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- Add Lotti_gazebo_control.xacro with friction properties and gazebo_ros2_control plugin - Add Lotti_sim.ros2_control.xacro using GazeboSystem instead of serial hardware plugins - Add lotti_world.world (flat ground + sun SDF world) - Add gazebo.launch.py: full sim stack (Gazebo → spawn → controllers → MoveIt/Servo → teleop → RViz) - Add use_sim xacro arg to Lotti.urdf.xacro with conditional hardware branching - Fix chain joints fixed→continuous in Lotti_body.xacro; fix empty body inertia - Add description/worlds to CMakeLists.txt install rule - Add package.xml for lotti_control3 (was missing); includes gazebo_ros2_control deps - Add CLAUDE.md with project context and simulation usage docs Real hardware launches (robot.launch.py, full.launch.py) are untouched. Launch sim: ros2 launch lotti_control3 gazebo.launch.py Co-Authored-By: Claude Sonnet 4.6 <[email protected]>
CLAUDE.md is a local Claude Code context file and should not be version-controlled. Co-Authored-By: Claude Sonnet 4.6 <[email protected]>
## Why Moving the robot target platform from Ubuntu 22.04 (ROS2 Humble + Gazebo Classic 11) to Ubuntu 24.04 (ROS2 Jazzy + Gazebo Harmonic). Gazebo Classic is EOL. Only the 4 Gazebo-facing files needed changes — nothing else was touched. ## Files changed ### control_ws/src/lotti_control3/package.xml - REMOVED: gazebo_ros, gazebo_ros2_control - ADDED: ros_gz_sim, gz_ros2_control, ros_gz_bridge ### description/ros2_control/Lotti_sim.ros2_control.xacro - Plugin in all 3 hardware blocks: gazebo_ros2_control/GazeboSystem → gz_ros2_control/GazeboSimSystem ### description/urdf/Lotti_gazebo_control.xacro - Plugin tag: filename="libgazebo_ros2_control.so" name="gazebo_ros2_control" → filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin" ### bringup/launch/gazebo.launch.py - gzserver + gzclient (gazebo_ros) → ros_gz_sim gz_sim.launch.py (single node) - spawn_entity.py (gazebo_ros) → ros_gz_sim create - TimerAction(3s) delay → OnProcessStart event handler on robot_state_publisher - Added /clock bridge node (ros_gz_bridge) — required for use_sim_time to work ## What was NOT changed (zero regressions expected) - All C++ hardware interfaces (arm3, drive3, flipper3) — API stable across distros - Custom controllers (lotti_drive_controller, lotti_flipper3_controller) - Python nodes (lotti_teleop, lotti_lidar_tf) - MoveIt2 config (lotti3_moveit_config) — uses mock_components, no Gazebo dep - Real-hardware launch files (robot.launch.py, full.launch.py, operator.launch.py) - Controller YAML configs (lotti_controllers.yaml, lotti_servo_config.yaml) - URDF model files (Lotti.urdf.xacro, Lotti_body.xacro, Lotti_arm3.xacro) - World file (lotti_world.world) — SDF 1.6 is backwards-compatible with Harmonic ## To run on a fresh Jazzy machine sudo apt install ros-jazzy-ros-gz-sim ros-jazzy-gz-ros2-control ros-jazzy-ros-gz-bridge cd control_ws && colcon build --symlink-install source install/setup.bash ros2 launch lotti_control3 gazebo.launch.py ## Note for devs pulling this git pull --rebase (commit was amended after initial push) Co-Authored-By: Claude Sonnet 4.6 <[email protected]>
setup_jazzy.sh is a fully automated single-script setup for a fresh Ubuntu 24.04
machine. Run with: chmod +x setup_jazzy.sh && ./setup_jazzy.sh
Steps performed automatically:
1. Locale configuration
2. ROS 2 Jazzy desktop install (idempotent — skips if already installed)
3. Gazebo Harmonic + ros_gz_sim + ros_gz_bridge + gz_ros2_control
4. MoveIt2 (apt in Jazzy, no compile needed), moveit_servo, ros2_control,
ros2_controllers, joy, xacro, cv_bridge, libserial-dev, OpenCV, NumPy
5. Clone resqbot_dev (branch: lotti3), rosdep install, colcon build
6. .bashrc: source ROS Jazzy, source workspace, ROS_DOMAIN_ID=17
Optional (prompted):
- Livox LiDAR stack: SDK2 + livox_ros_driver2 (jazzy) + Fast_LIO_ROS2
- audio_common for robot mic/speaker
Prints a summary with next steps and hardware notes (Unitree SDK gate,
flipper write_only mode, enable_drive/flipper_controller launch args).
Co-Authored-By: Claude Sonnet 4.6 <[email protected]>
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german open 2026