feat(lunar_sim): add scene mast, boulders, and A300 lidars - #945
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No actionable comments were generated in the recent review. 🎉 ℹ️ Recent review info⚙️ Run configurationConfiguration used: Organization UI Review profile: CHILL Plan: Team Run ID: 📒 Files selected for processing (2)
Included review availability: 4 reviews are currently available. Your included PR review attempts over the past 7 days set your current allowance at 5 reviews per hour. 📝 SummarySummary by CodeRabbit
WalkthroughThe lunar simulation adds front and rear image-based lidars, a visible camera mast, four route boulders, lidar topics, collision validation, sensor checks, and inspection documentation. ChangesLunar simulation sensors and obstacles
Priority: ⬇️ Low Merge Risk: ⚪ Minimal · up to The simulation adds the documented sensors, boulders, and validation artifacts without an established merge-blocking risk. 🚥 Pre-merge checks | ✅ 4✅ Passed checks (4 passed)
✨ Finishing Touches 💡 1🛠️ Fix failing CI checks 💡
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Inline comments:
In `@src/lunar_sim/description/validate_and_render.py`:
- Around line 147-153: Update dead_reckon_square’s boulder identification to
require all four expected boulder geoms via require_id, or assert the discovered
names exactly match the expected set, before step_clear_route validation; do not
allow missing or renamed geoms to produce an incomplete boulder_ids set.
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src/lunar_sim/README.mdsrc/lunar_sim/description/assets/boulders_provenance.txtsrc/lunar_sim/description/validate_and_render.py
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- src/lunar_sim/description/assets/boulders_provenance.txt
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Motivation
Give the lunar demo visible terrain landmarks and rover-mounted lidar data for perception experiments.
Brief description
Adds a world-fixed mast under the existing scene camera, four large boulders, and front/rear depth-camera lidars on the Husky A300. The README records sensor topics, mount offsets, asset provenance and measured motion results.
(0.45, 0, 0.3208593)and(-0.2728, 0, 0.6500193)metres.811 x 3output currently has one usable horizontal row because upstream projection drops the outer rows. Effective minimum range is about 0.28 m due to rendering near clipping; maximum range is 25 m.How it was tested
picknik_mujoco_ros10.2.0 package and confirmedTHREE_D_LIDAR = 2support before configuring the lidars.moveit_pro build user_workspace -w "$PWD" --colcon-args "--packages-up-to lunar_sim": 3 packages built successfully.pytest src/lunar_sim/test/test_husky_mujoco_geometry.py: 4 passed.colcon test --packages-select lunar_sim lunar_sim_behaviors: all 7 CTest targets passed, with no errors or failures.validate_and_render.pypassed with GPU EGL rendering. Camera/site transforms match, and the square recorded zero boulder contacts. Physical before/after results match, including 0.6290 m closure error. This preserves the existing open-loop behavior; it does not claim accurate square tracking.ros2 topic hzandros2 topic echo --oncefor/scene_camera/color,/scene_camera/depth,/lidar_front/pointsand/lidar_rear/points. Also checked/scene_camera/camera_infoand both optical-frame transforms. Measured about 5.6 Hz scene images, 7.2 Hz front lidar and 6.0 Hz rear lidar, against configured 10 Hz rates.Dead Reckon Squaresuccessfully, recording 7.3695 m wheel-odometry travel and 6.3654 rad accumulated yaw. Teleoperation forwarded all 40 test commands, recorded 0.90475 m odometry displacement and ended with zero commanded twist.validate_and_render.pyon the combined scene: it passed with zero boulder contacts, the same 0.6290 m closure error and per-corner turns, and matching camera/site transforms. The only rebase conflict was the two scene include lines; both sides were kept.pre-commit run --filesfor the README, provenance note and validation script. Automated PR checks passed before squashing and are rerunning on the final commit.Release notes
lunar_sim.Claude agent checks
Reviewed commit
2e1842d0cc037bd11d019b28b9bc0e6791f254eausing the MoveIt Pro review prompts.code-reviewerdocumentation-botlicensing-privacy-botplatform-architect-botroboticist-botfrontend-noah-botsecurity-auditorcompatibility-botsonar-bottest-runner