc_basic_ground/construction_barrel/materials/textures/Construction_Barrel_Spec.png b/simulation_common/world/igvc_models/igvc_basic_ground/construction_barrel/materials/textures/Construction_Barrel_Spec.png
similarity index 100%
rename from marvin_simulation/world/igvc_models/igvc_basic_ground/construction_barrel/materials/textures/Construction_Barrel_Spec.png
rename to simulation_common/world/igvc_models/igvc_basic_ground/construction_barrel/materials/textures/Construction_Barrel_Spec.png
diff --git a/marvin_simulation/world/igvc_models/igvc_basic_ground/construction_barrel/meshes/construction_barrel.dae b/simulation_common/world/igvc_models/igvc_basic_ground/construction_barrel/meshes/construction_barrel.dae
similarity index 100%
rename from marvin_simulation/world/igvc_models/igvc_basic_ground/construction_barrel/meshes/construction_barrel.dae
rename to simulation_common/world/igvc_models/igvc_basic_ground/construction_barrel/meshes/construction_barrel.dae
diff --git a/marvin_simulation/world/igvc_models/igvc_basic_ground/construction_barrel/model-1_3.sdf b/simulation_common/world/igvc_models/igvc_basic_ground/construction_barrel/model-1_3.sdf
similarity index 100%
rename from marvin_simulation/world/igvc_models/igvc_basic_ground/construction_barrel/model-1_3.sdf
rename to simulation_common/world/igvc_models/igvc_basic_ground/construction_barrel/model-1_3.sdf
diff --git a/marvin_simulation/world/igvc_models/igvc_basic_ground/construction_barrel/model-1_4.sdf b/simulation_common/world/igvc_models/igvc_basic_ground/construction_barrel/model-1_4.sdf
similarity index 100%
rename from marvin_simulation/world/igvc_models/igvc_basic_ground/construction_barrel/model-1_4.sdf
rename to simulation_common/world/igvc_models/igvc_basic_ground/construction_barrel/model-1_4.sdf
diff --git a/marvin_simulation/world/igvc_models/igvc_basic_ground/construction_barrel/model.config b/simulation_common/world/igvc_models/igvc_basic_ground/construction_barrel/model.config
similarity index 100%
rename from marvin_simulation/world/igvc_models/igvc_basic_ground/construction_barrel/model.config
rename to simulation_common/world/igvc_models/igvc_basic_ground/construction_barrel/model.config
diff --git a/marvin_simulation/world/igvc_models/igvc_basic_ground/construction_barrel/model.sdf b/simulation_common/world/igvc_models/igvc_basic_ground/construction_barrel/model.sdf
similarity index 100%
rename from marvin_simulation/world/igvc_models/igvc_basic_ground/construction_barrel/model.sdf
rename to simulation_common/world/igvc_models/igvc_basic_ground/construction_barrel/model.sdf
diff --git a/marvin_simulation/world/igvc_models/igvc_basic_ground/materials/scripts/grass_plane.material b/simulation_common/world/igvc_models/igvc_basic_ground/materials/scripts/grass_plane.material
similarity index 100%
rename from marvin_simulation/world/igvc_models/igvc_basic_ground/materials/scripts/grass_plane.material
rename to simulation_common/world/igvc_models/igvc_basic_ground/materials/scripts/grass_plane.material
diff --git a/marvin_simulation/world/igvc_models/igvc_basic_ground/materials/scripts/igvc_grass.material b/simulation_common/world/igvc_models/igvc_basic_ground/materials/scripts/igvc_grass.material
similarity index 100%
rename from marvin_simulation/world/igvc_models/igvc_basic_ground/materials/scripts/igvc_grass.material
rename to simulation_common/world/igvc_models/igvc_basic_ground/materials/scripts/igvc_grass.material
diff --git a/marvin_simulation/world/igvc_models/igvc_basic_ground/materials/scripts/igvc_pavement.material b/simulation_common/world/igvc_models/igvc_basic_ground/materials/scripts/igvc_pavement.material
similarity index 100%
rename from marvin_simulation/world/igvc_models/igvc_basic_ground/materials/scripts/igvc_pavement.material
rename to simulation_common/world/igvc_models/igvc_basic_ground/materials/scripts/igvc_pavement.material
diff --git a/marvin_simulation/world/igvc_models/igvc_basic_ground/materials/scripts/igvc_pavement_old.material b/simulation_common/world/igvc_models/igvc_basic_ground/materials/scripts/igvc_pavement_old.material
similarity index 100%
rename from marvin_simulation/world/igvc_models/igvc_basic_ground/materials/scripts/igvc_pavement_old.material
rename to simulation_common/world/igvc_models/igvc_basic_ground/materials/scripts/igvc_pavement_old.material
diff --git a/marvin_simulation/world/igvc_models/igvc_basic_ground/materials/scripts/pavement_plane.material b/simulation_common/world/igvc_models/igvc_basic_ground/materials/scripts/pavement_plane.material
similarity index 100%
rename from marvin_simulation/world/igvc_models/igvc_basic_ground/materials/scripts/pavement_plane.material
rename to simulation_common/world/igvc_models/igvc_basic_ground/materials/scripts/pavement_plane.material
diff --git a/marvin_simulation/world/igvc_models/igvc_basic_ground/materials/textures/IGVC_grass.png b/simulation_common/world/igvc_models/igvc_basic_ground/materials/textures/IGVC_grass.png
similarity index 100%
rename from marvin_simulation/world/igvc_models/igvc_basic_ground/materials/textures/IGVC_grass.png
rename to simulation_common/world/igvc_models/igvc_basic_ground/materials/textures/IGVC_grass.png
diff --git a/marvin_simulation/world/igvc_models/igvc_basic_ground/materials/textures/IGVC_grass_large.png b/simulation_common/world/igvc_models/igvc_basic_ground/materials/textures/IGVC_grass_large.png
similarity index 100%
rename from marvin_simulation/world/igvc_models/igvc_basic_ground/materials/textures/IGVC_grass_large.png
rename to simulation_common/world/igvc_models/igvc_basic_ground/materials/textures/IGVC_grass_large.png
diff --git a/marvin_simulation/world/igvc_models/igvc_basic_ground/materials/textures/IGVC_grass_original.png b/simulation_common/world/igvc_models/igvc_basic_ground/materials/textures/IGVC_grass_original.png
similarity index 100%
rename from marvin_simulation/world/igvc_models/igvc_basic_ground/materials/textures/IGVC_grass_original.png
rename to simulation_common/world/igvc_models/igvc_basic_ground/materials/textures/IGVC_grass_original.png
diff --git a/marvin_simulation/world/igvc_models/igvc_basic_ground/materials/textures/IGVC_pavement.png b/simulation_common/world/igvc_models/igvc_basic_ground/materials/textures/IGVC_pavement.png
similarity index 100%
rename from marvin_simulation/world/igvc_models/igvc_basic_ground/materials/textures/IGVC_pavement.png
rename to simulation_common/world/igvc_models/igvc_basic_ground/materials/textures/IGVC_pavement.png
diff --git a/marvin_simulation/world/igvc_models/igvc_basic_ground/materials/textures/IGVC_pavementV2.png b/simulation_common/world/igvc_models/igvc_basic_ground/materials/textures/IGVC_pavementV2.png
similarity index 100%
rename from marvin_simulation/world/igvc_models/igvc_basic_ground/materials/textures/IGVC_pavementV2.png
rename to simulation_common/world/igvc_models/igvc_basic_ground/materials/textures/IGVC_pavementV2.png
diff --git a/marvin_simulation/world/igvc_models/igvc_basic_ground/materials/textures/IGVC_pavement_original.png b/simulation_common/world/igvc_models/igvc_basic_ground/materials/textures/IGVC_pavement_original.png
similarity index 100%
rename from marvin_simulation/world/igvc_models/igvc_basic_ground/materials/textures/IGVC_pavement_original.png
rename to simulation_common/world/igvc_models/igvc_basic_ground/materials/textures/IGVC_pavement_original.png
diff --git a/marvin_simulation/world/igvc_models/igvc_basic_ground/materials/textures/grass.png b/simulation_common/world/igvc_models/igvc_basic_ground/materials/textures/grass.png
similarity index 100%
rename from marvin_simulation/world/igvc_models/igvc_basic_ground/materials/textures/grass.png
rename to simulation_common/world/igvc_models/igvc_basic_ground/materials/textures/grass.png
diff --git a/marvin_simulation/world/igvc_models/igvc_basic_ground/materials/textures/grey.PNG b/simulation_common/world/igvc_models/igvc_basic_ground/materials/textures/grey.PNG
similarity index 100%
rename from marvin_simulation/world/igvc_models/igvc_basic_ground/materials/textures/grey.PNG
rename to simulation_common/world/igvc_models/igvc_basic_ground/materials/textures/grey.PNG
diff --git a/marvin_simulation/world/igvc_models/igvc_basic_ground/model.config b/simulation_common/world/igvc_models/igvc_basic_ground/model.config
similarity index 100%
rename from marvin_simulation/world/igvc_models/igvc_basic_ground/model.config
rename to simulation_common/world/igvc_models/igvc_basic_ground/model.config
diff --git a/marvin_simulation/world/igvc_models/igvc_basic_ground/model.sdf b/simulation_common/world/igvc_models/igvc_basic_ground/model.sdf
similarity index 100%
rename from marvin_simulation/world/igvc_models/igvc_basic_ground/model.sdf
rename to simulation_common/world/igvc_models/igvc_basic_ground/model.sdf
diff --git a/marvin_simulation/world/igvc_models/install_models.sh b/simulation_common/world/igvc_models/install_models.sh
similarity index 100%
rename from marvin_simulation/world/igvc_models/install_models.sh
rename to simulation_common/world/igvc_models/install_models.sh
diff --git a/marvin_simulation/world/igvc_wall.world b/simulation_common/world/igvc_wall.world
similarity index 100%
rename from marvin_simulation/world/igvc_wall.world
rename to simulation_common/world/igvc_wall.world
diff --git a/marvin_simulation/CMakeLists.txt b/simulation_marvin/CMakeLists.txt
similarity index 93%
rename from marvin_simulation/CMakeLists.txt
rename to simulation_marvin/CMakeLists.txt
index 840f8c0..8cec2c3 100644
--- a/marvin_simulation/CMakeLists.txt
+++ b/simulation_marvin/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.8)
-project(marvin_simulation)
+project(simulation_marvin)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
@@ -12,7 +12,7 @@ find_package(ament_cmake REQUIRED)
 # find_package(<dependency> REQUIRED)
 
 install(
-  DIRECTORY launch rviz urdf world
+  DIRECTORY launch rviz urdf
   DESTINATION share/${PROJECT_NAME}
 )
 
diff --git a/marvin_simulation/launch/display.launch.py b/simulation_marvin/launch/display.launch.py
similarity index 96%
rename from marvin_simulation/launch/display.launch.py
rename to simulation_marvin/launch/display.launch.py
index 4689ba3..c92e1d1 100644
--- a/marvin_simulation/launch/display.launch.py
+++ b/simulation_marvin/launch/display.launch.py
@@ -7,7 +7,7 @@
 
 def generate_launch_description():
     # Constants
-    package_directory = get_package_share_directory('marvin_simulation')
+    package_directory = get_package_share_directory('simulation_marvin')
     model = os.path.join(package_directory, 'urdf', 'marvin.xacro')
     rviz_config = os.path.join(package_directory, 'rviz', 'display.rviz')
 
diff --git a/marvin_simulation/launch/simulation.launch.py b/simulation_marvin/launch/simulation.launch.py
similarity index 92%
rename from marvin_simulation/launch/simulation.launch.py
rename to simulation_marvin/launch/simulation.launch.py
index 7927c6c..ce34fb9 100644
--- a/marvin_simulation/launch/simulation.launch.py
+++ b/simulation_marvin/launch/simulation.launch.py
@@ -8,7 +8,8 @@
 
 def generate_launch_description():
     # Constants
-    package_directory = get_package_share_directory('marvin_simulation')
+    package_directory = get_package_share_directory('simulation_marvin')
+    world_directory = get_package_share_directory('simulation_common')
     cwd = os.path.join(package_directory, 'launch')
     model = os.path.join(package_directory, 'urdf', 'marvin.xacro')
     rviz_config = os.path.join(package_directory, 'rviz', 'simulation.rviz')
@@ -42,7 +43,7 @@ def generate_launch_description():
             'gzserver',
             '-s', 'libgazebo_ros_init.so',
             '-s', 'libgazebo_ros_factory.so',
-            [package_directory, '/world/', LaunchConfiguration('world'), '.world']],
+            [world_directory, '/world/', LaunchConfiguration('world'), '.world']],
         output='screen',
         cwd=[cwd]
     )
diff --git a/marvin_simulation/package.xml b/simulation_marvin/package.xml
similarity index 96%
rename from marvin_simulation/package.xml
rename to simulation_marvin/package.xml
index 97899ed..0257003 100644
--- a/marvin_simulation/package.xml
+++ b/simulation_marvin/package.xml
@@ -1,7 +1,7 @@
 <?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>marvin_simulation</name>
+  <name>simulation_marvin</name>
   <version>1.0.0</version>
   <description>Simulation model for ARV's 2022-2024 robot "Marvin"</description>
   <maintainer email="ryanliao@umich.edu">Ryan Liao</maintainer>
diff --git a/marvin_simulation/rviz/display.rviz b/simulation_marvin/rviz/display.rviz
similarity index 100%
rename from marvin_simulation/rviz/display.rviz
rename to simulation_marvin/rviz/display.rviz
diff --git a/marvin_simulation/rviz/simulation.rviz b/simulation_marvin/rviz/simulation.rviz
similarity index 100%
rename from marvin_simulation/rviz/simulation.rviz
rename to simulation_marvin/rviz/simulation.rviz
diff --git a/marvin_simulation/urdf/chassis.xacro b/simulation_marvin/urdf/chassis.xacro
similarity index 94%
rename from marvin_simulation/urdf/chassis.xacro
rename to simulation_marvin/urdf/chassis.xacro
index 205f443..db49bd3 100644
--- a/marvin_simulation/urdf/chassis.xacro
+++ b/simulation_marvin/urdf/chassis.xacro
@@ -2,8 +2,8 @@
 
 <robot xmlns:xacro="http://ros.org/wiki/xacro" name="chassis">
     <!-- Includes -->
-    <xacro:include filename="$(find common_xacro)/urdf/physics/inertia.xacro"/>
-    <xacro:include filename="$(find marvin_simulation)/urdf/constants.xacro"/>
+    <xacro:include filename="$(find simulation_common)/urdf/physics/inertia.xacro"/>
+    <xacro:include filename="$(find simulation_marvin)/urdf/constants.xacro"/>
 
     <!-- Chassis link -->
     <link name="chassis_link">
diff --git a/marvin_simulation/urdf/constants.xacro b/simulation_marvin/urdf/constants.xacro
similarity index 100%
rename from marvin_simulation/urdf/constants.xacro
rename to simulation_marvin/urdf/constants.xacro
diff --git a/marvin_simulation/urdf/marvin.xacro b/simulation_marvin/urdf/marvin.xacro
similarity index 61%
rename from marvin_simulation/urdf/marvin.xacro
rename to simulation_marvin/urdf/marvin.xacro
index 60b7a10..1aeba1f 100644
--- a/marvin_simulation/urdf/marvin.xacro
+++ b/simulation_marvin/urdf/marvin.xacro
@@ -2,7 +2,7 @@
 
 <robot name="marvin" xmlns:xacro="http://www.ros.org/wiki/xacro"> 
     <!-- Includes -->
-    <xacro:include filename="$(find marvin_simulation)/urdf/constants.xacro"/>
+    <xacro:include filename="$(find simulation_marvin)/urdf/constants.xacro"/>
 
 	<!-- Base_link -->
     <link name="base_link" />
@@ -19,18 +19,18 @@
 
 
     <!-- Chassis -->
-    <xacro:include filename="$(find marvin_simulation)/urdf/chassis.xacro"/>
+    <xacro:include filename="$(find simulation_marvin)/urdf/chassis.xacro"/>
 
 
     <!-- Caster -->
-    <xacro:include filename="$(find common_xacro)/urdf/wheel/caster.xacro"/>
+    <xacro:include filename="$(find simulation_common)/urdf/wheel/caster.xacro"/>
 	<xacro:caster name="caster">
         <origin xyz="${caster_x_offset} 0 ${caster_z_offset}" rpy="0 0 0" />
 	</xacro:caster>
 
 
     <!-- Wheels -->
-    <xacro:include filename="$(find common_xacro)/urdf/wheel/wheel.xacro"/>
+    <xacro:include filename="$(find simulation_common)/urdf/wheel/wheel.xacro"/>
 	<xacro:wheel name="right_wheel">
 		<origin xyz="0 ${-wheel_x_offset} ${wheel_z_offset}" rpy="0 0 0" />
 	</xacro:wheel>
@@ -40,7 +40,7 @@
 
 
     <!-- Camera -->
-	<xacro:include filename="$(find common_xacro)/urdf/sensor/depth_camera.xacro" />
+	<xacro:include filename="$(find simulation_common)/urdf/sensor/depth_camera.xacro" />
 	<xacro:depth_camera name="zed">
 		<origin xyz="${camera_x_offset} 0 ${camera_z_offset}" rpy="0 ${camera_angle} 0" />
 	</xacro:depth_camera>
@@ -54,7 +54,7 @@
 
 
 	<!-- IMU -->
-    <xacro:include filename="$(find common_xacro)/urdf/sensor/imu.xacro" />
+    <xacro:include filename="$(find simulation_common)/urdf/sensor/imu.xacro" />
     <xacro:imu name="imu">
 		<origin xyz="${-chassis_tower_length / 2 - chassis_electrical_length/2} 0 ${chassis_electrical_height}" rpy="0 0 0" />
     </xacro:imu>
@@ -85,6 +85,31 @@
     </gazebo>
 
 
-    <!-- Gazebo plugins -->
-    <xacro:include filename="$(find marvin_simulation)/urdf/plugins.xacro"/>
+    <!-- Differential Drive -->
+    	<gazebo>
+		<plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
+			<update_rate>100.0</update_rate>
+			<robot_base_frame>base_link</robot_base_frame>
+			<command_topic>cmd_vel</command_topic>
+
+			<left_joint>left_wheel_joint</left_joint>
+			<right_joint>right_wheel_joint</right_joint>
+			<wheel_separation>${2 * wheel_x_offset}</wheel_separation>
+			<wheel_diameter>${2 * 6.1875 * 0.0254}</wheel_diameter>
+			<publish_tf>true</publish_tf>
+			<publish_wheel_tf>true</publish_wheel_tf>
+
+			<max_wheel_acceleration>1.8</max_wheel_acceleration>
+			<max_wheel_torque>30</max_wheel_torque>
+
+			<odometrySource>encoder</odometrySource>
+			<odometry_topic>odom</odometry_topic>
+			<odometry_frame>odom</odometry_frame>
+			<publish_odom>true</publish_odom>
+			<publish_odom_tf>true</publish_odom_tf>
+
+			<legacy_mode>false</legacy_mode>
+			<ros_debug_level>na</ros_debug_level>
+		</plugin>
+	</gazebo>
 </robot>
\ No newline at end of file

From 44e1332aa87c873be95713d285dac66eb023b656 Mon Sep 17 00:00:00 2001
From: Ryan Liao <ryan.liao0305@gmail.com>
Date: Tue, 4 Feb 2025 21:35:34 -0500
Subject: [PATCH 07/11] Start working on migrating launch file and rviz to be
 common

---
 .../launch/display.launch.py                  |  4 +-
 .../launch/simulation.launch.py               | 50 +++++++++++++++++--
 .../rviz/display.rviz                         |  0
 .../rviz/simulation.rviz                      |  0
 simulation_marvin/CMakeLists.txt              |  2 +-
 5 files changed, 49 insertions(+), 7 deletions(-)
 rename {simulation_marvin => simulation_common}/launch/display.launch.py (94%)
 rename {simulation_marvin => simulation_common}/launch/simulation.launch.py (65%)
 rename {simulation_marvin => simulation_common}/rviz/display.rviz (100%)
 rename {simulation_marvin => simulation_common}/rviz/simulation.rviz (100%)

diff --git a/simulation_marvin/launch/display.launch.py b/simulation_common/launch/display.launch.py
similarity index 94%
rename from simulation_marvin/launch/display.launch.py
rename to simulation_common/launch/display.launch.py
index c92e1d1..4dc283e 100644
--- a/simulation_marvin/launch/display.launch.py
+++ b/simulation_common/launch/display.launch.py
@@ -9,7 +9,7 @@ def generate_launch_description():
     # Constants
     package_directory = get_package_share_directory('simulation_marvin')
     model = os.path.join(package_directory, 'urdf', 'marvin.xacro')
-    rviz_config = os.path.join(package_directory, 'rviz', 'display.rviz')
+    #rviz_config = os.path.join(package_directory, 'rviz', 'display.rviz')
 
     # Arguments
     enable_joint_publisher_launch_arg = DeclareLaunchArgument(
@@ -46,7 +46,7 @@ def generate_launch_description():
         executable='rviz2',
         name='rviz2',
         output='screen',
-        arguments=['-d', rviz_config],
+        #arguments=['-d', rviz_config],
     )
 
     #Launch Description
diff --git a/simulation_marvin/launch/simulation.launch.py b/simulation_common/launch/simulation.launch.py
similarity index 65%
rename from simulation_marvin/launch/simulation.launch.py
rename to simulation_common/launch/simulation.launch.py
index ce34fb9..b1abeec 100644
--- a/simulation_marvin/launch/simulation.launch.py
+++ b/simulation_common/launch/simulation.launch.py
@@ -1,17 +1,52 @@
-from ament_index_python.packages import get_package_share_directory
+from ament_index_python.packages import get_package_share_directory, get_packages_with_prefixes
 from launch import LaunchDescription
 from launch_ros.actions import Node
 from launch.actions import DeclareLaunchArgument, ExecuteProcess
 from launch.substitutions import Command, LaunchConfiguration
 from launch.conditions import UnlessCondition
 import os
+import re
+
+def get_latest_model_name():
+    pattern = re.compile(r"^simulation_(\d+)_([a-zA-Z0-9_-]+)$")
+    packages = get_packages_with_prefixes("simulation").keys()
+
+    latest_model_package = None
+
+    for package in packages:
+        match = pattern.match(package)
+
+        if match is None:
+            continue
+
+        if latest_model_package is None:
+            latest_model_package = package
+            continue
+    
+        latest_version = int(pattern.match(latest_model_package).group(1))
+        current_version = int(pattern.match(package).group(1))
+        if current_version > latest_version:
+            latest_model_package = package
+
+    return pattern.match(latest_model_package).group(2)
+
+def get_package_of_model(model):
+    pattern = re.compile(r"^simulation_(\d+)_" + model + "$")
+    packages = get_packages_with_prefixes().keys()
+
+    matching_packages = [package for package in packages if pattern.match(package) is not None]
+
+    if len(matching_packages) == 0:
+        return None
+    
+    return matching_packages[0]
 
 def generate_launch_description():
     # Constants
     package_directory = get_package_share_directory('simulation_marvin')
     world_directory = get_package_share_directory('simulation_common')
     cwd = os.path.join(package_directory, 'launch')
-    model = os.path.join(package_directory, 'urdf', 'marvin.xacro')
+    #model = os.path.join(package_directory, 'urdf', 'marvin.xacro')
     rviz_config = os.path.join(package_directory, 'rviz', 'simulation.rviz')
     default_world_name = 'empty'
 
@@ -28,13 +63,19 @@ def generate_launch_description():
         description='Show RViz and Gazebo'
     )
 
+    model_launch_arg = DeclareLaunchArgument(
+        name = 'model',
+        default_value = get_latest_model_name(),
+        description = 'name of the robot model'
+    )
+
     # Robot node
     robot_state_publisher_node = Node(
         package='robot_state_publisher',
         executable='robot_state_publisher',
         output='screen',
-        parameters=[{'robot_description': Command(['xacro ', model]),
-                     'use_sim_time': True}]
+        # parameters=[{'robot_description': Command(['xacro ', model]), #TODO: USE LAUNCH ARG
+        #              'use_sim_time': True}] 
     )
 
     # Gazebo node
@@ -91,6 +132,7 @@ def generate_launch_description():
     return LaunchDescription([
         world_launch_arg,
         headless_launch_arg,
+        model_launch_arg,
         robot_state_publisher_node,
         gazebo_server, 
         gazebo_client,
diff --git a/simulation_marvin/rviz/display.rviz b/simulation_common/rviz/display.rviz
similarity index 100%
rename from simulation_marvin/rviz/display.rviz
rename to simulation_common/rviz/display.rviz
diff --git a/simulation_marvin/rviz/simulation.rviz b/simulation_common/rviz/simulation.rviz
similarity index 100%
rename from simulation_marvin/rviz/simulation.rviz
rename to simulation_common/rviz/simulation.rviz
diff --git a/simulation_marvin/CMakeLists.txt b/simulation_marvin/CMakeLists.txt
index 8cec2c3..5d1e8a8 100644
--- a/simulation_marvin/CMakeLists.txt
+++ b/simulation_marvin/CMakeLists.txt
@@ -12,7 +12,7 @@ find_package(ament_cmake REQUIRED)
 # find_package(<dependency> REQUIRED)
 
 install(
-  DIRECTORY launch rviz urdf
+  DIRECTORY launch urdf
   DESTINATION share/${PROJECT_NAME}
 )
 

From a6332a2408f9444f75c6594d8cb7afd99444458a Mon Sep 17 00:00:00 2001
From: Ryan Liao <ryan.liao0305@gmail.com>
Date: Tue, 4 Feb 2025 21:36:23 -0500
Subject: [PATCH 08/11] Rename marvin folder to match pattern

---
 {simulation_marvin => simulation_24_marvin}/CMakeLists.txt       | 0
 {simulation_marvin => simulation_24_marvin}/package.xml          | 0
 {simulation_marvin => simulation_24_marvin}/urdf/chassis.xacro   | 0
 {simulation_marvin => simulation_24_marvin}/urdf/constants.xacro | 0
 {simulation_marvin => simulation_24_marvin}/urdf/marvin.xacro    | 0
 5 files changed, 0 insertions(+), 0 deletions(-)
 rename {simulation_marvin => simulation_24_marvin}/CMakeLists.txt (100%)
 rename {simulation_marvin => simulation_24_marvin}/package.xml (100%)
 rename {simulation_marvin => simulation_24_marvin}/urdf/chassis.xacro (100%)
 rename {simulation_marvin => simulation_24_marvin}/urdf/constants.xacro (100%)
 rename {simulation_marvin => simulation_24_marvin}/urdf/marvin.xacro (100%)

diff --git a/simulation_marvin/CMakeLists.txt b/simulation_24_marvin/CMakeLists.txt
similarity index 100%
rename from simulation_marvin/CMakeLists.txt
rename to simulation_24_marvin/CMakeLists.txt
diff --git a/simulation_marvin/package.xml b/simulation_24_marvin/package.xml
similarity index 100%
rename from simulation_marvin/package.xml
rename to simulation_24_marvin/package.xml
diff --git a/simulation_marvin/urdf/chassis.xacro b/simulation_24_marvin/urdf/chassis.xacro
similarity index 100%
rename from simulation_marvin/urdf/chassis.xacro
rename to simulation_24_marvin/urdf/chassis.xacro
diff --git a/simulation_marvin/urdf/constants.xacro b/simulation_24_marvin/urdf/constants.xacro
similarity index 100%
rename from simulation_marvin/urdf/constants.xacro
rename to simulation_24_marvin/urdf/constants.xacro
diff --git a/simulation_marvin/urdf/marvin.xacro b/simulation_24_marvin/urdf/marvin.xacro
similarity index 100%
rename from simulation_marvin/urdf/marvin.xacro
rename to simulation_24_marvin/urdf/marvin.xacro

From 23a2ccdb5a5c75854baeba620ea732f708e8f9f1 Mon Sep 17 00:00:00 2001
From: Ryan Liao <ryan.liao0305@gmail.com>
Date: Tue, 4 Feb 2025 22:27:39 -0500
Subject: [PATCH 09/11] Rename marvin, parameterize model

---
 simulation_common/CMakeLists.txt              |  2 +-
 simulation_common/launch/display.launch.py    | 30 +++++---
 simulation_common/launch/simulation.launch.py | 69 ++++++-------------
 .../CMakeLists.txt                            |  2 +-
 .../package.xml                               |  2 +-
 .../urdf/chassis.xacro                        |  0
 .../urdf/constants.xacro                      |  0
 .../urdf/model.xacro                          |  0
 8 files changed, 45 insertions(+), 60 deletions(-)
 rename {simulation_24_marvin => simulation_marvin}/CMakeLists.txt (97%)
 rename {simulation_24_marvin => simulation_marvin}/package.xml (91%)
 rename {simulation_24_marvin => simulation_marvin}/urdf/chassis.xacro (100%)
 rename {simulation_24_marvin => simulation_marvin}/urdf/constants.xacro (100%)
 rename simulation_24_marvin/urdf/marvin.xacro => simulation_marvin/urdf/model.xacro (100%)

diff --git a/simulation_common/CMakeLists.txt b/simulation_common/CMakeLists.txt
index 566bfac..c3afba0 100644
--- a/simulation_common/CMakeLists.txt
+++ b/simulation_common/CMakeLists.txt
@@ -12,7 +12,7 @@ find_package(ament_cmake REQUIRED)
 # find_package(<dependency> REQUIRED)
 
 install(
-  DIRECTORY urdf world
+  DIRECTORY launch urdf rviz world
   DESTINATION share/${PROJECT_NAME}
 )
 
diff --git a/simulation_common/launch/display.launch.py b/simulation_common/launch/display.launch.py
index 4dc283e..1d44ea8 100644
--- a/simulation_common/launch/display.launch.py
+++ b/simulation_common/launch/display.launch.py
@@ -2,15 +2,13 @@
 import launch
 import launch_ros
 from launch.actions import DeclareLaunchArgument
-from launch.substitutions import Command, LaunchConfiguration
+from launch.substitutions import Command, LaunchConfiguration, PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 import os
 
-def generate_launch_description():
-    # Constants
-    package_directory = get_package_share_directory('simulation_marvin')
-    model = os.path.join(package_directory, 'urdf', 'marvin.xacro')
-    #rviz_config = os.path.join(package_directory, 'rviz', 'display.rviz')
+DEFAULT_MODEL_NAME = 'marvin'
 
+def generate_launch_description():
     # Arguments
     enable_joint_publisher_launch_arg = DeclareLaunchArgument(
         name='joint_gui', 
@@ -18,11 +16,26 @@ def generate_launch_description():
         description='Flag to enable joint_state_publisher_gui'
     )
 
+    model_launch_arg = DeclareLaunchArgument(
+        name = 'model',
+        default_value = DEFAULT_MODEL_NAME,
+        description = 'name of the robot model'
+    )
+
+    # Constants
+    package_directory = get_package_share_directory('simulation_common')
+    rviz_config = os.path.join(package_directory, 'rviz', 'display.rviz')
+    xacro_file_path = PathJoinSubstitution([
+        FindPackageShare(["simulation_", LaunchConfiguration('model')]),
+        'urdf',
+        'model.xacro'
+    ])
+
     # Robot Node
     robot_state_publisher_node = launch_ros.actions.Node(
         package='robot_state_publisher',
         executable='robot_state_publisher',
-        parameters=[{'robot_description': Command(['xacro ', model])}]
+        parameters=[{'robot_description': Command(['xacro ', xacro_file_path])}]
     )
 
     # Wheel Node
@@ -46,12 +59,13 @@ def generate_launch_description():
         executable='rviz2',
         name='rviz2',
         output='screen',
-        #arguments=['-d', rviz_config],
+        arguments=['-d', rviz_config],
     )
 
     #Launch Description
     return launch.LaunchDescription([
         enable_joint_publisher_launch_arg,
+        model_launch_arg,
         joint_state_publisher_node,
         joint_state_publisher_gui_node,
         robot_state_publisher_node,
diff --git a/simulation_common/launch/simulation.launch.py b/simulation_common/launch/simulation.launch.py
index b1abeec..a158a7c 100644
--- a/simulation_common/launch/simulation.launch.py
+++ b/simulation_common/launch/simulation.launch.py
@@ -1,59 +1,20 @@
-from ament_index_python.packages import get_package_share_directory, get_packages_with_prefixes
+from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch_ros.actions import Node
 from launch.actions import DeclareLaunchArgument, ExecuteProcess
-from launch.substitutions import Command, LaunchConfiguration
+from launch.substitutions import Command, LaunchConfiguration, PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 from launch.conditions import UnlessCondition
 import os
-import re
 
-def get_latest_model_name():
-    pattern = re.compile(r"^simulation_(\d+)_([a-zA-Z0-9_-]+)$")
-    packages = get_packages_with_prefixes("simulation").keys()
-
-    latest_model_package = None
-
-    for package in packages:
-        match = pattern.match(package)
-
-        if match is None:
-            continue
-
-        if latest_model_package is None:
-            latest_model_package = package
-            continue
-    
-        latest_version = int(pattern.match(latest_model_package).group(1))
-        current_version = int(pattern.match(package).group(1))
-        if current_version > latest_version:
-            latest_model_package = package
-
-    return pattern.match(latest_model_package).group(2)
-
-def get_package_of_model(model):
-    pattern = re.compile(r"^simulation_(\d+)_" + model + "$")
-    packages = get_packages_with_prefixes().keys()
-
-    matching_packages = [package for package in packages if pattern.match(package) is not None]
-
-    if len(matching_packages) == 0:
-        return None
-    
-    return matching_packages[0]
+DEFAULT_MODEL_NAME = 'marvin'
+DEFAULT_WORLD_NAME = 'empty'
 
 def generate_launch_description():
-    # Constants
-    package_directory = get_package_share_directory('simulation_marvin')
-    world_directory = get_package_share_directory('simulation_common')
-    cwd = os.path.join(package_directory, 'launch')
-    #model = os.path.join(package_directory, 'urdf', 'marvin.xacro')
-    rviz_config = os.path.join(package_directory, 'rviz', 'simulation.rviz')
-    default_world_name = 'empty'
-
     # Arguments
     world_launch_arg = DeclareLaunchArgument(
         name='world',
-        default_value=default_world_name,
+        default_value = DEFAULT_WORLD_NAME,
         description='Name of world file in the world directory'
     )
 
@@ -65,17 +26,27 @@ def generate_launch_description():
 
     model_launch_arg = DeclareLaunchArgument(
         name = 'model',
-        default_value = get_latest_model_name(),
+        default_value = DEFAULT_MODEL_NAME,
         description = 'name of the robot model'
     )
 
+    # Variables
+    package_directory = get_package_share_directory('simulation_common')
+    cwd = os.path.join(package_directory, 'launch')
+    rviz_config = os.path.join(package_directory, 'rviz', 'simulation.rviz')
+    xacro_file_path = PathJoinSubstitution([
+        FindPackageShare(["simulation_", LaunchConfiguration('model')]),
+        'urdf',
+        'model.xacro'
+    ])
+
     # Robot node
     robot_state_publisher_node = Node(
         package='robot_state_publisher',
         executable='robot_state_publisher',
         output='screen',
-        # parameters=[{'robot_description': Command(['xacro ', model]), #TODO: USE LAUNCH ARG
-        #              'use_sim_time': True}] 
+        parameters=[{'robot_description': Command(['xacro ', xacro_file_path]), 
+                     'use_sim_time': True}] 
     )
 
     # Gazebo node
@@ -84,7 +55,7 @@ def generate_launch_description():
             'gzserver',
             '-s', 'libgazebo_ros_init.so',
             '-s', 'libgazebo_ros_factory.so',
-            [world_directory, '/world/', LaunchConfiguration('world'), '.world']],
+            [package_directory, '/world/', LaunchConfiguration('world'), '.world']],
         output='screen',
         cwd=[cwd]
     )
diff --git a/simulation_24_marvin/CMakeLists.txt b/simulation_marvin/CMakeLists.txt
similarity index 97%
rename from simulation_24_marvin/CMakeLists.txt
rename to simulation_marvin/CMakeLists.txt
index 5d1e8a8..3ed73e2 100644
--- a/simulation_24_marvin/CMakeLists.txt
+++ b/simulation_marvin/CMakeLists.txt
@@ -12,7 +12,7 @@ find_package(ament_cmake REQUIRED)
 # find_package(<dependency> REQUIRED)
 
 install(
-  DIRECTORY launch urdf
+  DIRECTORY urdf
   DESTINATION share/${PROJECT_NAME}
 )
 
diff --git a/simulation_24_marvin/package.xml b/simulation_marvin/package.xml
similarity index 91%
rename from simulation_24_marvin/package.xml
rename to simulation_marvin/package.xml
index 0257003..c7d83a2 100644
--- a/simulation_24_marvin/package.xml
+++ b/simulation_marvin/package.xml
@@ -3,7 +3,7 @@
 <package format="3">
   <name>simulation_marvin</name>
   <version>1.0.0</version>
-  <description>Simulation model for ARV's 2022-2024 robot "Marvin"</description>
+  <description>Simulation model for ARV's 2024 robot "Marvin"</description>
   <maintainer email="ryanliao@umich.edu">Ryan Liao</maintainer>
   <license>MIT</license>
 
diff --git a/simulation_24_marvin/urdf/chassis.xacro b/simulation_marvin/urdf/chassis.xacro
similarity index 100%
rename from simulation_24_marvin/urdf/chassis.xacro
rename to simulation_marvin/urdf/chassis.xacro
diff --git a/simulation_24_marvin/urdf/constants.xacro b/simulation_marvin/urdf/constants.xacro
similarity index 100%
rename from simulation_24_marvin/urdf/constants.xacro
rename to simulation_marvin/urdf/constants.xacro
diff --git a/simulation_24_marvin/urdf/marvin.xacro b/simulation_marvin/urdf/model.xacro
similarity index 100%
rename from simulation_24_marvin/urdf/marvin.xacro
rename to simulation_marvin/urdf/model.xacro

From e4ac4089bae629e898e2a722090ff7b8f5dafadc Mon Sep 17 00:00:00 2001
From: Ryan Liao <ryan.liao0305@gmail.com>
Date: Tue, 4 Feb 2025 22:30:38 -0500
Subject: [PATCH 10/11] Make spawn entity match model name

---
 simulation_common/launch/simulation.launch.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/simulation_common/launch/simulation.launch.py b/simulation_common/launch/simulation.launch.py
index a158a7c..442606c 100644
--- a/simulation_common/launch/simulation.launch.py
+++ b/simulation_common/launch/simulation.launch.py
@@ -70,7 +70,7 @@ def generate_launch_description():
         package='gazebo_ros', 
         executable='spawn_entity.py',
         arguments=['-topic', 'robot_description', 
-                    '-entity', 'marvin'],
+                    '-entity', LaunchConfiguration('model')],
         output='screen'
     )
 

From 22c9578bb3903689defc34a1a7297d0ed38c016d Mon Sep 17 00:00:00 2001
From: Ryan Liao <ryan.liao0305@gmail.com>
Date: Tue, 4 Feb 2025 22:38:25 -0500
Subject: [PATCH 11/11] Update docs

---
 README.md                   | 40 +++++++++++--------------------------
 simulation_marvin/readme.md | 21 +++++++++++++++++++
 2 files changed, 33 insertions(+), 28 deletions(-)
 create mode 100644 simulation_marvin/readme.md

diff --git a/README.md b/README.md
index 4feb20e..c071a22 100644
--- a/README.md
+++ b/README.md
@@ -1,5 +1,5 @@
 # Simulation Stack
-This package allows you to simulate Marvin (ARV's 2022-2024 robot) using RViz and Gazebo
+This package allows you to simulate ARV robots using RViz and Gazebo
 
 
 ## Package Dependencies
@@ -23,8 +23,7 @@ The simulation is fairly computation intensive so a GPU is recommended. Note tha
 ## Installation
 1. ```cd``` into ```ws/src```
 2. ```git clone https://github.com/umigv/simulation_stack.git```
-3. ```cd simulation_stack```
-4. ```./scripts/setup.bash```
+3. ```./simulation_stack/scripts/setup.bash```
 
 
 ## Running the Stack
@@ -35,36 +34,17 @@ The simulation is fairly computation intensive so a GPU is recommended. Note tha
 4. ```source install/setup.bash```
 
 ### Launching
-Running ```ros2 launch simulation_marvin display.launch.py``` will open RViz and display the robot model. This launch file is made to quickly check if the robot model is correctly formatted and used internally when developing the stack.
+Running ```ros2 launch simulation_common display.launch.py``` will open RViz and display the robot model. This launch file is made to quickly check if the robot model is correctly formatted and used internally when developing the stack.
 
-Running ```ros2 launch simulation_marvin simulation.launch.py``` will spawn the robot in Gazebo and visualize sensor outputs in RViz. Any project interfacing with the simulation should use this launch file.
-
-
-## Interfacing with the Stack
-### Topics
-#### Robot
-```/cmd_vel``` (```geometry_msgs/msg/Twist```) - target velocity for the robot to move in  
-```/odom``` (```nav_msgs/msg/Odometry```) - an estimation of the robot's position and velocity  
-
-#### LiDAR
-```/velodyne_points``` (```sensor_msgs/msg/PointCloud2```) - pointcloud output of the LiDAR  
-```/scan``` (```sensor_msgs/msg/LaserScan```) - converted laser scan of the LiDAR pointcloud on the x-y plane  
-
-#### Camera
-```/zed/camera_info``` (```sensor_msgs/msg/CameraInfo```) - Information about the camera  
-```/zed/depth/camera_info``` (```sensor_msgs/msg/CameraInfo```) - Information about the depth camera  
-```/zed/depth/image_raw``` (```sensor_msgs/msg/Image```) - Raw depth image  
-```/zed/image_raw``` (```sensor_msgs/msg/Image```) - Raw image  
-```/zed/points``` (```sensor_msgs/msg/PointCloud2```) - Point cloud of the camera's depth data (warning: visualizing this in RViz is VERY computationally intensive)  
-
-#### IMU
-```/imu_controller/out``` (```sensor_msgs/msg/Imu```) - IMU data  
+Running ```ros2 launch simulation_common simulation.launch.py``` will spawn the robot in Gazebo and visualize sensor outputs in RViz. Any project interfacing with the simulation should use this launch file.
 
 ### Launch File Arguments
 #### display.launch.py
+```model``` (default: ```marvin```) - the model to display (remove simulation_ to get model name)  
 ```joint_gui``` (default: ```True```) - whether to enable joint_state_publisher_gui
 
 #### simulation.launch.py
+```model``` (default: ```marvin```) - the model to simulate (remove simulation_ to get model name)  
 ```headless``` (default: ```False```) - whether to enable RViz. If you have other code that runs their own instance of RViz (ex. Nav2), you should set headless to True  
 ```world``` (default: ```empty```) - Name of the Gazebo world file in the world directory
 
@@ -79,12 +59,16 @@ Running ```ros2 launch simulation_marvin simulation.launch.py``` will spawn the
 ### Simulation Stack as a Subpackage
 Since multiple subteams may use this stack as a dependency, **do not include this stack directly in another subteam stack either as a package or git submodule**. Having multiple instances in the same package will result in conflicts. Instead, develop with simulation without adding simulation to your repostitory, and include this project as a submodule in the main stack.
 
+
 ## Sample Image
 ![image](https://github.com/umigv/simulation_stack/assets/71594512/d06b174b-d1e1-4ed9-87ef-9c0c3b0abce3)
 ![image](https://github.com/umigv/simulation_stack/assets/71594512/9130685b-c081-4591-942f-6b38e1be852f)
 
+
 ## Learning more
-Visit the [wiki](https://github.com/umigv/simulation_stack/wiki) to learn about how to set up robot models for simulation
+Visit the [wiki](https://github.com/umigv/simulation_stack/wiki) to learn about how to set up robot models for simulation  
+Go into the folder of individual robots to see the topics that is outputted
+
 
 ## Possible Issues
 ### symbol lookup error: ... undefined symbol: __libc_pthread_init, version GLIBC_PRIVATE
@@ -101,4 +85,4 @@ This error is caused by [snap variables leaking into terminal variables](https:/
 ## Credits
 Jason Ning and Kari Naga on the sensors team, who created the original URDF files and the Gazebo World in the [marvin](https://github.com/umigv/marvin/tree/main/urdf) repository.  
 
-[UTRA ART](https://github.com/UTRA-ART) for their [full IGVC course world](https://github.com/UTRA-ART/Caffeine/tree/master/worlds/). Any file or folder containing IGVC is under the original [Apache 2.0 license](https://github.com/umigv/simulation_stack/blob/igvc_course/simulation_marvin/world/LICENSE)
+[UTRA ART](https://github.com/UTRA-ART) for their [full IGVC course world](https://github.com/UTRA-ART/Caffeine/tree/master/worlds/). Any file or folder containing IGVC is under the original [Apache 2.0 license](https://github.com/umigv/simulation_stack/blob/igvc_course/simulation_common/world/LICENSE)
diff --git a/simulation_marvin/readme.md b/simulation_marvin/readme.md
new file mode 100644
index 0000000..cb5bfac
--- /dev/null
+++ b/simulation_marvin/readme.md
@@ -0,0 +1,21 @@
+## Marvin
+ARV's robot used in IGVC 2024
+
+## Topics
+### Robot
+```/cmd_vel``` (```geometry_msgs/msg/Twist```) - target velocity for the robot to move in  
+```/odom``` (```nav_msgs/msg/Odometry```) - an estimation of the robot's position and velocity  
+
+### LiDAR
+```/velodyne_points``` (```sensor_msgs/msg/PointCloud2```) - pointcloud output of the LiDAR  
+```/scan``` (```sensor_msgs/msg/LaserScan```) - converted laser scan of the LiDAR pointcloud on the x-y plane  
+
+### Camera
+```/zed/camera_info``` (```sensor_msgs/msg/CameraInfo```) - Information about the camera  
+```/zed/depth/camera_info``` (```sensor_msgs/msg/CameraInfo```) - Information about the depth camera  
+```/zed/depth/image_raw``` (```sensor_msgs/msg/Image```) - Raw depth image  
+```/zed/image_raw``` (```sensor_msgs/msg/Image```) - Raw image  
+```/zed/points``` (```sensor_msgs/msg/PointCloud2```) - Point cloud of the camera's depth data (warning: visualizing this in RViz is VERY computationally intensive)  
+
+### IMU
+```/imu_controller/out``` (```sensor_msgs/msg/Imu```) - IMU data  
\ No newline at end of file