[griswaldbrooks]

[written by AI]

Stacked on #1046.

Motivation

Show a Husky A300 localizing and navigating a supermarket on lidar alone, undocking from and returning to a dock, in the market_sim world.

Brief description

Swaps the mobile manipulator for the lunar_sim A300 and resizes the store to 2 m gondolas and 4 m aisles. AMCL localizes the robot against a 2 cm map built at the two lidar heights, and Fuse combines wheel odometry with the simulated IMU. The Demo D4 B2 South and Return Objective undocks from a simulated dock at D4, relocalizes in place, drives the B2 aisle and returns.

• Front and rear lidars; horizontal samples aligned with render pixels; self returns filtered.
• AMCL: omni motion model, synchronized front/rear scans.
• Navigation: Smac State Lattice planner, Rotation Shim turning toward a new path once per plan, MPPI. Waypoint pruning runs every tree tick instead of inside the 0.33 Hz planner throttle, so a fast pass no longer skips a waypoint and triggers a backtracking replan.
• Textured floor, walls, lights and two stocking carts; the carts are left out of both maps and appear only as live obstacles.
• SLAM survey launch option with optional ground-truth navigation.

How it was tested

• market_sim build and 49 package tests pass; pre-commit passes.
• Five consecutive dock-to-dock missions succeeded in one continuous run with NavFn, before the planner change; AMCL error against simulator ground truth stayed under 1.1 cm along the B2 aisle, p95 2.6-4.3 cm over the route.
• Planner comparison on the same costmaps (NavFn, Smac 2D, Theta*, Smac State Lattice): at the southwest corner the selected configuration turns 106 degrees with no direction reversals, against 463 degrees and four reversals for NavFn. Peak route error 5.5-8.7 cm on the selected runs, during turns.

🤖 Generated with Claude Code

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[github-actions]

⚠️ This PR modifies 3 file(s) that also exist in PickNikRobotics/moveit_pro_empty_ws.

Consider whether the change should land upstream in moveit_pro_empty_ws first so downstream forks pick it up on the next sync.

Overlapping files

• .gitignore
• Dockerfile
• docker-compose.yaml

[github-actions]

MoveIt Pro Example WS - Objectives Integration Test Report

• lab_sim
  • ❌ jazzy: no report produced — see run logs
• hangar_sim
  • ❌ jazzy: no report produced — see run logs