Lidar-odometry localization + dedicated mote_simulation package#11
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Localization (shared by the real robot and the sim): - kinematic_icp owns the odom->base transform; wheel odometry reaches it as a motion prior via a new odom_tf_relay node, which republishes the inverted wheel pose as a base_footprint->odom_wheel leaf - localization_launch.py runs both nodes and accepts use_sim_time - diff_drive_controller no longer publishes the odom TF (enable_odom_tf: false) since kinematic_icp now owns that edge Simulation: - move sim_launch.py, the worlds, and the smoke test out of mote_bringup into a new workstation-only mote_simulation package (excluded from the robot sync, built only in the sim pixi environment) - sim_launch.py includes the shared localization_launch.py and pulls controllers/laser_filter config from mote_bringup, so the sim and the robot run the same localization stack - selectable world arg; add office_world.sdf (hospital-ward stress layout) Verified with pixi run sim-test (drive, odometry, scan, and slam map). Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01QXgJsGhCMsQ2yf4js6dDqo
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Summary
Introduces the lidar-odometry localization architecture (shared by the real robot and the sim) and extracts all simulation assets into a dedicated, workstation-only
mote_simulationpackage.Localization
kinematic_icpnow owns theodom -> basetransform.odom_tf_relaynode, which republishes the inverted wheel pose as abase_footprint -> odom_wheelleaf.localization_launch.pyruns both nodes and acceptsuse_sim_time.diff_drive_controllerno longer publishes the odom TF (enable_odom_tf: false).Simulation
sim_launch.py, the worlds, and the smoke test out ofmote_bringupinto a newmote_simulationpackage, excluded from the robot sync and built only in thesimpixi environment.sim_launch.pyincludes the sharedlocalization_launch.pyand pulls controllers/laser-filter config frommote_bringup, so the sim and robot run the same localization stack.world:=arg; addsoffice_world.sdf(hospital-ward stress layout).Test plan
pixi run sim-testpasses: drive (0.600 m forward, 2.000 rad spin), 10 Hz scan with 720/720 finite ranges, slam_toolbox builds a 116x116 map.🤖 Generated with Claude Code