[sim] Add Leo rover model to simulation workspace

leo_description/CHANGELOG.rst

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+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package leo_description
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.2.3 (2024-05-12)
+------------------
+* Remove imu system plugin from the robot (`#11 <https://github.com/LeoRover/leo_common-ros2/issues/11>`_)
+* Contributors: Jan Hernas
+
+1.2.2 (2024-04-27)
+------------------
+* Set GZ_SIM_RESOURCE_PATH for Gazebo Harmonic
+* Contributors: Błażej Sowa
+
+1.2.1 (2024-02-13)
+------------------
+* Change wheel ode friction params (`#8 <https://github.com/LeoRover/leo_common-ros2/issues/8>`_)
+* Remove redundant ros2_control controller configuration
+* Contributors: Błażej Sowa, Jan Hernas
+
+1.2.0 (2023-11-02)
+------------------
+* Update author and copyright info
+* Add mecanum wheels to description package (`#6 <https://github.com/LeoRover/leo_common-ros2/issues/6>`_)
+* Ci updates (`#7 <https://github.com/LeoRover/leo_common-ros2/issues/7>`_)
+* Adjust description package to work in new Gazebo simulation (`#5 <https://github.com/LeoRover/leo_common-ros2/issues/5>`_)
+* Contributors: Aleksander Szymański, Błażej Sowa, Jan Hernas
+
+1.1.0 (2022-08-31)
+------------------
+
+1.0.3 (2022-05-25)
+------------------
+
+1.0.2 (2022-03-07)
+------------------
+
+1.0.1 (2022-03-07)
+------------------
+
+1.0.0 (2022-03-07)
+------------------
+* Initial port for ROS2

leo_description/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(leo_description)
+
+find_package(ament_cmake REQUIRED)
+
+install(
+  DIRECTORY
+    launch
+    models
+    urdf
+  DESTINATION share/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/gz_sim_resource_path.dsv")
+
+ament_package()

leo_description/hooks/gz_sim_resource_path.dsv

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+prepend-non-duplicate;IGN_GAZEBO_RESOURCE_PATH;share
+prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;share

leo_description/launch/state_publisher.launch.xml

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+<launch version="0.1.1">
+  <arg
+    name="model"
+    default="$(find-pkg-share leo_description)/urdf/leo.urdf.xacro"
+    description="Absolute path to robot urdf.xacro file" />
+
+  <arg 
+    name="mecanum_wheels"
+    default="false"
+    description="Flag specifying wheel types of the robot for visualization purposes"/>
+
+  <node pkg="robot_state_publisher" exec="robot_state_publisher">
+    <param name="robot_description" value="$(command 'xacro $(var model) mecanum_wheels:=$(var mecanum_wheels)')" />
+  </node>
+</launch>