Align MKMini Gazebo steering and world scale

src/mkmini_gazebo_steering_plugin/src/steering_command_plugin.cpp

@@ -44,7 +44,18 @@ public:
       "/cmd_vel", rclcpp::QoS(10),
       [this](const geometry_msgs::msg::Twist::SharedPtr message) {
         std::lock_guard<std::mutex> lock(mutex_);
-        target_angle_ = std::clamp(message->angular.z, -0.5, 0.5);
+        // Twist.angular.z is yaw rate, not steering angle. Convert it using
+        // the signed vehicle speed so reverse Reeds-Shepp segments keep the
+        // same physical curvature as their planned path.
+        if (std::abs(message->linear.x) >= 0.01) {
+          target_angle_ = std::clamp(
+            std::atan(wheelbase_ * message->angular.z / message->linear.x),
+            -0.5,
+            0.5);
+        } else {
+          // Preserve the direct angle fallback used by manual J/L steering.
+          target_angle_ = std::clamp(message->angular.z, -0.5, 0.5);
+        }
         has_target_ = true;
       });
     update_connection_ = gazebo::event::Events::ConnectWorldUpdateBegin(

src/nav2_turtlebot_simulator/launch/simulator.launch.py

@@ -33,7 +33,7 @@ LOCAL_SUN_LIGHT = '''    <light type="directional" name="sun">
       <cast_shadows>false</cast_shadows><pose>0 0 10 0 0 0</pose><diffuse>0.8 0.8 0.8 1</diffuse><specular>0.2 0.2 0.2 1</specular><direction>-0.5 0.1 -0.9</direction>
     </light>'''
 
-MKMINI_WORLD_SPACING_SCALE = 1.6
+MKMINI_WORLD_SPACING_SCALE = 1.0
 
 
 def replace_house_visual_meshes_with_boxes(house_model):
@@ -177,7 +177,7 @@ def create_flat_house_world(gazebo_dir):
 
 
 def create_mkmini_world(gazebo_dir):
-    """Expand the TurtleBot3 obstacle layout without changing obstacle sizes."""
+    """Create the MKMini world variant without changing map-scale coordinates."""
     source_model_path = os.path.join(gazebo_dir, 'models', 'turtlebot3_world', 'model.sdf')
     models_dir = os.path.join(tempfile.gettempdir(), 'nav2_mkmini_models')
     model_dir = os.path.join(models_dir, 'turtlebot3_world_mkmini')
@@ -190,8 +190,8 @@ def create_mkmini_world(gazebo_dir):
         raise RuntimeError('turtlebot3_world model is missing from model.sdf')
     model.attrib['name'] = 'turtlebot3_world_mkmini'
 
-    # Only object positions change. Keeping their geometry unchanged widens the
-    # driving lanes for the larger MKMini collision footprint.
+    # Keep object geometry and coordinates aligned with the base world. MKMini
+    # clearance comes from its footprint and inflation configuration.
     for pose in model.findall('.//pose'):
         values = pose.text.split()
         if len(values) != 6:

src/nav2_turtlebot_simulator/models/mkmini_gazebo/model.sdf

@@ -31,7 +31,7 @@
     <link name="os_lidar"><pose>0.15 0 0.578 0 0 0</pose><inertial><mass>0.2</mass><inertia><ixx>0.001</ixx><iyy>0.001</iyy><izz>0.001</izz></inertia></inertial><visual name="visual"><geometry><cylinder><radius>0.061</radius><length>0.081</length></cylinder></geometry><material><ambient>0.85 0.12 0.10 1</ambient><diffuse>0.85 0.12 0.10 1</diffuse></material></visual><sensor name="lidar_2d" type="ray"><always_on>true</always_on><update_rate>10</update_rate><visualize>true</visualize><ray><scan><horizontal><samples>360</samples><resolution>1</resolution><min_angle>-3.14159</min_angle><max_angle>3.14159</max_angle></horizontal><vertical><samples>1</samples><resolution>1</resolution><min_angle>0</min_angle><max_angle>0</max_angle></vertical></scan><range><min>0.20</min><max>18.0</max><resolution>0.02</resolution></range></ray><plugin name="mkmini_lidar" filename="libgazebo_ros_ray_sensor.so"><ros><remapping>~/out:=/raw/lidar</remapping></ros><output_type>sensor_msgs/PointCloud2</output_type><frame_name>os_lidar</frame_name></plugin></sensor></link>
     <joint name="os_lidar_joint" type="fixed"><parent>base_link</parent><child>os_lidar</child></joint>
 
-    <plugin name="mkmini_tricycle" filename="libgazebo_ros_tricycle_drive.so"><ros><remapping>cmd_vel:=/cmd_vel</remapping><remapping>odom:=/odom</remapping></ros><steering_joint>front_steering_joint</steering_joint><actuated_wheel_joint>front_drive_joint</actuated_wheel_joint><encoder_wheel_left_joint>rear_left_joint</encoder_wheel_left_joint><encoder_wheel_right_joint>rear_right_joint</encoder_wheel_right_joint><wheel_separation>0.51</wheel_separation><encoder_wheel_diameter>0.24</encoder_wheel_diameter><actuated_wheel_diameter>0.24</actuated_wheel_diameter><max_wheel_torque>120.0</max_wheel_torque><max_wheel_acceleration>1.5</max_wheel_acceleration><max_steering_speed>1.2</max_steering_speed><publish_odom>true</publish_odom><publish_wheel_tf>true</publish_wheel_tf><publish_wheel_joint_state>true</publish_wheel_joint_state><odometry_frame>odom</odometry_frame><robot_base_frame>base_link</robot_base_frame></plugin>
+    <plugin name="mkmini_tricycle" filename="libgazebo_ros_tricycle_drive.so"><ros><remapping>cmd_vel:=/cmd_vel</remapping><remapping>odom:=/odom</remapping></ros><steering_joint>front_steering_joint</steering_joint><actuated_wheel_joint>front_drive_joint</actuated_wheel_joint><encoder_wheel_left_joint>rear_left_joint</encoder_wheel_left_joint><encoder_wheel_right_joint>rear_right_joint</encoder_wheel_right_joint><wheel_separation>0.51</wheel_separation><encoder_wheel_diameter>0.24</encoder_wheel_diameter><actuated_wheel_diameter>0.24</actuated_wheel_diameter><max_wheel_torque>120.0</max_wheel_torque><max_wheel_acceleration>1.5</max_wheel_acceleration><max_steering_speed>0.0</max_steering_speed><publish_odom>true</publish_odom><publish_wheel_tf>true</publish_wheel_tf><publish_wheel_joint_state>true</publish_wheel_joint_state><odometry_frame>odom</odometry_frame><robot_base_frame>base_link</robot_base_frame></plugin>
     <plugin name="mkmini_visual_steering" filename="/modules/[lms-nav2-gazebo-simulator]nav2-simulator_v1.0.0_ws/install/mkmini_gazebo_steering_plugin/lib/libmkmini_gazebo_steering_plugin.so"><topic>/mkmini/steering_command</topic><left_joint>front_left_visual_steering_joint</left_joint><right_joint>front_right_visual_steering_joint</right_joint><wheelbase>0.60</wheelbase><track_width>0.51</track_width><steering_speed>1.2</steering_speed></plugin>
   </model>
 </sdf>