spaceros_gz_demos

This world contains an X1 rover holding a truss that can be detached, an X2 rover, and a solar panel with one controllable joint on a lunar environment.
Images, camera info, laser scans, point clouds, and odometry topics are provided for each robot.
Additionally, each rover can be commanded as a differential drive system via a commanded base twist.
This world uses the Selenographic Coordinate System (SCS). 


<details>
<summary><b>Click here for information about the topics available in this demo.</b></summary>
<br>

| Topic Name | Topic Type | Description | 
| ---------- | ---------- | ----------- |
| ` /X1/camera_front/camera_info ` | ` sensor_msgs/msg/CameraInfo ` |  Camera info for X1's front camera  |
| ` /X1/camera_front/image ` | ` sensor_msgs/msg/Image ` |  Image on X1's front camera  |
| ` /X1/cmd_vel ` | ` geometry_msgs/msg/Twist ` |  Used to command the X1's base velocity  |
| ` /X1/front_laser/scan ` | ` sensor_msgs/msg/LaserScan ` |  Laser scan from the X1's camera  |
| ` /X1/front_laser/scan/points ` | ` sensor_msgs/msg/PointCloud2 ` |  Point cloud from the X1's camera  |
| ` /X1/imu_sensor/imu ` | ` sensor_msgs/msg/Imu ` |  IMU data from X1  |
| ` /X1/odometry ` | ` nav_msgs/msg/Odometry ` |  Base odometry topic from X1  |
| ` /X1/odometry_with_covariance ` | ` nav_msgs/msg/Odometry ` |  Odometry with covariance from X1  |
| ` /X1/truss/attach ` | ` std_msgs/msg/Empty ` |  Used to attach the truss on the back of the X1  |
| ` /X1/truss/detach ` | ` std_msgs/msg/Empty ` |  Used to detach the truss on the back of the X1  |
| ` /X2/camera_front/camera_info ` | ` sensor_msgs/msg/CameraInfo ` |  Camera info for X2's front camera  |
| ` /X2/camera_front/image ` | ` sensor_msgs/msg/Image ` |  Image on X2's front camera  |
| ` /X2/cmd_vel ` | ` geometry_msgs/msg/Twist ` |  Used to command the X2's base velocity  |
| ` /X2/front_laser/scan ` | ` sensor_msgs/msg/LaserScan ` |  Laser scan from the X2's camera  |
| ` /X2/front_laser/scan/points ` | ` sensor_msgs/msg/PointCloud2 ` |  Point cloud from the X2's camera  |
| ` /X2/imu_sensor/imu ` | ` sensor_msgs/msg/Imu ` |  IMU data from X2  |
| ` /X2/odometry ` | ` nav_msgs/msg/Odometry ` |  Base odometry topic from X2  |
| ` /X2/odometry_with_covariance ` | ` nav_msgs/msg/Odometry ` |  Odometry with covariance from the X2  |
| ` /solar_panel/joint ` | ` std_msgs/msg/Float64 ` |  Used to command the joint of the solar panel  |
| ` /tf ` | ` tf2_msgs/msg/TFMessage ` |  TF topic containing odometry from both the X1 and X2  |



</details>



## Mars
Launch the mars demo with the following command:


```ros2 launch spaceros_gz_demos mars.launch.xml

This world contains a submarine model in a liquid ocean meant to simulate the surface of Encaledus.
The submarine has sonar and odometry topics, and has a buoyancy engine that allows it to rise or sink, in addition to commandable thrusters on its left and right sides.


<details>
<summary><b>Click here for information about the topics available in this demo.</b></summary>
<br>

| Topic Name | Topic Type | Description | 
| ---------- | ---------- | ----------- |
| ` /submarine/buoyancy_engine ` | ` std_msgs/msg/Float64 ` |  Used to determine the volume of air in the buoyancy engine, which will either lower or raise the submarine (range: -30.0 - 30.0) |
| ` /submarine/left_thrust ` | ` std_msgs/msg/Float64 ` |  Control the left thruster  |
| ` /submarine/right_thrust ` | ` std_msgs/msg/Float64 ` |  Control the right thruster  |
| ` /submarine/odometry ` | ` nav_msgs/msg/Odometry ` |  Odometry of the submarine  |
| ` /submarine/sonar ` | ` sensor_msgs/msg/LaserScan ` |  Laser scan correspoinding to sonar points  |
| ` /submarine/sonar/points ` | ` sensor_msgs/msg/PointCloud2 ` |  Submarine's point cloud  |


</details>

## Orbit
Launch the orbiter demo with the following command:


```ros2 launch spaceros_gz_demos orbit.launch.xml