chore: replacing the files that were deleted during resolution of nix…

…/gh conflicts

software/ros_ws/src/perseus_lite_description/ros2_control/perseus.ros2_control.xacro

@@ -0,0 +1,33 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:macro name="perseus_ros2_control" params="name prefix can_bus hardware_plugin">
+    <xacro:property name="is_mock" value="${hardware_plugin == 'mock_components/GenericSystem'}"/>
+    <ros2_control name="${name}" type="system">
+      <hardware>
+        <plugin>${hardware_plugin}</plugin>
+        <xacro:unless value="${is_mock}">
+          <param name="can_bus">${can_bus}</param>
+        </xacro:unless>
+        <xacro:if value="${is_mock}">
+          <!-- Enable velocity -> position integration over time -->
+          <param name="calculate_dynamics">true</param>
+        </xacro:if>
+      </hardware>
+
+      <xacro:macro name="ros2_control_joint" params="name id">
+        <joint name="${prefix}${name}_wheel_joint">
+          <param name="id">${id}</param>
+          <command_interface name="velocity"/>
+          <state_interface name="position"/>
+          <state_interface name="velocity"/>
+          <state_interface name="current"/>
+          <state_interface name="temperature"/>
+        </joint>
+      </xacro:macro>
+      <xacro:ros2_control_joint name="front_left" id="0"/>
+      <xacro:ros2_control_joint name="front_right" id="1"/>
+      <xacro:ros2_control_joint name="rear_left" id="2"/>
+      <xacro:ros2_control_joint name="rear_right" id="3"/>
+    </ros2_control>
+  </xacro:macro>
+</robot>

software/ros_ws/src/perseus_lite_description/rviz/view_odom.rviz

@@ -0,0 +1,231 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /Grid1
+        - /RobotModel1
+      Splitter Ratio: 0.6147058606147766
+    Tree Height: 555
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+      - /Current View1/Focal Point1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        chassis:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        differential_bar:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        flange_bearing:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_left_motor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_left_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_right_motor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_right_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        left_rocker:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        rear_left_motor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        rear_left_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        rear_right_motor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        rear_right_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_rocker:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: odom
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 2.5
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.6000000238418579
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.8999999761581421
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002b4000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000002b4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000025300fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 1389
+  Y: 139