# Net OS 0.2 simulation descriptions

Target: ROS 2 Lyrical Luth / Ubuntu 26.04 (arm64 on Pi 5, amd64 or arm64 workstation), Gazebo Jetty, URDF 1.2 and SDFormat 1.12. Pin installed parser versions before using these assets. Older URDF parsers can reject version 1.2.

WOLF-E uses the supplied 32,738-triangle STL as one rigid visual. It is normalized to an assumed 0.82 m length. STL units, physical dimensions, mass, inertia, motor torque, wheel geometry, and camera mounting are unverified. Joint collision primitives are engineering placeholders; the integrated STL wheels do not animate independently. The physical prototype must be measured before motor integration.

The model has four continuous wheel joints, a fixed camera with an optical frame, IMU, and a forward single-beam LRF. SDF uses gpu_lidar with one horizontal sample to emulate the single beam; it does not imply a scanning LiDAR is installed. The user reports a maximum of 180 m and a minimum below 1 m. The 0.20 m minimum and noise figures are simulation assumptions.

Sentinel is a generic stationary camera with pan/tilt joints. Its model is schematic, not a measured Zengard product specification. Each instance needs its own name, topic namespace, and placement. No real perimeter assignments or long-range detection performance is modeled.

The browser includes an independent kinematic simulator and a three-state planar EKF. Synthetic marker pose observations and map-based range correction feed the estimator. The browser does not run ROS, Gazebo, raw image detection, MAVLink, or physical hardware control.

Run locally in a ROS workspace after copying robot_description as src/netos_description:

    colcon build --packages-select netos_description
    . install/setup.sh
    export GZ_SIM_RESOURCE_PATH="$PWD/install/netos_description/share/netos_description/models:$GZ_SIM_RESOURCE_PATH"
    gz sim install/netos_description/share/netos_description/models/corridor.sdf

Gazebo worlds have geometry and sensors; they do not yet run the browser mission controller or EKF. Camera marker textures/detection, ROS transport integration, and hardware commissioning are follow-up work. XML structural validation is distinct from a successful Gazebo physics run.

Primary references: https://discourse.openrobotics.org/t/ros-2-lyrical-luth-released/55021 ; https://github.com/ros/urdfdom ; https://gazebosim.org/docs/jetty/ ; https://sdformat.org/spec