diff --git a/rover_launch.py b/rover_launch.py
index 73f9316..2c33c06 100644
--- a/rover_launch.py
+++ b/rover_launch.py
@@ -38,16 +38,16 @@ def launch_setup(context, *args, **kwargs):
on_exit=Shutdown()
)
)
- nodes.append(
- Node(
- package='core_pkg',
- executable='ptz', # change as needed
- name='ptz',
- output='both'
- # Currently don't shutdown all nodes if the PTZ node fails, as it is not critical
- # on_exit=Shutdown() # Uncomment if you want to shutdown on PTZ failure
- )
- )
+ # nodes.append(
+ # Node(
+ # package='core_pkg',
+ # executable='ptz', # change as needed
+ # name='ptz',
+ # output='both'
+ # # Currently don't shutdown all nodes if the PTZ node fails, as it is not critical
+ # # on_exit=Shutdown() # Uncomment if you want to shutdown on PTZ failure
+ # )
+ # )
nodes.append(
Node(
package='bio_pkg',
diff --git a/src/anchor_pkg/anchor_pkg/anchor_node.py b/src/anchor_pkg/anchor_pkg/anchor_node.py
index aaef775..cf0486a 100644
--- a/src/anchor_pkg/anchor_pkg/anchor_node.py
+++ b/src/anchor_pkg/anchor_pkg/anchor_node.py
@@ -66,6 +66,7 @@ class SerialRelay(Node):
# Loop through all serial devices on the computer to check for the MCU
self.port = None
+ # self.port = "/tmp/ttyACM9" # Fake port, for debugging
ports = SerialRelay.list_serial_ports()
for i in range(4):
if self.port is not None:
diff --git a/src/core_gazebo/CMakeLists.txt b/src/core_gazebo/CMakeLists.txt
new file mode 100644
index 0000000..1aa734c
--- /dev/null
+++ b/src/core_gazebo/CMakeLists.txt
@@ -0,0 +1,36 @@
+cmake_minimum_required(VERSION 3.8)
+project(core_gazebo)
+
+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)
+find_package(controller_manager REQUIRED)
+find_package(gripper_controllers REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(ros2_control REQUIRED)
+find_package(ros2_controllers REQUIRED)
+find_package(trajectory_msgs REQUIRED)
+find_package(xacro REQUIRED)
+
+# Copy necessary files to designated locations in the project
+install (
+ DIRECTORY config launch models worlds
+ 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()
diff --git a/src/core_gazebo/LICENSE b/src/core_gazebo/LICENSE
new file mode 100644
index 0000000..574ef07
--- /dev/null
+++ b/src/core_gazebo/LICENSE
@@ -0,0 +1,25 @@
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+ * Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ * Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ * Neither the name of the copyright holder nor the names of its
+ contributors may be used to endorse or promote products derived from
+ this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
diff --git a/src/core_gazebo/config/ros_gz_bridge.yaml b/src/core_gazebo/config/ros_gz_bridge.yaml
new file mode 100644
index 0000000..7b9c4eb
--- /dev/null
+++ b/src/core_gazebo/config/ros_gz_bridge.yaml
@@ -0,0 +1,25 @@
+# gz topic published by Sensors plugin
+- ros_topic_name: "camera_head/depth/camera_info"
+ gz_topic_name: "camera_head/camera_info"
+ ros_type_name: "sensor_msgs/msg/CameraInfo"
+ gz_type_name: "gz.msgs.CameraInfo"
+ direction: GZ_TO_ROS
+ lazy: true # Determines whether connections are created immediately at startup (when false) or only when data is actually requested by a subscriber (when true), helping to conserve system resources at the cost of potential initial delays in data flow.
+
+# gz topic published by Sensors plugin
+- ros_topic_name: "camera_head/depth/color/points"
+ gz_topic_name: "camera_head/points"
+ ros_type_name: "sensor_msgs/msg/PointCloud2"
+ gz_type_name: "gz.msgs.PointCloudPacked"
+ direction: GZ_TO_ROS
+ lazy: true
+
+# Clock configuration
+- ros_topic_name: "clock"
+ gz_topic_name: "clock"
+ ros_type_name: "rosgraph_msgs/msg/Clock"
+ gz_type_name: "gz.msgs.Clock"
+ direction: GZ_TO_ROS
+ lazy: false
+
+
diff --git a/src/core_gazebo/launch/core.gazebo.launch.py b/src/core_gazebo/launch/core.gazebo.launch.py
new file mode 100644
index 0000000..ebbf4ff
--- /dev/null
+++ b/src/core_gazebo/launch/core.gazebo.launch.py
@@ -0,0 +1,286 @@
+#!/usr/bin/env python3
+
+import os
+from launch import LaunchDescription
+from launch.actions import (
+ AppendEnvironmentVariable,
+ DeclareLaunchArgument,
+ IncludeLaunchDescription
+)
+from launch.conditions import IfCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+ """
+ Generate a launch description for the Gazebo simulation.
+
+ This function sets up all necessary parameters, paths, and nodes required to launch
+ the Gazebo simulation with a robot. It handles:
+ 1. Setting up package paths and constants
+ 2. Declaring launch arguments for robot configuration
+ 3. Setting up the Gazebo environment
+ 4. Spawning the robot in simulation
+
+ Returns:
+ LaunchDescription: A complete launch description for the simulation
+ """
+ # Constants for paths to different files and folders
+ package_name_gazebo = 'core_gazebo'
+ package_name_description = 'core_rover_description'
+ # package_name_moveit = 'mycobot_moveit_config'
+
+ default_robot_name = 'core_rover'
+ gazebo_models_path = 'models'
+ default_world_file = 'pick_and_place_demo.world'
+ gazebo_worlds_path = 'worlds'
+
+ ros_gz_bridge_config_file_path = 'config/ros_gz_bridge.yaml'
+
+ # Set the path to different files and folders
+ pkg_ros_gz_sim = FindPackageShare(package='ros_gz_sim').find('ros_gz_sim')
+ pkg_share_gazebo = FindPackageShare(package=package_name_gazebo).find(package_name_gazebo)
+ pkg_share_description = FindPackageShare(
+ package=package_name_description).find(package_name_description)
+ # pkg_share_moveit = FindPackageShare(package=package_name_moveit).find(package_name_moveit)
+
+ gazebo_models_path = os.path.join(pkg_share_gazebo, gazebo_models_path)
+ default_ros_gz_bridge_config_file_path = os.path.join(
+ pkg_share_gazebo, ros_gz_bridge_config_file_path)
+
+ # Get the parent directory of the package share to access all ROS packages
+ ros_packages_path = os.path.dirname(pkg_share_description)
+
+ # Launch configuration variables
+ jsp_gui = LaunchConfiguration('jsp_gui')
+ load_controllers = LaunchConfiguration('load_controllers')
+ robot_name = LaunchConfiguration('robot_name')
+ use_rviz = LaunchConfiguration('use_rviz')
+ use_camera = LaunchConfiguration('use_camera')
+ use_gazebo = LaunchConfiguration('use_gazebo')
+ use_robot_state_pub = LaunchConfiguration('use_robot_state_pub')
+ use_sim_time = LaunchConfiguration('use_sim_time')
+ world_file = LaunchConfiguration('world_file')
+
+ world_path = PathJoinSubstitution([
+ pkg_share_gazebo,
+ gazebo_worlds_path,
+ world_file
+ ])
+
+ # Set the pose configuration variables
+ x = LaunchConfiguration('x')
+ y = LaunchConfiguration('y')
+ z = LaunchConfiguration('z')
+ roll = LaunchConfiguration('roll')
+ pitch = LaunchConfiguration('pitch')
+ yaw = LaunchConfiguration('yaw')
+
+
+ ################################################################################################
+ # Declare the launch arguments
+
+ declare_robot_name_cmd = DeclareLaunchArgument(
+ name='robot_name',
+ default_value=default_robot_name,
+ description='The name for the robot')
+
+ declare_load_controllers_cmd = DeclareLaunchArgument(
+ name='load_controllers',
+ default_value='true',
+ description='Flag to enable loading of ROS 2 controllers')
+
+ declare_use_robot_state_pub_cmd = DeclareLaunchArgument(
+ name='use_robot_state_pub',
+ default_value='true',
+ description='Flag to enable robot state publisher')
+
+ # GUI and visualization arguments
+ declare_jsp_gui_cmd = DeclareLaunchArgument(
+ name='jsp_gui',
+ default_value='false',
+ description='Flag to enable joint_state_publisher_gui')
+
+ declare_use_camera_cmd = DeclareLaunchArgument(
+ name='use_camera',
+ default_value='false',
+ description='Flag to enable the RGBD camera for Gazebo point cloud simulation')
+
+ declare_use_gazebo_cmd = DeclareLaunchArgument(
+ name='use_gazebo',
+ default_value='true',
+ description='Flag to enable Gazebo')
+
+ declare_use_rviz_cmd = DeclareLaunchArgument(
+ name='use_rviz',
+ default_value='true',
+ description='Flag to enable RViz')
+
+ declare_use_sim_time_cmd = DeclareLaunchArgument(
+ name='use_sim_time',
+ default_value='true',
+ description='Use simulation (Gazebo) clock if true')
+
+ declare_world_cmd = DeclareLaunchArgument(
+ name='world_file',
+ default_value=default_world_file,
+ description='World file name (e.g., simple_demo.world, pick_and_place_demo.world)')
+
+ # Pose arguments
+ declare_x_cmd = DeclareLaunchArgument(
+ name='x',
+ default_value='0.0',
+ description='x component of initial position, meters')
+
+ declare_y_cmd = DeclareLaunchArgument(
+ name='y',
+ default_value='0.0',
+ description='y component of initial position, meters')
+
+ declare_z_cmd = DeclareLaunchArgument(
+ name='z',
+ default_value='0.75',
+ description='z component of initial position, meters')
+
+ declare_roll_cmd = DeclareLaunchArgument(
+ name='roll',
+ default_value='0.0',
+ description='roll angle of initial orientation, radians')
+
+ declare_pitch_cmd = DeclareLaunchArgument(
+ name='pitch',
+ default_value='0.0',
+ description='pitch angle of initial orientation, radians')
+
+ declare_yaw_cmd = DeclareLaunchArgument(
+ name='yaw',
+ default_value='0.0',
+ description='yaw angle of initial orientation, radians')
+
+
+ ################################################################################################
+ # Launch stuff
+
+ # Include Robot State Publisher launch file if enabled
+ robot_state_publisher_cmd = IncludeLaunchDescription(
+ PythonLaunchDescriptionSource([
+ os.path.join(pkg_share_description, 'launch', 'robot_state_publisher.launch.py')
+ ]),
+ launch_arguments={
+ 'jsp_gui': jsp_gui,
+ 'use_camera': use_camera,
+ 'use_gazebo': use_gazebo,
+ 'use_rviz': use_rviz,
+ 'use_sim_time': use_sim_time
+ }.items(),
+ condition=IfCondition(use_robot_state_pub)
+ )
+
+ # # Include ROS 2 Controllers launch file if enabled
+ # load_controllers_cmd = IncludeLaunchDescription(
+ # PythonLaunchDescriptionSource([
+ # os.path.join(pkg_share_moveit, 'launch', 'load_ros2_controllers.launch.py')
+ # ]),
+ # launch_arguments={
+ # 'use_sim_time': use_sim_time
+ # }.items(),
+ # condition=IfCondition(load_controllers)
+ # )
+
+ # Set Gazebo model path - include both models directory and ROS packages
+ set_env_vars_resources = AppendEnvironmentVariable(
+ 'GZ_SIM_RESOURCE_PATH',
+ gazebo_models_path)
+
+ # Add ROS packages path so Gazebo can resolve package:// URIs
+ set_env_vars_packages = AppendEnvironmentVariable(
+ 'GZ_SIM_RESOURCE_PATH',
+ os.path.dirname(pkg_share_description))
+
+ # Start Gazebo with optimized arguments
+ start_gazebo_cmd = IncludeLaunchDescription(
+ PythonLaunchDescriptionSource(
+ os.path.join(pkg_ros_gz_sim, 'launch', 'gz_sim.launch.py')),
+ launch_arguments=[('gz_args', [' -r -v 3 --render-engine ogre2 ', world_path])])
+
+ # Bridge ROS topics and Gazebo messages for establishing communication
+ start_gazebo_ros_bridge_cmd = Node(
+ package='ros_gz_bridge',
+ executable='parameter_bridge',
+ parameters=[{
+ 'config_file': default_ros_gz_bridge_config_file_path,
+ }],
+ output='screen'
+ )
+
+ # Includes optimizations to minimize latency and bandwidth when streaming image data
+ start_gazebo_ros_image_bridge_cmd = Node(
+ package='ros_gz_image',
+ executable='image_bridge',
+ arguments=[
+ '/camera_head/depth_image',
+ '/camera_head/image',
+ ],
+ remappings=[
+ ('/camera_head/depth_image', '/camera_head/depth/image_rect_raw'),
+ ('/camera_head/image', '/camera_head/color/image_raw'),
+ ],
+ condition=IfCondition(use_camera)
+ )
+
+ # Spawn the robot
+ start_gazebo_ros_spawner_cmd = Node(
+ package='ros_gz_sim',
+ executable='create',
+ output='screen',
+ arguments=[
+ '-topic', '/robot_description',
+ '-name', robot_name,
+ '-allow_renaming', 'true',
+ '-x', x,
+ '-y', y,
+ '-z', z,
+ '-R', roll,
+ '-P', pitch,
+ '-Y', yaw
+ ])
+
+
+ ################################################################################################
+ # Launch description
+
+ ld = LaunchDescription()
+
+ # Declare the launch options
+ ld.add_action(declare_robot_name_cmd)
+ ld.add_action(declare_jsp_gui_cmd)
+ ld.add_action(declare_load_controllers_cmd)
+ ld.add_action(declare_use_camera_cmd)
+ ld.add_action(declare_use_gazebo_cmd)
+ ld.add_action(declare_use_rviz_cmd)
+ ld.add_action(declare_use_robot_state_pub_cmd)
+ ld.add_action(declare_use_sim_time_cmd)
+ ld.add_action(declare_world_cmd)
+
+ # Add pose arguments
+ ld.add_action(declare_x_cmd)
+ ld.add_action(declare_y_cmd)
+ ld.add_action(declare_z_cmd)
+ ld.add_action(declare_roll_cmd)
+ ld.add_action(declare_pitch_cmd)
+ ld.add_action(declare_yaw_cmd)
+
+ # Add the actions to the launch description
+ ld.add_action(set_env_vars_resources)
+ ld.add_action(set_env_vars_packages)
+ ld.add_action(robot_state_publisher_cmd)
+ # ld.add_action(load_controllers_cmd)
+ ld.add_action(start_gazebo_cmd)
+ ld.add_action(start_gazebo_ros_bridge_cmd)
+ ld.add_action(start_gazebo_ros_image_bridge_cmd)
+ ld.add_action(start_gazebo_ros_spawner_cmd)
+
+ return ld
diff --git a/src/core_gazebo/package.xml b/src/core_gazebo/package.xml
new file mode 100644
index 0000000..8627cdd
--- /dev/null
+++ b/src/core_gazebo/package.xml
@@ -0,0 +1,18 @@
+
+
+
+ core_gazebo
+ 0.0.0
+ TODO: Package description
+ David
+ BSD-3-Clause
+
+ ament_cmake
+
+ ament_lint_auto
+ ament_lint_common
+
+
+ ament_cmake
+
+
diff --git a/src/core_gazebo/worlds/empty.world b/src/core_gazebo/worlds/empty.world
new file mode 100644
index 0000000..d7d8bcc
--- /dev/null
+++ b/src/core_gazebo/worlds/empty.world
@@ -0,0 +1,89 @@
+
+
+
+
+
+
+
+
+ libgz-physics-bullet-featherstone-plugin.so
+
+
+
+
+
+
+
+
+
+
+
+
+
+ ogre2
+
+
+
+
+
+
+
+ 0.0 0.0 -9.8
+
+
+
+
+ https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun
+
+
+
+
+
+ true
+
+
+
+
+ 0 0 1
+
+
+
+
+
+ 0.0
+
+
+
+
+
+
+
+ 0 0 1
+ 100 100
+
+
+
+ 0.8 0.8 0.8 1
+ 0.8 0.8 0.8 1
+ 0.8 0.8 0.8 1
+
+
+
+
+
+
+
+ false
+
+
+
+
diff --git a/src/core_gazebo/worlds/pick_and_place_demo.world b/src/core_gazebo/worlds/pick_and_place_demo.world
new file mode 100644
index 0000000..e8f33c1
--- /dev/null
+++ b/src/core_gazebo/worlds/pick_and_place_demo.world
@@ -0,0 +1,83 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ ogre2
+
+
+
+ 0.0 0.0 -9.8
+
+
+
+
+ https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun
+
+
+
+
+
+
+ https://fuel.gazebosim.org/1.0/OpenRobotics/models/Ground Plane
+
+
+
+
+
+
+
+
+
+
+
+
+ false
+
+
+
+
diff --git a/src/core_rover_description/config/joint_names_core_rover_description.yaml b/src/core_rover_description/config/joint_names_core_rover_description.yaml
new file mode 100644
index 0000000..a23613a
--- /dev/null
+++ b/src/core_rover_description/config/joint_names_core_rover_description.yaml
@@ -0,0 +1 @@
+controller_joint_names: ['', 'right_suspension_joint', 'br_wheel_axis', 'fr_wheel_joint', 'averaging_bar_axis', 'left_suspension_joint', 'bl_wheel_joint', 'fl_wheel_joint', ]
diff --git a/src/core_rover_description/config/rviz_basic_settings.rviz b/src/core_rover_description/config/rviz_basic_settings.rviz
new file mode 100644
index 0000000..0ca5048
--- /dev/null
+++ b/src/core_rover_description/config/rviz_basic_settings.rviz
@@ -0,0 +1,229 @@
+Panels:
+ - Class: rviz_common/Displays
+ Help Height: 78
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /Global Options1
+ - /Status1
+ - /RobotModel1
+ - /TF1
+ - /TF1/Frames1
+ Splitter Ratio: 0.5
+ Tree Height: 617
+ - Class: rviz_common/Selection
+ Name: Selection
+ - Class: rviz_common/Tool Properties
+ Expanded:
+ - /2D Goal Pose1
+ - /Publish Point1
+ Name: Tool Properties
+ Splitter Ratio: 0.5886790156364441
+ - Class: rviz_common/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+Visualization Manager:
+ Class: ""
+ Displays:
+ - Alpha: 0.5
+ Cell Size: 1
+ Class: rviz_default_plugins/Grid
+ Color: 160; 160; 164
+ Enabled: true
+ Line Style:
+ Line Width: 0.029999999329447746
+ Value: Lines
+ Name: Grid
+ Normal Cell Count: 0
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Plane: XY
+ Plane Cell Count: 10
+ Reference Frame:
+ Value: true
+ - Alpha: 1
+ Class: rviz_default_plugins/RobotModel
+ Collision Enabled: false
+ Description File: ""
+ Description Source: Topic
+ Description Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /robot_description
+ Enabled: true
+ Links:
+ All Links Enabled: true
+ Expand Joint Details: false
+ Expand Link Details: false
+ Expand Tree: false
+ Link Tree Style: Links in Alphabetic Order
+ base_footprint:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ drivewhl_l_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ drivewhl_r_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_caster:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ gps_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ imu_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ lidar_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ Name: RobotModel
+ TF Prefix: ""
+ Update Interval: 0
+ Value: true
+ Visual Enabled: true
+ - Class: rviz_default_plugins/TF
+ Enabled: true
+ Frame Timeout: 15
+ Frames:
+ All Enabled: false
+ base_footprint:
+ Value: false
+ base_link:
+ Value: false
+ drivewhl_l_link:
+ Value: true
+ drivewhl_r_link:
+ Value: true
+ front_caster:
+ Value: false
+ gps_link:
+ Value: false
+ imu_link:
+ Value: false
+ lidar_link:
+ Value: false
+ Marker Scale: 1
+ Name: TF
+ Show Arrows: false
+ Show Axes: true
+ Show Names: true
+ Tree:
+ base_footprint:
+ base_link:
+ drivewhl_l_link:
+ {}
+ drivewhl_r_link:
+ {}
+ front_caster:
+ {}
+ gps_link:
+ {}
+ imu_link:
+ {}
+ lidar_link:
+ {}
+ Update Interval: 0
+ Value: true
+ Enabled: true
+ Global Options:
+ Background Color: 48; 48; 48
+ Fixed Frame: base_link
+ Frame Rate: 30
+ Name: root
+ Tools:
+ - Class: rviz_default_plugins/Interact
+ Hide Inactive Objects: true
+ - Class: rviz_default_plugins/MoveCamera
+ - Class: rviz_default_plugins/Select
+ - Class: rviz_default_plugins/FocusCamera
+ - Class: rviz_default_plugins/Measure
+ Line color: 128; 128; 0
+ - Class: rviz_default_plugins/SetInitialPose
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /initialpose
+ - Class: rviz_default_plugins/SetGoal
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /goal_pose
+ - Class: rviz_default_plugins/PublishPoint
+ Single click: true
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /clicked_point
+ Transformation:
+ Current:
+ Class: rviz_default_plugins/TF
+ Value: true
+ Views:
+ Current:
+ Class: rviz_default_plugins/Orbit
+ Distance: 4.434264183044434
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Focal Point:
+ X: 0.31193429231643677
+ Y: 0.11948385089635849
+ Z: -0.4807402193546295
+ Focal Shape Fixed Size: true
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 0.490397572517395
+ Target Frame:
+ Value: Orbit (rviz)
+ Yaw: 1.0503965616226196
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: false
+ Height: 846
+ Hide Left Dock: false
+ Hide Right Dock: false
+ QMainWindow State: 000000ff00000000fd000000040000000000000156000002f4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002f4000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002f4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002f4000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000023f000002f400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Selection:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: false
+ Width: 1200
+ X: 246
+ Y: 77
diff --git a/src/core_rover_description/export.log b/src/core_rover_description/export.log
new file mode 100644
index 0000000..8dd27a9
--- /dev/null
+++ b/src/core_rover_description/export.log
@@ -0,0 +1,4674 @@
+2025-09-29 22:31:35,300 INFO Logger.cs: 70 -
+--------------------------------------------------------------------------------
+2025-09-29 22:31:35,321 INFO Logger.cs: 71 - Logging commencing for SW2URDF exporter
+2025-09-29 22:31:35,321 INFO Logger.cs: 73 - Commit version
+2025-09-29 22:31:35,321 INFO Logger.cs: 74 - Build version 1.6.9403.28032
+2025-09-29 22:31:35,321 INFO SwAddin.cs: 192 - Attempting to connect to SW
+2025-09-29 22:31:35,321 INFO SwAddin.cs: 197 - Setting up callbacks
+2025-09-29 22:31:35,321 INFO SwAddin.cs: 201 - Setting up command manager
+2025-09-29 22:31:35,321 INFO SwAddin.cs: 204 - Adding command manager
+2025-09-29 22:31:35,321 INFO SwAddin.cs: 263 - Adding Assembly export to file menu
+2025-09-29 22:31:35,321 INFO SwAddin.cs: 272 - Adding Part export to file menu
+2025-09-29 22:31:35,321 INFO SwAddin.cs: 210 - Adding event handlers
+2025-09-29 22:31:35,431 INFO SwAddin.cs: 217 - Connecting plugin to SolidWorks
+2025-09-29 22:32:16,313 INFO SwAddin.cs: 294 - Assembly export called for file A - CORE ROVER WITH PBS [FULL ROVER ASSEMBLY] (1).SLDASM
+2025-09-29 22:32:18,856 INFO SwAddin.cs: 313 - Saving assembly
+2025-09-29 22:32:23,662 INFO SwAddin.cs: 316 - Opening property manager
+2025-09-29 22:32:23,678 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from A - CORE ROVER WITH PBS [FULL ROVER ASSEMBLY] (1).SLDASM
+2025-09-29 22:32:23,694 INFO ExportHelperExtension.cs: 1136 - Found 115 in A - CORE ROVER WITH PBS [FULL ROVER ASSEMBLY] (1).SLDASM
+2025-09-29 22:32:23,694 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in A - CORE ROVER WITH PBS [FULL ROVER ASSEMBLY] (1).SLDASM
+2025-09-29 22:32:23,694 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2025-09-29 22:32:23,710 INFO ExportHelperExtension.cs: 1160 - 17 components to check
+2025-09-29 22:32:23,710 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1
+2025-09-29 22:32:23,710 INFO ExportHelperExtension.cs: 1136 - Found 107 in A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1
+2025-09-29 22:32:23,710 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1
+2025-09-29 22:32:23,710 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from A - CORE ROVER WITH PBS [FULL ROVER ASSEMBLY] (1).SLDASM
+2025-09-29 22:32:23,712 INFO ExportHelperExtension.cs: 1136 - Found 115 in A - CORE ROVER WITH PBS [FULL ROVER ASSEMBLY] (1).SLDASM
+2025-09-29 22:32:23,712 INFO ExportHelperExtension.cs: 1145 - Found 7 features of type [RefAxis] in A - CORE ROVER WITH PBS [FULL ROVER ASSEMBLY] (1).SLDASM
+2025-09-29 22:32:23,712 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2025-09-29 22:32:23,712 INFO ExportHelperExtension.cs: 1160 - 17 components to check
+2025-09-29 22:32:23,712 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1
+2025-09-29 22:32:23,712 INFO ExportHelperExtension.cs: 1136 - Found 107 in A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1
+2025-09-29 22:32:23,712 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1
+2025-09-29 22:32:24,103 INFO SwAddin.cs: 339 - Loading config tree
+2025-09-29 22:32:24,119 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found
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ACAAVwBJAFQASAAgAFAAQgBTACAAWwBGAFUATABMACAAUgBPAFYARQBSACAAQQBTAFMARQBNAEIATABZAF0AIAAoADEAKQAvAE4AVQBDADEAMwBBAE4ASABfAE4AVQBDADEAMwBMAEMASAAtADEAQABFAGwAZQBjAF8AQgBvAHgAXwBBAHMAcwBlAG0ALwBOAFUAQwAxADMAQQBOAEgAXwBOAFUAQwAxADMATABDAEgALgBTAFQAUAAtADEAQABOAFUAQwAxADMAQQBOAEgAXwBOAFUAQwAxADMATABDAEgALwAwADAAXwBXAFMAXwBBAEwATABfAEEAUwBNAF8AQwBIAEUAQwBLAF8AQQBTAE0AXwAxAF8AQQBTAE0AXwAxAC4AUwBUAFAALQAxAEAATgBVAEMAMQAzAEEATgBIAF8ATgBVAEMAMQAzAEwAQwBIAC4AUwBUAFAALwBXAFMAXwBNAEUAXwBQAEwAQQBDAEUATQBFAE4AVABfAEEAUwBNAF8AQQBTAE0AXwAxAF8AQQBTAE0AXwAyAC4AUwBUAFAALQAxAEAAMAAwAF8AVwBTAF8AQQBMAEwAXwBBAFMATQBfAEMASABFAEMASwBfAEEAUwBNAF8AMQBfAEEAUwBNAF8AMQAuAFMAVABQAC8AVwBTAF8ATQBFAF8AVABBAEwATABfAEEAUwBTAFkAXwBBAFMATQBfADEAXwBBAFMATQBfADEALgBTAFQAUAAtADEAQABXAFMAXwBNAEUAXwBQAEwAQQBDAEUATQBFAE4AVABfAEEAUwBNAF8AQQBTAE0AXwAxAF8AQQBTAE0AXwAyAC4AUwBUAFAALwBXAFMAXwBUAEEATABMAF8ATQBJAEQAXwBGAFIAQQBNAEUAXwBBAFMATQBfAEEAUwBNAF8AMQBfAEEAUwBNAF8AMQAuAFMAVABQAC0AMQBAAFcAUwBfAE0ARQBfAFQAQQBMAEwAXwBBAFMAUwBZAF8AQQBTAE0AXwAxAF8AQQBTAE0AXwAxAC4AUwBUAFAALwBXAFMAXwBUAEEATABMAF8ATQBJAEQAXwBGAFIAQQBNAEUAXwBOAEUAVwBfADEAXwAxAC4AUwBUAFAALQAxAEAAVwBTAF8AVABBAEwATABfAE0ASQBEAF8ARgBSAEEATQBFAF8AQQBTAE0AXwBBAFMATQBfADEAXwBBAFMATQBfADEALgBTAFQAUAAEAAAAEAAAAAEAAAAIAAAAUAAAAFgEAAAYAAAAGAAAABgAAAAYAAAAGgAAABoAAAA=UEYAAAUAAAD//v9jRQBsAGUAYwBfAEIAbwB4AF8AQQBzAHMAZQBtAC0AMQBAAEEAIAAtACAAQwBPAFIARQAgAFIATwBWAEUAUgAgAFcASQBUAEgAIABQAEIAUwAgAFsARgBVAEwATAAgAFIATwBWAEUAUgAgAEEAUwBTAEUATQBCAEwAWQBdACAAKAAxACkALwBTAG8AbABpAGQAUwB0AGEAdABlAFIAZQBsAGEAeQAtADEAQABFAGwAZQBjAF8AQgBvAHgAXwBBAHMAcwBlAG0ABAAAABAAAAABAAAAAgAAAFAAAACTBAAAUEYAAAUAAAD//v9cRQBsAGUAYwBfAEIAbwB4AF8AQQBzAHMAZQBtAC0AMQBAAEEAIAAtACAAQwBPAFIARQAgAFIATwBWAEUAUgAgAFcASQBUAEgAIABQAEIAUwAgAFsARgBVAEwATAAgAFIATwBWAEUAUgAgAEEAUwBTAEUATQBCAEwAWQBdACAAKAAxACkALwAxADAAMABBAEYAdQBzAGUALQAxAEAARQBsAGUAYwBfAEIAbwB4AF8AQQBzAHMAZQBtAAQAAAAQAAAAAQAAAAIAAABQAAAAlwQAAA==UEYAAAUAAAD//v9hRQBsAGUAYwBfAEIAbwB4AF8AQQBzAHMAZQBtAC0AMQBAAEEAIAAtACAAQwBPAFIARQAgAFIATwBWAEUAUgAgAFcASQBUAEgAIABQAEIAUwAgAFsARgBVAEwATAAgAFIATwBWAEUAUgAgAEEAUwBTAEUATQBCAEwAWQBdACAAKAAxACkALwBCAG8AeABfAEIAYQBjAGsAXwBXAGEAbABsAC0AMQBAAEUAbABlAGMAXwBCAG8AeABfAEEAcwBzAGUAbQAEAAAAEAAAAAEAAAACAAAAUAAAABkAAAA=UEYAAAUAAAD//v9KUgBlAGEAcgBfAFcAYQBsAGwAXwBTAGgAZQBhAHQAaABfAE8AdQB0AGUAcgAtADIAQABBACAALQAgAEMATwBSAEUAIABSAE8AVgBFAFIAIABXAEkAVABIACAAUABCAFMAIABbAEYAVQBMAEwAIABSAE8AVgBFAFIAIABBAFMAUwBFAE0AQgBMAFkAXQAgACgAMQApAAQAAAAQAAAAAQAAAAEAAACQAAAAUEYAAAUAAAD//v9KUgBlAGEAcgBfAFcAYQBsAGwAXwBTAGgAZQBhAHQAaABfAE8AdQB0AGUAcgAtADEAQABBACAALQAgAEMATwBSAEUAIABSAE8AVgBFAFIAIABXAEkAVABIACAAUABCAFMAIABbAEYAVQBMAEwAIABSAE8AVgBFAFIAIABBAFMAUwBFAE0AQgBMAFkAXQAgACgAMQApAAQAAAAQAAAAAQAAAAEAAAB4AAAAUEYAAAUAAAD//v+vUwBoAGUAbABsACAAJgAgAEEAdgBlAHIAYQBnAGkAbgBnACAAUwB5AHMAdABlAG0ALQAxAEAAQQAgAC0AIABDAE8AUgBFACAAUgBPAFYARQBSACAAVwBJAFQASAAgAFAAQgBTACAAWwBGAFUATABMACAAUgBPAFYARQBSACAAQQBTAFMARQBNAEIATABZAF0AIAAoADEAKQAvAE0AaQByAHIAbwByAEEAcgBtACAAQgByAGEAYwBrAGUAdAAgAEEAcwBzAGUAbQBiAGwAeQAtADIAQABTAGgAZQBsAGwAIAAmACAAQQB2AGUAcgBhAGcAaQBuAGcAIABTAHkAcwB0AGUAbQAvAE0AaQByAHIAbwByAEwAIABiAHIAYQBjAGsAZQB0AC0AMQBAAE0AaQByAHIAbwByAEEAcgBtACAAQgByAGEAYwBrAGUAdAAgAEEAcwBzAGUAbQBiAGwAeQAEAAAAEAAAAAEAAAADAAAAGAAAAHQDAAAYAAAAUEYAAAUAAAD//v98UwBoAGUAbABsACAAJgAgAEEAdgBlAHIAYQBnAGkAbgBnACAAUwB5AHMAdABlAG0ALQAxAEAAQQAgAC0AIABDAE8AUgBFACAAUgBPAFYARQBSACAAVwBJAFQASAAgAFAAQgBTACAAWwBGAFUATABMACAAUgBPAFYARQBSACAAQQBTAFMARQBNAEIATABZAF0AIAAoADEAKQAvAEMAaABhAHMAaQBzACAAQwAtAEMAaABhAG4AbgBlAGwAIABMAGkAcAAtADEAQABTAGgAZQBsAGwAIAAmACAAQQB2AGUAcgBhAGcAaQBuAGcAIABTAHkAcwB0AGUAbQAEAAAAEAAAAAEAAAACAAAAGAAAAOgDAAA=UEYAAAUAAAD//v+2QQAgAC0AIABBAFYARQBSAEEARwBJAE4ARwAgAEIAQQBSACAAQQBTAFMARQBNAEIATABZACAAWwBDAE8AUgBFACAAUgBPAFYARQBSACAAVwBJAFQASAAgAFAAQgBTAF0AIAAoADEAKQAtADEAQABBACAALQAgAEMATwBSAEUAIABSAE8AVgBFAFIAIABXAEkAVABIACAAUABCAFMAIABbAEYAVQBMAEwAIABSAE8AVgBFAFIAIABBAFMAUwBFAE0AQgBMAFkAXQAgACgAMQApAC8AQwBvAHIAZQAgAE0AbwB1AG4AdAAgAEYAcgBvAG4AdAAgAFAAbABhAHQAZQAtADEAQABBACAALQAgAEEAVgBFAFIAQQBHAEkATgBHACAAQgBBAFIAIABBAFMAUwBFAE0AQgBMAFkAIABbAEMATwBSAEUAIABSAE8AVgBFAFIAIABXAEkAVABIACAAUABCAFMAXQAgACgAMQApAAQAAAAQAAAAAQAAAAIAAACwAAAAlgAAAA==UEYAAAUAAAD//v+2QQAgAC0AIABBAFYARQBSAEEARwBJAE4ARwAgAEIAQQBSACAAQQBTAFMARQBNAEIATABZACAAWwBDAE8AUgBFACAAUgBPAFYARQBSACAAVwBJAFQASAAgAFAAQgBTAF0AIAAoADEAKQAtADEAQABBACAALQAgAEMATwBSAEUAIABSAE8AVgBFAFIAIABXAEkAVABIACAAUABCAFMAIABbAEYAVQBMAEwAIABSAE8AVgBFAFIAIABBAFMAUwBFAE0AQgBMAFkAXQAgACgAMQApAC8AQwBvAHIAZQAgAE0AbwB1AG4AdAAgAEYAcgBvAG4AdAAgAFAAbABhAHQAZQAtADIAQABBACAALQAgAEEAVgBFAFIAQQBHAEkATgBHACAAQgBBAFIAIABBAFMAUwBFAE0AQgBMAFkAIABbAEMATwBSAEUAIABSAE8AVgBFAFIAIABXAEkAVABIACAAUABCAFMAXQAgACgAMQApAAQAAAAQAAAAAQAAAAIAAACwAAAAqwAAAA==UEYAAAUAAAD//v+4QQAgAC0AIABBAFYARQBSAEEARwBJAE4ARwAgAEIAQQBSACAAQQBTAFMARQBNAEIATABZACAAWwBDAE8AUgBFACAAUgBPAFYARQBSACAAVwBJAFQASAAgAFAAQgBTAF0AIAAoADEAKQAtADEAQABBACAALQAgAEMATwBSAEUAIABSAE8AVgBFAFIAIABXAEkAVABIACAAUABCAFMAIABbAEYAVQBMAEwAIABSAE8AVgBFAFIAIABBAFMAUwBFAE0AQgBMAFkAXQAgACgAMQApAC8ARQBhAHMAeQAgAFQAbwAgAHcAZQBsAGQAIABUAHUAYgBlACAAUwBwAGEAYwBlAHIALQAxAEAAQQAgAC0AIABBAFYARQBSAEEARwBJAE4ARwAgAEIAQQBSACAAQQBTAFMARQBNAEIATABZACAAWwBDAE8AUgBFACAAUgBPAFYARQBSACAAVwBJAFQASAAgAFAAQgBTAF0AIAAoADEAKQAEAAAAEAAAAAEAAAACAAAAsAAAAJsAAAA=UEYAAAUAAAD//v+4QQAgAC0AIABBAFYARQBSAEEARwBJAE4ARwAgAEIAQQBSACAAQQBTAFMARQBNAEIATABZACAAWwBDAE8AUgBFACAAUgBPAFYARQBSACAAVwBJAFQASAAgAFAAQgBTAF0AIAAoADEAKQAtADEAQABBACAALQAgAEMATwBSAEUAIABSAE8AVgBFAFIAIABXAEkAVABIACAAUABCAFMAIABbAEYAVQBMAEwAIABSAE8AVgBFAFIAIABBAFMAUwBFAE0AQgBMAFkAXQAgACgAMQApAC8ARQBhAHMAeQAgAFQAbwAgAHcAZQBsAGQAIABUAHUAYgBlACAAUwBwAGEAYwBlAHIALQA5AEAAQQAgAC0AIABBAFYARQBSAEEARwBJAE4ARwAgAEIAQQBSACAAQQBTAFMARQBNAEIATABZACAAWwBDAE8AUgBFACAAUgBPAFYARQBSACAAVwBJAFQASAAgAFAAQgBTAF0AIAAoADEAKQAEAAAAEAAAAAEAAAACAAAAsAAAADYBAAA=UEYAAAUAAAD//v+5QQAgAC0AIABBAFYARQBSAEEARwBJAE4ARwAgAEIAQQBSACAAQQBTAFMARQBNAEIATABZACAAWwBDAE8AUgBFACAAUgBPAFYARQBSACAAVwBJAFQASAAgAFAAQgBTAF0AIAAoADEAKQAtADEAQABBACAALQAgAEMATwBSAEUAIABSAE8AVgBFAFIAIABXAEkAVABIACAAUABCAFMAIABbAEYAVQBMAEwAIABSAE8AVgBFAFIAIABBAFMAUwBFAE0AQgBMAFkAXQAgACgAMQApAC8ARQBhAHMAeQAgAFQAbwAgAHcAZQBsAGQAIABUAHUAYgBlACAAUwBwAGEAYwBlAHIALQAxADAAQABBACAALQAgAEEAVgBFAFIAQQBHAEkATgBHACAAQgBBAFIAIABBAFMAUwBFAE0AQgBMAFkAIABbAEMATwBSAEUAIABSAE8AVgBFAFIAIABXAEkAVABIACAAUABCAFMAXQAgACgAMQApAAQAAAAQAAAAAQAAAAIAAACwAAAANwEAAA==UEYAAAUAAAD//v+4QQAgAC0AIABBAFYARQBSAEEARwBJAE4ARwAgAEIAQQBSACAAQQBTAFMARQBNAEIATABZACAAWwBDAE8AUgBFACAAUgBPAFYARQBSACAAVwBJAFQASAAgAFAAQgBTAF0AIAAoADEAKQAtADEAQABBACAALQAgAEMATwBSAEUAIABSAE8AVgBFAFIAIABXAEkAVABIACAAUABCAFMAIABbAEYAVQBMAEwAIABSAE8AVgBFAFIAIABBAFMAUwBFAE0AQgBMAFkAXQAgACgAMQApAC8ARQBhAHMAeQAgAFQAbwAgAHcAZQBsAGQAIABUAHUAYgBlACAAUwBwAGEAYwBlAHIALQA4AEAAQQAgAC0AIABBAFYARQBSAEEARwBJAE4ARwAgAEIAQQBSACAAQQBTAFMARQBNAEIATABZACAAWwBDAE8AUgBFACAAUgBPAFYARQBSACAAVwBJAFQASAAgAFAAQgBTAF0AIAAoADEAKQAEAAAAEAAAAAEAAAACAAAAsAAAADUBAAA=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UEYAAAUAAAD//v/TQQAgAC0AIABBAFYARQBSAEEARwBJAE4ARwAgAEIAQQBSACAAQQBTAFMARQBNAEIATABZACAAWwBDAE8AUgBFACAAUgBPAFYARQBSACAAVwBJAFQASAAgAFAAQgBTAF0AIAAoADEAKQAtADEAQABBACAALQAgAEMATwBSAEUAIABSAE8AVgBFAFIAIABXAEkAVABIACAAUABCAFMAIABbAEYAVQBMAEwAIABSAE8AVgBFAFIAIABBAFMAUwBFAE0AQgBMAFkAXQAgACgAMQApAC8AOQAwADAANAA0AEEANAAyADUAXwBCAGwAYQBjAGsALQBPAHgAaQBkAGUAIABBAGwAbABvAHkAIABTAHQAZQBlAGwAIABTAG8AYwBrAGUAdAAgAEgAZQBhAGQAIABTAGMAcgBlAHcALQAzAEAAQQAgAC0AIABBAFYARQBSAEEARwBJAE4ARwAgAEIAQQBSACAAQQBTAFMARQBNAEIATABZACAAWwBDAE8AUgBFACAAUgBPAFYARQBSACAAVwBJAFQASAAgAFAAQgBTAF0AIAAoADEAKQAEAAAAEAAAAAEAAAACAAAAsAAAAM8AAAA=UEYAAAUAAAD//v/TQQAgAC0AIABBAFYARQBSAEEARwBJAE4ARwAgAEIAQQBSACAAQQBTAFMARQBNAEIATABZACAAWwBDAE8AUgBFACAAUgBPAFYARQBSACAAVwBJAFQASAAgAFAAQgBTAF0AIAAoADEAKQAtADEAQABBACAALQAgAEMATwBSAEUAIABSAE8AVgBFAFIAIABXAEkAVABIACAAUABCAFMAIABbAEYAVQBMAEwAIABSAE8AVgBFAFIAIABBAFMAUwBFAE0AQgBMAFkAXQAgACgAMQApAC8AOQAwADAANAA0AEEANAAyADUAXwBCAGwAYQBjAGsALQBPAHgAaQBkAGUAIABBAGwAbABvAHkAIABTAHQAZQBlAGwAIABTAG8AYwBrAGUAdAAgAEgAZQBhAGQAIABTAGMAcgBlAHcALQA0AEAAQQAgAC0AIABBAFYARQBSAEEARwBJAE4ARwAgAEIAQQBSACAAQQBTAFMARQBNAEIATABZACAAWwBDAE8AUgBFACAAUgBPAFYARQBSACAAVwBJAFQASAAgAFAAQgBTAF0AIAAoADEAKQAEAAAAEAAAAAEAAAACAAAAsAAAANAAAAA=UEYAAAUAAAD//v/TQQAgAC0AIABBAFYARQBSAEEARwBJAE4ARwAgAEIAQQBSACAAQQBTAFMARQBNAEIATABZACAAWwBDAE8AUgBFACAAUgBPAFYARQBSACAAVwBJAFQASAAgAFAAQgBTAF0AIAAoADEAKQAtADEAQABBACAALQAgAEMATwBSAEUAIABSAE8AVgBFAFIAIABXAEkAVABIACAAUABCAFMAIABbAEYAVQBMAEwAIABSAE8AVgBFAFIAIABBAFMAUwBFAE0AQgBMAFkAXQAgACgAMQApAC8AOQAwADAANAA0AEEANAAyADUAXwBCAGwAYQBjAGsALQBPAHgAaQBkAGUAIABBAGwAbABvAHkAIABTAHQAZQBlAGwAIABTAG8AYwBrAGUAdAAgAEgAZQBhAGQAIABTAGMAcgBlAHcALQAyAEAAQQAgAC0AIABBAFYARQBSAEEARwBJAE4ARwAgAEIAQQBSACAAQQBTAFMARQBNAEIATABZACAAWwBDAE8AUgBFACAAUgBPAFYARQBSACAAVwBJAFQASAAgAFAAQgBTAF0AIAAoADEAKQAEAAAAEAAAAAEAAAACAAAAsAAAAM4AAAA=UEYAAAUAAAD//v9/UwBoAGUAbABsACAAJgAgAEEAdgBlAHIAYQBnAGkAbgBnACAAUwB5AHMAdABlAG0ALQAxAEAAQQAgAC0AIABDAE8AUgBFACAAUgBPAFYARQBSACAAVwBJAFQASAAgAFAAQgBTACAAWwBGAFUATABMACAAUgBPAFYARQBSACAAQQBTAFMARQBNAEIATABZAF0AIAAoADEAKQAvADYANAAzADYASwAxADQAIAAuADUAIABTAGgAYQBmAHQAIABDAG8AbABsAGEAcgAtADIAQABTAGgAZQBsAGwAIAAmACAAQQB2AGUAcgBhAGcAaQBuAGcAIABTAHkAcwB0AGUAbQAEAAAAEAAAAAEAAAACAAAAGAAAADMDAAA=UEYAAAUAAAD//v9/UwBoAGUAbABsACAAJgAgAEEAdgBlAHIAYQBnAGkAbgBnACAAUwB5AHMAdABlAG0ALQAxAEAAQQAgAC0AIABDAE8AUgBFACAAUgBPAFYARQBSACAAVwBJAFQASAAgAFAAQgBTACAAWwBGAFUATABMACAAUgBPAFYARQBSACAAQQBTAFMARQBNAEIATABZAF0AIAAoADEAKQAvADYANAAzADYASwAxADQAIAAuADUAIABTAGgAYQBmAHQAIABDAG8AbABsAGEAcgAtADQAQABTAGgAZQBsAGwAIAAmACAAQQB2AGUAcgBhAGcAaQBuAGcAIABTAHkAcwB0AGUAbQAEAAAAEAAAAAEAAAACAAAAGAAAADcDAAA=UEYAAAUAAAD//v9/UwBoAGUAbABsACAAJgAgAEEAdgBlAHIAYQBnAGkAbgBnACAAUwB5AHMAdABlAG0ALQAxAEAAQQAgAC0AIABDAE8AUgBFACAAUgBPAFYARQBSACAAVwBJAFQASAAgAFAAQgBTACAAWwBGAFUATABMACAAUgBPAFYARQBSACAAQQBTAFMARQBNAEIATABZAF0AIAAoADEAKQAvADYANAAzADYASwAxADQAIAAuADUAIABTAGgAYQBmAHQAIABDAG8AbABsAGEAcgAtADMAQABTAGgAZQBsAGwAIAAmACAAQQB2AGUAcgBhAGcAaQBuAGcAIABTAHkAcwB0AGUAbQAEAAAAEAAAAAEAAAACAAAAGAAAADYDAAA=UEYAAAUAAAD//v9/UwBoAGUAbABsACAAJgAgAEEAdgBlAHIAYQBnAGkAbgBnACAAUwB5AHMAdABlAG0ALQAxAEAAQQAgAC0AIABDAE8AUgBFACAAUgBPAFYARQBSACAAVwBJAFQASAAgAFAAQgBTACAAWwBGAFUATABMACAAUgBPAFYARQBSACAAQQBTAFMARQBNAEIATABZAF0AIAAoADEAKQAvADYANAAzADYASwAxADQAIAAuADUAIABTAGgAYQBmAHQAIABDAG8AbABsAGEAcgAtADEAQABTAGgAZQBsAGwAIAAmACAAQQB2AGUAcgBhAGcAaQBuAGcAIABTAHkAcwB0AGUAbQAEAAAAEAAAAAEAAAACAAAAGAAAADADAAA=UEYAAAUAAAD//v9KUgBlAGEAcgBfAFcAYQBsAGwAXwBTAGgAZQBhAHQAaABfAEkAbgBuAGUAcgAtADEAQABBACAALQAgAEMATwBSAEUAIABSAE8AVgBFAFIAIABXAEkAVABIACAAUABCAFMAIABbAEYAVQBMAEwAIABSAE8AVgBFAFIAIABBAFMAUwBFAE0AQgBMAFkAXQAgACgAMQApAAQAAAAQAAAAAQAAAAEAAAB3AAAAUEYAAAUAAAD//v+BUwBoAGUAbABsACAAJgAgAEEAdgBlAHIAYQBnAGkAbgBnACAAUwB5AHMAdABlAG0ALQAxAEAAQQAgAC0AIABDAE8AUgBFACAAUgBPAFYARQBSACAAVwBJAFQASAAgAFAAQgBTACAAWwBGAFUATABMACAAUgBPAFYARQBSACAAQQBTAFMARQBNAEIATABZAF0AIAAoADEAKQAvADgAOAA5ADYAVAA2ADkAIABTAFMAIABVACAAQgBvAGwAdAAgADEALgAzADcANQBpAG4ALQAxAEAAUwBoAGUAbABsACAAJgAgAEEAdgBlAHIAYQBnAGkAbgBnACAAUwB5AHMAdABlAG0ABAAAABAAAAABAAAAAgAAABgAAABCAgAAUEYAAAUAAAD//v+BUwBoAGUAbABsACAAJgAgAEEAdgBlAHIAYQBnAGkAbgBnACAAUwB5AHMAdABlAG0ALQAxAEAAQQAgAC0AIABDAE8AUgBFACAAUgBPAFYARQBSACAAVwBJAFQASAAgAFAAQgBTACAAWwBGAFUATABMACAAUgBPAFYARQBSACAAQQBTAFMARQBNAEIATABZAF0AIAAoADEAKQAvADgAOAA5ADYAVAA2ADkAIABTAFMAIABVACAAQgBvAGwAdAAgADEALgAzADcANQBpAG4ALQAyAEAAUwBoAGUAbABsACAAJgAgAEEAdgBlAHIAYQBnAGkAbgBnACAAUwB5AHMAdABlAG0ABAAAABAAAAABAAAAAgAAABgAAABDAgAAfalsefalse
+2025-09-29 22:32:24,229 INFO LinkNode.cs: 35 - Building node base_link
+2025-09-29 22:32:24,229 INFO LinkNode.cs: 35 - Building node left_suspension_member
+2025-09-29 22:32:24,229 INFO LinkNode.cs: 35 - Building node bl_wheel
+2025-09-29 22:32:24,229 INFO LinkNode.cs: 35 - Building node fl_wheel
+2025-09-29 22:32:24,229 INFO LinkNode.cs: 35 - Building node right_suspension_member
+2025-09-29 22:32:24,229 INFO LinkNode.cs: 35 - Building node br_wheel
+2025-09-29 22:32:24,229 INFO LinkNode.cs: 35 - Building node fr_wheel
+2025-09-29 22:32:24,229 INFO LinkNode.cs: 35 - Building node averaging_bar
+2025-09-29 22:32:24,229 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for base_link from C:\Users\David\Documents\ASTRA BILT\01. MECHANICAL 2025-2026\01. CORE ROVER\00. CORE ROVER ASSEMBLY\POST BOND SUSPENSION\A - CORE ROVER WITH PBS [FULL ROVER ASSEMBLY] (1).SLDASM
+2025-09-29 22:32:24,229 INFO CommonSwOperations.cs: 245 - Loading component with PID PF ????S h e l l &