ROS 2 packages for Husarion UGV (Unmanned Ground Vehicle). The repository is a collection of necessary packages enabling the launch of the Lynx and Panther robots.
mkdir ~/husarion_ws
cd ~/husarion_ws
git clone -b ros2 https://github.com/husarion/panther_ros.git src/husarion_ugv
The repository is used to run the code both on the real robot and in the simulation. Specify HUSARION_ROS_BUILD_TYPE
the variable according to your needs.
Real robot:
export HUSARION_ROS_BUILD_TYPE=hardware
Simulation:
export HUSARION_ROS_BUILD_TYPE=simulation
vcs import src < src/husarion_ugv/husarion_ugv/${HUSARION_ROS_BUILD_TYPE}_deps.repos
cp -r src/ros2_controllers/diff_drive_controller src
cp -r src/ros2_controllers/imu_sensor_broadcaster src
rm -rf src/ros2_controllers
sudo rosdep init
rosdep update --rosdistro $ROS_DISTRO
rosdep install --from-paths src -y -i
source /opt/ros/$ROS_DISTRO/setup.bash
colcon build --symlink-install --packages-up-to husarion_ugv --cmake-args -DCMAKE_BUILD_TYPE=Release
source install/setup.bash
Note
To build code on a real robot you need to run above commands on the robot Built-in Computer.
Real robot:
ros2 launch husarion_ugv_bringup bringup.launch.py
Simulation:
ros2 launch husarion_ugv_gazebo simulation.launch.py
Important
You can change spawning robot in simulation, by adding robot_model:={robot_model}
argument.
Launch arguments are largely common to both simulation and physical robot. However, there is a group of arguments that apply only to hardware or only to the simulator. Below is a legend to the tables with all launch arguments.
Symbol | Meaning |
---|---|
π€ | Available for physical robot |
π₯οΈ | Available in simulation |
π€ | π₯οΈ | Argument | Description Type: Default |
---|---|---|---|
β | β | add_world_transform |
Adds a world frame that connects the tf trees of individual robots (useful when running multiple robots). bool: False |
β | β | animations_config_path |
Path to a YAML file with a description of led configuration. This file includes definition of robot panels, virtual segments and default animations. string: {robot_model}_animations.yaml |
β | β | battery_config_path |
Path to the Ignition LinearBatteryPlugin configuration file. This configuration is intended for use in simulations only. string: None |
β | β | components_config_path |
Additional components configuration file. Components described in this file are dynamically included in robot's URDF. Available options are described in the manual. string: components.yaml |
β | β | controller_config_path |
Path to controller configuration file. A path to custom configuration can be specified here. string: {wheel_type}_controller.yaml |
β | β | disable_manager |
Enable or disable manager_bt_node. bool: False |
β | β | fuse_gps |
Include GPS for data fusion. bool: False |
β | β | gz_bridge_config_path |
Path to the parameter_bridge configuration file. string: gz_bridge.yaml |
β | β | gz_gui |
Run simulation with specific GUI layout. string: teleop.config |
β | β | gz_headless_mode |
Run the simulation in headless mode. Useful when a GUI is not needed or to reduce the number of calculations. bool: False |
β | β | gz_log_level |
Adjust the level of console output. int: 1 (choices: 0 , 1 , 2 , 3 , 4 ) |
β | β | gz_world |
Absolute path to SDF world file. string: husarion_world.sdf |
β | β | launch_nmea_gps |
Whether to launch the NMEA NavSat driver node. Advisable when the robot is equipped with the ANT02. bool: False |
β | β | lights_bt_project_path |
Path to BehaviorTree project file, responsible for lights management. string: LightsBT.btproj |
β | β | localization_config_path |
Specify the path to the localization configuration file. string: relative_localization.yaml |
β | β | localization_mode |
Specifies the localization mode: - 'relative' odometry/filtered data is relative to the initial position and orientation. - 'enu' odometry/filtered data is relative to initial position and ENU (East North Up) orientation. string: relative (choices: relative , enu ) |
β | β | namespace |
Add namespace to all launched nodes. string: env(ROBOT_NAMESPACE) |
β | β | publish_robot_state |
Whether to publish the default URDF of specified robot. bool: True |
β | β | robot_model |
Specify robot model type. string: env(ROBOT_MODEL_NAME) (choices: lynx , panther ) |
β | β | safety_bt_project_path |
Path to BehaviorTree project file, responsible for safety and shutdown management. string: SafetyBT.btproj |
β | β | shutdown_hosts_config_path |
Path to file with list of hosts to request shutdown. string: shutdown_hosts.yaml |
β | β | use_ekf |
Enable or disable EKF. bool: True |
β | β | use_joint_state_publisher |
Flag enabling joint_state_publisher to publish information about the wheel position. Should be false when there is a controller that sends this information. bool: False |
β | β | use_joint_state_publisher_gui |
Flag enabling joint_state_publisher_gui to publish information about the wheel position. Should be false when there is a controller that sends this information. bool: False |
β | β | use_rviz |
Run RViz simultaneously. bool: True |
β | β | use_sim |
Whether simulation is used. bool: False |
β | β | user_led_animations_path |
Path to a YAML file with a description of the user-defined animations. string: '' |
β | β | wheel_config_path |
Path to wheel configuration file. string: {wheel_type}.yaml |
β | β | wheel_type |
Specify the wheel type. If the selected wheel type is not 'custom', the wheel_config_path and controller_config_path arguments will be automatically adjusted and can be omitted. string: WH01 (for Panther), WH05 (for Lynx) (choices: WH01 , WH02 , WH04 , WH05 , custom ) |
β | β | x |
Initial robot position in the global 'x' axis. float: 0.0 |
β | β | y |
Initial robot position in the global 'y' axis. float: -2.0 |
β | β | z |
Initial robot position in the global 'z' axis. float: 0.2 |
β | β | roll |
Initial robot 'roll' orientation. float: 0.0 |
β | β | pitch |
Initial robot 'pitch' orientation. float: 0.0 |
β | β | yaw |
Initial robot 'yaw' orientation. float: 0.0 |
Tip
To read the arguments for individual packages, add the -s
flag to the ros2 launch
command (e.g. ros2 launch husarion_ugv_bringup bringup.launch.py ββ-s
)
This project uses pre-commit to maintain high quality of the source code. Install precommit after downloading the repository to apply the changes.
pre-commit install
colcon build --symlink-install --packages-up-to husarion_ugv --cmake-args -DCMAKE_BUILD_TYPE=Release -DTEST_INTEGRATION=OFF -DTEST_ON_SELF_HOSTED_RUNNER=OFF
colcon test --packages-up-to husarion_ugv
colcon build --symlink-install --packages-up-to husarion_ugv --cmake-args -DCMAKE_BUILD_TYPE=Release -DTEST_INTEGRATION=ON -DTEST_ON_SELF_HOSTED_RUNNER=ON
colcon test --packages-up-to husarion_ugv