Add simulation assets for curiosity rover

resolves space-ros/space-ros#178
 - Add curiosity_description
 - Strip third party dependencies of mars_rover

curiosity_rover/curiosity_description/CMakeLists.txt

@@ -0,0 +1,32 @@
+cmake_minimum_required(VERSION 3.8)
+project(curiosity_description)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+install(DIRECTORY
+  ${CMAKE_CURRENT_SOURCE_DIR}/models
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

curiosity_rover/curiosity_description/models/config/mars_rover_control.yaml

@@ -0,0 +1,116 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 100
+
+    arm_joint_trajectory_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+    mast_joint_trajectory_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+    wheel_velocity_controller:
+      type: velocity_controllers/JointGroupVelocityController
+
+    steer_position_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+    wheel_tree_position_controller:
+      type: effort_controllers/JointGroupPositionController
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+
+arm_joint_trajectory_controller:
+  ros__parameters:
+    joints:
+      - arm_01_joint
+      - arm_02_joint
+      - arm_03_joint
+      - arm_04_joint
+      - arm_tools_joint
+    interface_name: position
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity
+
+mast_joint_trajectory_controller:
+  ros__parameters:
+    joints:
+      - mast_p_joint
+      - mast_02_joint
+      - mast_cameras_joint
+    interface_name: position
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity
+
+wheel_velocity_controller:
+  ros__parameters:
+    joints:
+      - front_wheel_L_joint
+      - middle_wheel_L_joint
+      - back_wheel_L_joint
+      - front_wheel_R_joint
+      - middle_wheel_R_joint
+      - back_wheel_R_joint
+    interface_name: velocity
+
+
+steer_position_controller:
+  ros__parameters:
+    joints:
+      - suspension_steer_F_L_joint
+      - suspension_steer_B_L_joint
+      - suspension_steer_F_R_joint
+      - suspension_steer_B_R_joint
+    interface_name: position
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity
+
+wheel_tree_position_controller:
+  ros__parameters:
+    joints:
+      - suspension_arm_F_L_joint
+      - suspension_arm_B_L_joint
+      - suspension_arm_F_R_joint
+      - suspension_arm_B_R_joint
+    command_interfaces:
+      - effort
+    state_interfaces:
+      - position
+      - velocity
+      - effort
+    gains:
+      suspension_arm_F_L_joint:
+        p: 2200.0
+        i: 10.0
+        d: 10.0
+      suspension_arm_B_L_joint:
+        p: 4200.0
+        i: 10.0
+        d: 10.0
+      suspension_arm_F_R_joint:
+        p: 2200.0
+        i: 10.0
+        d: 10.0
+      suspension_arm_B_R_joint:
+        p: 4200.0
+        i: 10.0
+        d: 10.0
+    enable:
+      suspension_arm_F_L_joint:
+        status: 1
+      suspension_arm_B_L_joint:
+        status: 1
+      suspension_arm_F_R_joint:
+        status: 1
+      suspension_arm_B_R_joint:
+        status: 1