Merge upstream/main into refactor-drive-launch

Resolved conflicts by keeping refactor-drive-launch's approach:
- Deleted obsolete sim launch files (bringup, control, spawn, athena_drive_sim_controllers.yaml)
- Kept use_sim arg (vs use_mock_hardware) for ros2_control xacro
- Added sensor instantiations (IMU, GPS, ground truth odom, depth camera) to athena_drive.urdf.xacro
- Kept all 4 steer joints in athena_drive_macro.ros2_control.xacro
- Added LED/killswitch GPIO controller configs to drive controllers yaml
- Kept refactored separate-launch-file approach in athena_drive.launch.py
- Kept use_sim_time=True on bridge nodes; fixed comment style in joystick publishers

Author: mdurrani808

.gitattributes

@@ -0,0 +1,2 @@
+*.tif filter=lfs diff=lfs merge=lfs -text
+*.dae filter=lfs diff=lfs merge=lfs -text

.github/workflows/main.yml

@@ -2,27 +2,37 @@ name: ROS2 Build
 
 on:
   push:
-    branches: [ main ]
+    branches: [main]
   pull_request:
-    branches: [ main ]
+    branches: [main]
   workflow_dispatch:
+
 jobs:
   build:
     runs-on: ubuntu-22.04
     container:
       image: ros:humble-ros-base
-    
+
     steps:
       - name: Checkout repository
-        uses: actions/checkout@v4      
-      - name: Install dependencies
+        uses: actions/checkout@v4
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.10'
+
+      - name: Install Python dependencies
+        run: python3 -m pip install -r requirements.txt
+
+      - name: Install system dependencies
         run: |
           apt-get update
-          apt-get install -y python3-colcon-common-extensions
+          bash dependencies.sh
           rosdep update
           rosdep install --from-paths . --ignore-src -r -y
         shell: bash
-      
+
       - name: Build workspace
         run: |
           source /opt/ros/humble/setup.bash

.gitignore

@@ -207,3 +207,5 @@ cython_debug/
 *.out
 *.app
 
+.DS_Store
+*.mcap

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "src/third-party/zed-ros2-wrapper"]
+	path = src/third-party/zed-ros2-wrapper
+	url = https://github.com/stereolabs/zed-ros2-wrapper.git

.vscode/settings.json

@@ -2,6 +2,8 @@
 
 This repository contains all the code for UMDLoop's 2025-26 rover, Athena.
 
+When cloning, be sure to use `git clone --recursive [URL to Git repository]` to pull in the submodules found in `src/third-party`. Alternatively, run `git submodule update --init --recursive` if you have already cloned.
+
 ## How To Contribute
 
 ### Learning Git
@@ -55,7 +57,7 @@ Your PR will be reviewed by your lead, and once approved, it will be merged into
 
 2. **Install required dependencies**
 ```bash
-rosdep install --from-paths src/athena-code -y --ignore-src
+rosdep install --from-paths src y --ignore-src
 ```
 
 3. **Build the workspace**
@@ -78,4 +80,4 @@ _Virtual:_
 5. **Launch a subsystem!**
 ```bash
 ./src/athena-code/src/tools/scripts/<subsystem>_launch.sh
-```
+```

README.md

@@ -0,0 +1,13 @@
+#!/bin/bash
+
+set -euo pipefail
+
+pkgs=(
+    python3-colcon-common-extensions
+    libgeographic-dev
+    geographiclib-tools
+)
+
+for pkg in "${pkgs[@]}"; do
+    apt-get install -y "$pkg"
+done

dependencies.sh

@@ -0,0 +1,5 @@
+pygame
+catkin_pkg
+empy==3.3.4
+lark
+numpy

requirements.txt

@@ -11,9 +11,11 @@ install(DIRECTORY
     config
     launch
     meshes
+    models
     rviz
     ros2_control
     urdf
+    worlds
     DESTINATION share/${PROJECT_NAME}/
 )