├── .github └── workflows │ └── deploy-image.yaml ├── Dockerfile ├── LICENSE.md ├── Makefile ├── README.md ├── config └── cyclonedds.xml ├── media └── swerve_drive_modes.gif └── src ├── swerve_controller ├── .flake8 ├── README.md ├── config │ ├── controller.yaml │ └── robot_geometry.yaml ├── launch │ └── swerve_control_odom.launch.py ├── package.xml ├── pyproject.toml ├── resource │ └── swerve_controller ├── setup.cfg ├── setup.py └── swerve_controller │ ├── __init__.py │ ├── swerve_commander.py │ ├── swerve_joints.py │ └── swerve_odometer.py ├── swerve_robot_description ├── CMakeLists.txt ├── README.md ├── config │ └── sim_controllers.yaml ├── launch │ └── description.launch.py ├── meshes │ ├── base_link.dae │ ├── front_left_steering_link.dae │ ├── front_left_wheel_link.dae │ ├── front_right_steering_link.dae │ ├── front_right_wheel_link.dae │ ├── rear_left_steering_link.dae │ ├── rear_left_wheel_link.dae │ ├── rear_right_steering_link.dae │ └── rear_right_wheel_link.dae ├── package.xml ├── rviz │ └── description.rviz └── urdf │ ├── include │ ├── robot_parts │ │ ├── chassis.xacro │ │ ├── steering.xacro │ │ └── wheel.xacro │ ├── swerve_robot_base.xacro │ └── swerve_ros2_control.xacro │ └── swerve_robot.xacro └── swerve_robot_gazebo ├── README.md ├── config └── xbox_holonomic.config.yaml ├── launch ├── sim.launch.py ├── spawn_swerve_robot.launch.py └── teleop_joy.launch.py ├── package.xml ├── resource └── swerve_robot_gazebo ├── setup.cfg ├── setup.py └── swerve_robot_gazebo └── __init__.py /.github/workflows/deploy-image.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/.github/workflows/deploy-image.yaml -------------------------------------------------------------------------------- /Dockerfile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/Dockerfile -------------------------------------------------------------------------------- /LICENSE.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/LICENSE.md -------------------------------------------------------------------------------- /Makefile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/Makefile -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/README.md -------------------------------------------------------------------------------- /config/cyclonedds.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/config/cyclonedds.xml -------------------------------------------------------------------------------- /media/swerve_drive_modes.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/media/swerve_drive_modes.gif -------------------------------------------------------------------------------- /src/swerve_controller/.flake8: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/src/swerve_controller/.flake8 -------------------------------------------------------------------------------- /src/swerve_controller/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/src/swerve_controller/README.md -------------------------------------------------------------------------------- /src/swerve_controller/config/controller.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/src/swerve_controller/config/controller.yaml -------------------------------------------------------------------------------- /src/swerve_controller/config/robot_geometry.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/src/swerve_controller/config/robot_geometry.yaml -------------------------------------------------------------------------------- /src/swerve_controller/launch/swerve_control_odom.launch.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/src/swerve_controller/launch/swerve_control_odom.launch.py -------------------------------------------------------------------------------- /src/swerve_controller/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/src/swerve_controller/package.xml -------------------------------------------------------------------------------- /src/swerve_controller/pyproject.toml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/src/swerve_controller/pyproject.toml -------------------------------------------------------------------------------- /src/swerve_controller/resource/swerve_controller: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /src/swerve_controller/setup.cfg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/src/swerve_controller/setup.cfg -------------------------------------------------------------------------------- /src/swerve_controller/setup.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/src/swerve_controller/setup.py -------------------------------------------------------------------------------- /src/swerve_controller/swerve_controller/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /src/swerve_controller/swerve_controller/swerve_commander.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/src/swerve_controller/swerve_controller/swerve_commander.py -------------------------------------------------------------------------------- /src/swerve_controller/swerve_controller/swerve_joints.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/src/swerve_controller/swerve_controller/swerve_joints.py -------------------------------------------------------------------------------- /src/swerve_controller/swerve_controller/swerve_odometer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/src/swerve_controller/swerve_controller/swerve_odometer.py -------------------------------------------------------------------------------- /src/swerve_robot_description/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/src/swerve_robot_description/CMakeLists.txt -------------------------------------------------------------------------------- /src/swerve_robot_description/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/src/swerve_robot_description/README.md -------------------------------------------------------------------------------- /src/swerve_robot_description/config/sim_controllers.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/src/swerve_robot_description/config/sim_controllers.yaml -------------------------------------------------------------------------------- /src/swerve_robot_description/launch/description.launch.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/src/swerve_robot_description/launch/description.launch.py -------------------------------------------------------------------------------- /src/swerve_robot_description/meshes/base_link.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/src/swerve_robot_description/meshes/base_link.dae -------------------------------------------------------------------------------- /src/swerve_robot_description/meshes/front_left_steering_link.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/src/swerve_robot_description/meshes/front_left_steering_link.dae -------------------------------------------------------------------------------- /src/swerve_robot_description/meshes/front_left_wheel_link.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/src/swerve_robot_description/meshes/front_left_wheel_link.dae -------------------------------------------------------------------------------- /src/swerve_robot_description/meshes/front_right_steering_link.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/src/swerve_robot_description/meshes/front_right_steering_link.dae -------------------------------------------------------------------------------- /src/swerve_robot_description/meshes/front_right_wheel_link.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/src/swerve_robot_description/meshes/front_right_wheel_link.dae -------------------------------------------------------------------------------- /src/swerve_robot_description/meshes/rear_left_steering_link.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/src/swerve_robot_description/meshes/rear_left_steering_link.dae -------------------------------------------------------------------------------- /src/swerve_robot_description/meshes/rear_left_wheel_link.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/src/swerve_robot_description/meshes/rear_left_wheel_link.dae -------------------------------------------------------------------------------- /src/swerve_robot_description/meshes/rear_right_steering_link.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/src/swerve_robot_description/meshes/rear_right_steering_link.dae -------------------------------------------------------------------------------- /src/swerve_robot_description/meshes/rear_right_wheel_link.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/src/swerve_robot_description/meshes/rear_right_wheel_link.dae -------------------------------------------------------------------------------- /src/swerve_robot_description/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/src/swerve_robot_description/package.xml -------------------------------------------------------------------------------- /src/swerve_robot_description/rviz/description.rviz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/src/swerve_robot_description/rviz/description.rviz -------------------------------------------------------------------------------- /src/swerve_robot_description/urdf/include/robot_parts/chassis.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/src/swerve_robot_description/urdf/include/robot_parts/chassis.xacro -------------------------------------------------------------------------------- /src/swerve_robot_description/urdf/include/robot_parts/steering.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/src/swerve_robot_description/urdf/include/robot_parts/steering.xacro -------------------------------------------------------------------------------- /src/swerve_robot_description/urdf/include/robot_parts/wheel.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/src/swerve_robot_description/urdf/include/robot_parts/wheel.xacro -------------------------------------------------------------------------------- /src/swerve_robot_description/urdf/include/swerve_robot_base.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/src/swerve_robot_description/urdf/include/swerve_robot_base.xacro -------------------------------------------------------------------------------- /src/swerve_robot_description/urdf/include/swerve_ros2_control.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/src/swerve_robot_description/urdf/include/swerve_ros2_control.xacro -------------------------------------------------------------------------------- /src/swerve_robot_description/urdf/swerve_robot.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/src/swerve_robot_description/urdf/swerve_robot.xacro -------------------------------------------------------------------------------- /src/swerve_robot_gazebo/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/src/swerve_robot_gazebo/README.md -------------------------------------------------------------------------------- /src/swerve_robot_gazebo/config/xbox_holonomic.config.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/src/swerve_robot_gazebo/config/xbox_holonomic.config.yaml -------------------------------------------------------------------------------- /src/swerve_robot_gazebo/launch/sim.launch.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/src/swerve_robot_gazebo/launch/sim.launch.py -------------------------------------------------------------------------------- /src/swerve_robot_gazebo/launch/spawn_swerve_robot.launch.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/src/swerve_robot_gazebo/launch/spawn_swerve_robot.launch.py -------------------------------------------------------------------------------- /src/swerve_robot_gazebo/launch/teleop_joy.launch.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/src/swerve_robot_gazebo/launch/teleop_joy.launch.py -------------------------------------------------------------------------------- /src/swerve_robot_gazebo/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/src/swerve_robot_gazebo/package.xml -------------------------------------------------------------------------------- /src/swerve_robot_gazebo/resource/swerve_robot_gazebo: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /src/swerve_robot_gazebo/setup.cfg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/src/swerve_robot_gazebo/setup.cfg -------------------------------------------------------------------------------- /src/swerve_robot_gazebo/setup.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/freshrobotics/swerve-sim-container/HEAD/src/swerve_robot_gazebo/setup.py -------------------------------------------------------------------------------- /src/swerve_robot_gazebo/swerve_robot_gazebo/__init__.py: -------------------------------------------------------------------------------- 1 | --------------------------------------------------------------------------------