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husarion_ugv

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.

pre-commit

Panther preview

Quick start

Create workspace

mkdir ~/husarion_ws
cd ~/husarion_ws
git clone -b ros2 https://github.com/husarion/panther_ros.git src/husarion_ugv

Configure environment

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

Build

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.

Running

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

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
πŸ€– Available for physical robot
πŸ–₯️ Available in simulation
πŸ€– πŸ–₯️ Argument Description
Type: Default
❌ βœ… add_world_transform Adds a world frame that connects the tf trees of individual robots (useful when running multiple robots).
bool: False
βœ… βœ… 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
❌ βœ… battery_config_path Path to the Ignition LinearBatteryPlugin configuration file. This configuration is intended for use in simulations only.
string: None
βœ… βœ… 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
βœ… βœ… controller_config_path Path to controller configuration file. A path to custom configuration can be specified here.
string: {wheel_type}_controller.yaml
βœ… βœ… disable_manager Enable or disable manager_bt_node.
bool: False
βœ… βœ… fuse_gps Include GPS for data fusion.
bool: False
❌ βœ… gz_bridge_config_path Path to the parameter_bridge configuration file.
string: gz_bridge.yaml
❌ βœ… gz_gui Run simulation with specific GUI layout.
string: teleop.config
❌ βœ… 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
❌ βœ… gz_log_level Adjust the level of console output.
int: 1 (choices: 0, 1, 2, 3, 4)
❌ βœ… gz_world Absolute path to SDF world file.
string: husarion_world.sdf
βœ… βœ… launch_nmea_gps Whether to launch the NMEA NavSat driver node. Advisable when the robot is equipped with the ANT02.
bool: False
βœ… βœ… lights_bt_project_path Path to BehaviorTree project file, responsible for lights management.
string: LightsBT.btproj
βœ… βœ… localization_config_path Specify the path to the localization configuration file.
string: relative_localization.yaml
βœ… βœ… 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)
βœ… βœ… namespace Add namespace to all launched nodes.
string: env(ROBOT_NAMESPACE)
βœ… βœ… publish_robot_state Whether to publish the default URDF of specified robot.
bool: True
❌ βœ… robot_model Specify robot model type.
string: env(ROBOT_MODEL_NAME) (choices: lynx, panther)
βœ… βœ… safety_bt_project_path Path to BehaviorTree project file, responsible for safety and shutdown management.
string: SafetyBT.btproj
βœ… βœ… shutdown_hosts_config_path Path to file with list of hosts to request shutdown.
string: shutdown_hosts.yaml
βœ… βœ… use_ekf Enable or disable EKF.
bool: True
❌ βœ… 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
❌ βœ… 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
❌ βœ… use_rviz Run RViz simultaneously.
bool: True
βœ… βœ… use_sim Whether simulation is used.
bool: False
βœ… βœ… user_led_animations_path Path to a YAML file with a description of the user-defined animations.
string: ''
βœ… βœ… wheel_config_path Path to wheel configuration file.
string: {wheel_type}.yaml
βœ… βœ… 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)
❌ βœ… x Initial robot position in the global 'x' axis.
float: 0.0
❌ βœ… y Initial robot position in the global 'y' axis.
float: -2.0
❌ βœ… z Initial robot position in the global 'z' axis.
float: 0.2
❌ βœ… roll Initial robot 'roll' orientation.
float: 0.0
❌ βœ… pitch Initial robot 'pitch' orientation.
float: 0.0
❌ βœ… 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 ​​-s)

Developer Info

Setup pre-commit

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

Unit testing

Running on laptop

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

Running on the Built-In Computer

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