From dcf91ac37938bca04d64b8adc6b7ce7a621001f6 Mon Sep 17 00:00:00 2001
From: PickNik HAL 9000 Bot
 <298052124+picknik-hal-9000-bot[bot]@users.noreply.github.com>
Date: Tue, 18 Aug 2026 05:22:52 +0000
Subject: [PATCH] feat(hangar_sim): add mobile base teleoperation group

---
 src/hangar_sim/config/config.yaml             |  1 +
 .../control/picknik_ur.ros2_control.yaml      | 22 +++++++++++++++++++
 src/hangar_sim/config/moveit/picknik_ur.srdf  |  3 +++
 src/hangar_sim/config/moveit/pose_jog.yaml    |  6 +++--
 4 files changed, 30 insertions(+), 2 deletions(-)

diff --git a/src/hangar_sim/config/config.yaml b/src/hangar_sim/config/config.yaml
index ec7de13d0..87029757e 100644
--- a/src/hangar_sim/config/config.yaml
+++ b/src/hangar_sim/config/config.yaml
@@ -109,5 +109,6 @@ ros2_control:
     - "joint_trajectory_controller"
     - "velocity_force_controller"
     - "arm_only_velocity_force_controller"
+    - "mobile_base_velocity_force_controller"
     - "joint_velocity_controller"
     - "arm_only_joint_velocity_controller"
diff --git a/src/hangar_sim/config/control/picknik_ur.ros2_control.yaml b/src/hangar_sim/config/control/picknik_ur.ros2_control.yaml
index ab6e0afb3..98899b1eb 100644
--- a/src/hangar_sim/config/control/picknik_ur.ros2_control.yaml
+++ b/src/hangar_sim/config/control/picknik_ur.ros2_control.yaml
@@ -21,6 +21,8 @@ controller_manager:
       type: velocity_force_controller/VelocityForceController
     arm_only_velocity_force_controller:
       type: velocity_force_controller/VelocityForceController
+    mobile_base_velocity_force_controller:
+      type: velocity_force_controller/VelocityForceController
     joint_velocity_controller:
       type: joint_velocity_controller/JointVelocityController
     arm_only_joint_velocity_controller:
@@ -379,6 +381,26 @@ velocity_force_controller:
     # Padding (in radians) to add to joint position limits as a safety margin.
     joint_limit_position_tolerance: 0.02
 
+mobile_base_velocity_force_controller:
+  ros__parameters:
+    command_joints:
+      - platform_velocity_controller/linear_x_joint
+      - platform_velocity_controller/linear_y_joint
+      - platform_velocity_controller/rotational_yaw_joint
+    command_interfaces:
+      - velocity
+    planning_group_name: mobile_base
+    sensor_frame: ridgeback_base_link
+    ee_frame: ridgeback_base_link
+    state_publish_rate: 50
+    jacobian_damping: 0.0001
+    command_timeout: 0.1
+    max_joint_velocity: [0.175, 0.175, 0.5235987755982988]
+    max_joint_acceleration: [0.2, 0.2, 0.3490658503988659]
+    max_cartesian_velocity: [0.175, 0.175, 0.001, 0.001, 0.001, 0.5235987755982988]
+    max_cartesian_acceleration: [0.2, 0.2, 0.001, 0.001, 0.001, 0.3490658503988659]
+    joint_limit_position_tolerance: 0.02
+
 arm_only_velocity_force_controller:
   ros__parameters:
     # The joint group to control.
diff --git a/src/hangar_sim/config/moveit/picknik_ur.srdf b/src/hangar_sim/config/moveit/picknik_ur.srdf
index 0bd3436d5..f53eded4d 100644
--- a/src/hangar_sim/config/moveit/picknik_ur.srdf
+++ b/src/hangar_sim/config/moveit/picknik_ur.srdf
@@ -15,6 +15,9 @@
         <joint name="linear_y_joint"/>
         <joint name="rotational_yaw_joint"/>
     </group>
+    <group name="mobile_base">
+        <chain base_link="world" tip_link="ridgeback_base_link"/>
+    </group>
     <group name="arm_only">
         <chain base_link="base_link" tip_link="grasp_link"/>
     </group>
diff --git a/src/hangar_sim/config/moveit/pose_jog.yaml b/src/hangar_sim/config/moveit/pose_jog.yaml
index 3722c0395..83b56edec 100644
--- a/src/hangar_sim/config/moveit/pose_jog.yaml
+++ b/src/hangar_sim/config/moveit/pose_jog.yaml
@@ -1,4 +1,6 @@
 # Planning groups to use in PoseJog, and their corresponding VFC controllers.
 # The number of elements in `planning_groups` and `controllers` must match.
-planning_groups: ['manipulator', 'arm_only']
-controllers: ['velocity_force_controller', 'arm_only_velocity_force_controller']
+planning_groups: ['manipulator', 'arm_only', 'mobile_base']
+controllers: ['velocity_force_controller', 'arm_only_velocity_force_controller', 'mobile_base_velocity_force_controller']
+dpad_layouts:
+  mobile_base: planar