From f942210576b13780ab70b7bf03ddcafb63df6f13 Mon Sep 17 00:00:00 2001
From: Kuba Kaflik <jakub@kaflik.pl>
Date: Thu, 14 Sep 2023 11:47:17 +0200
Subject: [PATCH 1/2] Adjust robot URDF values (#15)

---
 .../config/hardware/yardforce500.yaml         | 38 ++++++++++---------
 src/openmower/description/gps.xacro           | 19 +---------
 src/openmower/description/imu.xacro           | 16 +-------
 src/openmower/description/robot.urdf.xacro    |  2 +-
 src/openmower/description/robot_core.xacro    | 16 ++++----
 5 files changed, 33 insertions(+), 58 deletions(-)

diff --git a/src/openmower/config/hardware/yardforce500.yaml b/src/openmower/config/hardware/yardforce500.yaml
index 05615e4..1669550 100644
--- a/src/openmower/config/hardware/yardforce500.yaml
+++ b/src/openmower/config/hardware/yardforce500.yaml
@@ -1,23 +1,25 @@
 chassis:
   # x, y, z offset in m of chassis from center of robot
-  offset: [-0.1, 0.0, -0.05]
+  offset: [-0.1, 0.0, -0.035] # m
 
   # width, height, length of chassis in m
-  width: 0.325
-  height: 0.10
-  length: 0.6
+  width: 0.325 #m
+  height: 0.15 # m
+  length: 0.55 # m
+
+  mass: 10 # kg
 
 mower:
   # x, y, z offset in m of mower from center of robot
-  offset: [0.15, 0.0, -0.001]
+  offset: [0.18, 0.0, -0.06] #m
 
   # mower blades cut radius in m when spinning 
-  cut_radius: 0.065
+  cut_radius: 0.065 # m
 
   # thickness in m
-  thickness: 0.01
+  thickness: 0.01 # m
   # mass in kg
-  mass: 0.05
+  mass: 0.2 # kg
 
 wheel:
   # x, y, z offset in m of wheel from center of robot
@@ -29,7 +31,7 @@ wheel:
   # radius in m
   radius: 0.0925
   # thickness in m
-  thickness: 0.05
+  thickness: 0.04
 
   # velocity in m/s
   velocity: 
@@ -39,16 +41,18 @@ wheel:
 #  gear_ratio: 0.003378378378378 # 1:296 (motor:wheel) - calculated based on value 1600 ticks per m
   gear_ratio: 0.027027027027027
 caster_wheel:
-  # x, y offset in m of caster wheel from center of chassis
-  offset: [0.5, 0.1]
-  radius: 0.0925
+  # x, y offset in m of caster wheel from center of base link
+  # z is calculated based on the radius of the wheel and it's offset
+  offset: [0.35, 0.1]
+  radius: 0.05
   mass: 0.05
 
 gps:
   antenna:
-    # x, y, z offset in m of gps antenna from center of chassis
-    offset: [0.3, 0.0, 0.2]
+    # x, y, z offset in m of gps antenna from center of base_link
+    offset: [0.32, 0.0, 0.1]
 
-battery:
-  empty_voltage: 25.0
-  full_voltage: 28.5
\ No newline at end of file
+imu:
+  chip:
+    # x, y, z offset in m of gps antenna from center of chassis
+    offset: [0.0, 0.0, 0.0] # m
diff --git a/src/openmower/description/gps.xacro b/src/openmower/description/gps.xacro
index c839d4c..99da831 100644
--- a/src/openmower/description/gps.xacro
+++ b/src/openmower/description/gps.xacro
@@ -3,28 +3,13 @@
     <joint name="gps_joint" type="fixed">
         <parent link="base_link"/>
         <child link="gps"/>
-        <origin xyz="0.3 0 0.05" rpy="0 0 0"/>
+        <origin xyz="${robot['gps']['antenna']['offset'][0]} ${robot['gps']['antenna']['offset'][1]} ${robot['gps']['antenna']['offset'][2]}" rpy="0 0 0"/>
     </joint>
 
     <link name="gps">
-        <collision>
-            <origin xyz="0 0 0" rpy="0 0 0"/>
-            <geometry>
-                <box size="0.08 0.08 0.04"></box>
-            </geometry>
-        </collision>
-
-        <visual>
-            <origin xyz="0 0 0" rpy="0 0 0"/>
-            <geometry>
-                <box size="0.08 0.08 0.04"></box>
-            </geometry>
-            <material name="black"/>
-        </visual>
-
         <sensor name="navsat_sensor" type="navsat">
           <always_on>1</always_on>
-          <update_rate>30</update_rate>
+          <update_rate>5</update_rate>
           <topic>gps</topic>
         </sensor>
     </link>
diff --git a/src/openmower/description/imu.xacro b/src/openmower/description/imu.xacro
index c8a2156..3d51386 100644
--- a/src/openmower/description/imu.xacro
+++ b/src/openmower/description/imu.xacro
@@ -3,24 +3,10 @@
     <joint name="imu_joint" type="fixed">
         <parent link="base_link"/>
         <child link="imu"/>
-        <origin xyz="0.5 0 0.05" rpy="0 0 0"/>
+        <origin xyz="${robot['imu']['chip']['offset'][0]} ${robot['imu']['chip']['offset'][1]} ${robot['imu']['chip']['offset'][2]}" rpy="0 0 0"/>
     </joint>
 
     <link name="imu">
-        <collision>
-            <origin xyz="0 0 0" rpy="0 0 0"/>
-            <geometry>
-                <box size="0.08 0.08 0.04"></box>
-            </geometry>
-        </collision>
-
-        <visual>
-            <origin xyz="0 0 0" rpy="0 0 0"/>
-            <geometry>
-                <box size="0.08 0.08 0.04"></box>
-            </geometry>
-            <material name="red"/>
-        </visual>
     </link>
 
     <gazebo reference="imu">
diff --git a/src/openmower/description/robot.urdf.xacro b/src/openmower/description/robot.urdf.xacro
index 48e7b11..99505bc 100644
--- a/src/openmower/description/robot.urdf.xacro
+++ b/src/openmower/description/robot.urdf.xacro
@@ -10,7 +10,7 @@
     <xacro:include filename="robot_core.xacro" />
     <xacro:include filename="gps.xacro" />
     <xacro:include filename="imu.xacro" />
-    <xacro:include filename="camera.xacro" />
+<!--    <xacro:include filename="camera.xacro" />-->
 
     <xacro:if value="$(arg use_ros2_control)">
         <xacro:include filename="ros2_control.xacro" />
diff --git a/src/openmower/description/robot_core.xacro b/src/openmower/description/robot_core.xacro
index 8b6dc3d..49a353d 100644
--- a/src/openmower/description/robot_core.xacro
+++ b/src/openmower/description/robot_core.xacro
@@ -17,11 +17,11 @@
     <xacro:property name="wheel_offset_x" value="${robot['wheel']['offset'][0]}"/>
     <xacro:property name="wheel_offset_y" value="${robot['wheel']['offset'][1]}"/>
     <xacro:property name="wheel_offset_z" value="${robot['wheel']['offset'][2]}"/>
-    <xacro:property name="caster_wheel_radius" value="${robot['caster_wheel']['mass']}"/>
+    <xacro:property name="caster_wheel_radius" value="${robot['caster_wheel']['radius']}"/>
     <xacro:property name="caster_wheel_mass" value="${robot['caster_wheel']['mass']}"/>
     <xacro:property name="caster_wheel_offset_x" value="${robot['caster_wheel']['offset'][0]}"/>
     <xacro:property name="caster_wheel_offset_y" value="${robot['caster_wheel']['offset'][1]}"/>
-    <xacro:property name="caster_wheel_offset_z" value="${wheel_offset_z - wheel_radius + caster_wheel_radius*2}"/>
+    <xacro:property name="caster_wheel_offset_z" value="${wheel_offset_z - wheel_radius + caster_wheel_radius}"/>
 
     <material name="white">
         <color rgba="1 1 1 1" />
@@ -192,7 +192,7 @@
     <!-- LEFT CASTER WHEEL LINK -->
 
     <joint name="left_caster_wheel_joint" type="fixed">
-        <parent link="chassis"/>
+        <parent link="base_link"/>
         <child link="left_caster_wheel"/>
         <origin xyz="${caster_wheel_offset_x} ${caster_wheel_offset_y} ${caster_wheel_offset_z}"/>
     </joint>
@@ -203,7 +203,7 @@
             <geometry>
                 <sphere radius="${caster_wheel_radius}"/>
             </geometry>
-            <material name="white"/>
+            <material name="black"/>
         </visual>
         <collision>
             <geometry>
@@ -216,7 +216,7 @@
     </link>
 
     <gazebo reference="left_caster_wheel">
-        <material>Gazebo/White</material>
+        <material>Gazebo/Black</material>
         <mu1 value="0.001"/>
         <mu2 value="0.001"/>
     </gazebo>
@@ -224,7 +224,7 @@
     <!-- RIGHT CASTER WHEEL LINK -->
 
     <joint name="right_caster_wheel_joint" type="fixed">
-        <parent link="chassis"/>
+        <parent link="base_link"/>
         <child link="right_caster_wheel"/>
         <origin xyz="${caster_wheel_offset_x} ${-caster_wheel_offset_y} ${caster_wheel_offset_z}"/>
     </joint>
@@ -235,7 +235,7 @@
             <geometry>
                 <sphere radius="${caster_wheel_radius}"/>
             </geometry>
-            <material name="white"/>
+            <material name="black"/>
         </visual>
         <collision>
             <geometry>
@@ -248,7 +248,7 @@
     </link>
 
     <gazebo reference="right_caster_wheel">
-        <material>Gazebo/White</material>
+        <material>Gazebo/Black</material>
         <mu1 value="0.001"/>
         <mu2 value="0.001"/>
     </gazebo>

From 5bcaefa019fb2cc9d77de38e921751ceca609dc1 Mon Sep 17 00:00:00 2001
From: Kuba Kaflik <jakub@kaflik.pl>
Date: Thu, 14 Sep 2023 12:15:56 +0200
Subject: [PATCH 2/2] Roadmap for project (#16)

* Roadmap for project

* GH issues
---
 docs/.vitepress/config.mts |  3 +++
 docs/getting-started.md    |  4 +--
 docs/roadmap.md            | 53 ++++++++++++++++++++++++++++++++++++++
 3 files changed, 58 insertions(+), 2 deletions(-)
 create mode 100644 docs/roadmap.md

diff --git a/docs/.vitepress/config.mts b/docs/.vitepress/config.mts
index dcb3217..17bdc8f 100644
--- a/docs/.vitepress/config.mts
+++ b/docs/.vitepress/config.mts
@@ -24,6 +24,9 @@ export default withMermaid({
       {
         text: 'Getting started',
         link: '/getting-started',
+        items: [
+          { text: 'Roadmap', link: '/roadmap' },
+        ],
       },
       {
         text: 'Components explained',
diff --git a/docs/getting-started.md b/docs/getting-started.md
index 5f975f0..17334cc 100644
--- a/docs/getting-started.md
+++ b/docs/getting-started.md
@@ -31,9 +31,9 @@ This section is not complete yet. It will be updated as the project progresses.
   - :white_check_mark: GPS
 - :construction: Simulation using Gazebo
 
-### Planned
+### Roadmap
 
-The list of identified missing features or enhancements can be found in GitHub [issues](https://github.com/jkaflik/OpenMowerROS2/issues).
+What was already said, the project is in early development stage. Please get familiar with [Roadmap](roadmap) to get an idea of what is planned for the future.
 
 ## Requirements
 
diff --git a/docs/roadmap.md b/docs/roadmap.md
new file mode 100644
index 0000000..5a2057a
--- /dev/null
+++ b/docs/roadmap.md
@@ -0,0 +1,53 @@
+---
+title: Roadmap
+---
+# {{ $frontmatter.title }}
+
+## Introduction
+
+As mentioned in [Getting started](getting-started.md), the project is mostly for my own learning purposes. I am not sure how far I will get with it, but I will try to keep it up to date.
+
+I want to share it with others, so also I want to make it clear what is the current state of the project and what is planned for the future. (what I can afford myself to plan given it's a hobby project)
+
+## Roadmap
+
+```mermaid
+timeline
+    spring 2024: feature parity with open_mower_ros
+    summer 2024: modularity
+    later 2024: additional sensors
+    later: more fancy stuff
+```
+
+### Feature parity with open_mower_ros
+
+I'd like to focus first on making sure everyone who is OpenMower user can use OpenMowerROS2 as a drop-in replacement for open_mower_ros.
+
+This definitely means implementing all the features that are already implemented in open_mower_ros, but done in a different way.
+
+Compatibility with all side projects that are using open_mower_ros is not expected. For example, Mowgli or OpenMowerGUI are not in the scope of this project.
+
+### Modularity
+
+What if we have a modular system that can be used with other hardware as well?
+One of the closest examples would be a Mowgli compatible hardware layer. What about other YardForce or similar mowers?
+
+### Additional sensors
+
+It does not limit to base mower only. What about other sensors?
+
+### More fancy stuff
+What about other capabilities? Your robot could be a mower, but also be responsible for other garden chores.
+
+## GitHub issues
+
+All the work is tracked in [GitHub issues](https://github.com/jkaflik/OpenMowerROS2/issues):
+
+- Feature parity issues can be [filter out with feature-parity label](https://github.com/jkaflik/OpenMowerROS2/issues?q=is%3Aopen+is%3Aissue+label%3Afeature-parity). Not all gaps are identified yet.
+- Future improvements are tracked with [future-ideas label](https://github.com/jkaflik/OpenMowerROS2/issues?q=is%3Aopen+is%3Aissue+label%3Afuture-ideas).
+
+Feel free to add your own.
+
+## Conclusion
+
+All this stuff is not going to happen overnight. It will take time. It can stay as a hobby project, or it can grow into something bigger. [It's up to you](contributing).
\ No newline at end of file