NASA Challenge_[@JasperGrant]_[Apollo 15 Lunar Roving Vehicle Simulation] #62
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Addresses #61
Accompanies space-ros/simulation#32
The following is a submission for the NASA Space ROS Sim Summer Sprint 2024 by Jasper Grant.
A README can be found in the lunar_rover package added in this pull request.
Apollo 15 Lunar Roving Vehicle Simulation
While existing lunar simulations heavily feature theoretical future lunar rovers, there is as a notable absence of actual rovers with flight heritage. The Lunar Roving Vehicle (LRV) is a rover used in the Apollo missions with very well documented dimensions and dynamics, designed for use on the moon. By simulating this existing vehicle, we can test novel rover features on a testbed proven practical for lunar application.
Included in this PR is a mesh of the LRV along with correct dimensions and dynamics. These are implemented as an SDF model paired with DAE meshes. This model is controllable in an Apollo 15 Landing site environment with a proportional controller using an Ackermann steering mechanism. The system features odometry, an IMU, two cameras, and special care given to realism in both the LRV model and Apollo 15 Landing site.