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Package Summary

Tags No category tags.
Version 2.2.1
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/husarion/husarion_ugv_ros.git
VCS Type git
VCS Version ros2
Last Updated 2025-04-04
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Default launch files and configuration used to start Husarion UGV

Additional Links

Maintainers

  • Husarion

Authors

  • Paweł Kowalski

husarion_ugv_bringup

The package contains the default configuration and launch files necessary to start all the basic functionalities of the Husarion UGV.

Launch Files

This package contains:

  • bringup.launch.py: Responsible for activating whole robot system.
CHANGELOG

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_bringup \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

2.2.0 (2025-03-13)

  • Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
  • Merge pull request #496 from husarion/repo-rename
  • update links
  • Merge branch 'ros2-devel' into lights-new
  • Add hw and os checks (#491)
  • Add log level argument to launch files (#473)
  • Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
  • Merge pull request #466 from husarion/ros2-add-msgs
  • Merge branch 'ros2-devel' into ros2-add-msgs
  • Merge branch 'ros2-devel' into add-panther-diagnostics-config
  • Merge remote-tracking branch 'origin/ros2-devel' into ros2-devel
  • Merge pull request #460 from husarion/ros2-devel-better-config-dir
  • Add husarion_ugv_msgs
  • optional config dir
  • Merge pull request #457 from husarion/ros2-lynx-devel
  • Merge pull request #455 from husarion/ros2-lynx-merge
  • use ROBOT_MODEL_NAME env
  • Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-lynx-devel
  • Ros2 husarion ugv v2 (#422)
  • Contributors: BOOTCFG, Dawid Kmak, Jakub Delicat, Miłosz Łagan, Rafal Gorecki, Stefan, kmakd, rafal-gorecki

2.1.2 (2024-12-02)

  • Merge branch 'ros2-devel' into ros2-lights-tests
  • Contributors: pawelirh

2.1.1 (2024-09-05)

  • Merge branch 'ros2-devel' into ros2-ns-refactor
  • Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-add-nmea-gps
  • Merge remote-tracking branch 'origin/ros2-devel' into ros2-testing-poc
  • Merge pull request #386 from husarion/ros2-unify-filenames
  • Ros2 estop sim gui (#384)
  • Rename config and launch file in manager package
  • Merge branch 'ros2-devel' into ros2-ns-refactor
  • Update after changes in panther_diagnostics
  • New format of documentation (#369)
  • Contributors: KmakD, Paweł Irzyk, pawelirh, rafal-gorecki

2.1.0 (2024-08-02)

  • Merge pull request #362 from husarion/ros2-api-reorganization
  • Update panther_bringup/README.md
  • Enhance ROS API names in the stack
  • Contributors: Dawid Kmak, Paweł Irzyk, pawelirh

2.0.4 (2024-06-28)

  • Add EKF GPS configuration (#351)
  • Suggestions and pre-commit update
  • Add manager
  • Merge branch 'ros2-devel' into ros2-gz-lights
  • Merge remote-tracking branch 'origin/ros2-devel' into ros2-gpio-controller-revision
  • Merge branch 'ros2' into ros2-build-in-animation
  • Merge branch 'ros2' into ros2-gz-lights
  • Steering lights from channel topics
  • Working light changing from ros
  • Contributors: pawelirh, rafal-gorecki

2.0.3 (2024-06-06)

2.0.2 (2024-06-05)

  • Launch refactor (#307)
  • Merge pull request #301 from husarion/ros2-manager-refactor
  • Merge remote-tracking branch 'origin/ros2-logging' into ros2-logging
  • Update package.xml
  • Changed all RCLCPP logs to streams
  • Merge branch 'ros2' of https://github.com/husarion/panther_ros into ros2-manager-refactor
  • added diagnostics remapping and namespace to system_status (#306)
  • added diagnostics remapping and namespace to system_status
  • Ros2 add components (#277)
  • Merge pull request #303 from husarion/ros2-controler-patch
  • Patch
  • Remove const name
  • Merge branch 'ros2' of https://github.com/husarion/panther_ros into ros2-manager-refactor
  • Patches with: gazebo, ekf and readme fixes (#302)
  • Multi robot spawn working (#256)
  • unify system_status_node cmake
  • Contributors: Dawid, Jakub Delicat, Paweł Irzyk, rafal-gorecki

2.0.1 (2024-05-01)

  • Manager launch fix (#269)
  • Add disable manager arg (#265)
  • Merge pull request #259 from husarion/ros2-os-diagnostics
  • Merge pull request #264 from husarion/ros2-use-absolute-url
  • Absolute URL
  • Merge pull request #261 from husarion/ros2-readme
  • Pawel sugestions
  • Merge branch 'ros2-devel' into ros2-readme
  • Merge remote-tracking branch 'origin/ros2-devel' into ros2-os-diagnostics
  • Ros2 control imu hardware (#236)
  • moved status in launch
  • Added suggestions
  • Add controller readme
  • Added tests
  • Merge remote-tracking branch 'origin/ros2-devel' into ros2-os-diagnostics
  • Contributors: Jakub Delicat, Paweł Irzyk, rafal-gorecki

2.0.0 (2024-03-29)

  • Ros2 namespace (#255)
    • Preparation for namespace
    • Simulation working
    • Hardware look ok

    * Update panther_controller/config/WH01_controller.yaml Co-authored-by: Jakub Delicat <<109142865+delihus@users.noreply.github.com>> * Apply Jakub suggestions Co-authored-by: Jakub Delicat <<109142865+delihus@users.noreply.github.com>>

    • Fix imu
    • Readme
    • Add imu namespace
    • Jakub suggestions
    • Add panther manager to xml
    • pre-commit
    • Fixed ekf
    • Additional remapping
    • fix imu
    • Pawel suggestions (collision with gamepad)
    • cmd_vel

    * Use namespace instead of PushRosNamespace ---------Co-authored-by: Jakub Delicat <<109142865+delihus@users.noreply.github.com>> Co-authored-by: Jakub Delicat <<jakub.delicat@husarion.com>>

  • Merge pull request #257 from husarion/ros2-headers Divide Headers into std and local liblaries
  • Headers + Copyright
  • Merge pull request #246 from husarion/ros2-panther-manager ROS 2 panther_manager
  • Add launch behavior
  • Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-panther-manager
  • Merge pull request #240 from husarion/ekf_optimalization Ekf optimalization
  • fix
  • Add initial ekf setting
  • Update panther_bringup/config/ekf.yaml
  • Merge branch 'ros2-devel' into ros2-ekf-optimalization
  • Merge branch 'ros2-devel' into ros2-lights-tests
  • Merge branch 'ros2-manager-plugins' of https://github.com/husarion/panther_ros into ros2-panther-manager
  • Merge pull request #251 from husarion/ros2-build-depend Hardware / Sim Dependencies
  • Update panther_bringup/launch/bringup.launch.py
  • FindPackageShare
  • Update panther_bringup/package.xml Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>>
  • HW/SIM Dependencies
  • Merge remote-tracking branch 'origin/ros2-devel' into ros2-manager-plugins
  • Ros2 lights controller (#241)
    • ROS 2 lights animations (#221)
    • add animation and image_animation class
    • controller node and pluginlib
    • add tests and fix issues
    • add animation images
    • add alpha channel
    • add charging animation with tests
    • update dummy controller
    • fix missing includes
    • add missing dep

    * Update panther_lights/include/panther_lights/animation/animation.hpp Co-authored-by: Paweł Kowalski <<82044322+pkowalsk1@users.noreply.github.com>> * Update panther_lights/include/panther_lights/animation/animation.hpp Co-authored-by: Paweł Kowalski <<82044322+pkowalsk1@users.noreply.github.com>>

    • review changes

    * update tests ---------Co-authored-by: Paweł Kowalski <<82044322+pkowalsk1@users.noreply.github.com>>

    • ROS 2 lights converter (#223)
    • add led_segment
    • WIP led_panel and segment converter
    • simplify converter
    • update segment conversion
    • add test for led panel, segment, and converter
    • review fixes
    • update copyright year
    • update controller so it somehow works
    • Update tests
    • Apply review fixes
    • fix gpio tests
    • parse controller configuration
    • add default animation
    • add yaml_utils to panther_utils
    • add led animation and queue
    • Fix queuing
    • fix bug
    • priority and timeout queue validation
    • move queue to separate file
    • add briefs
    • param and brightness handle
    • user animations, bugs, briefs
    • use yaml utils
    • fix tests
    • update tests
    • add led_animation test
    • test fixxes
    • add led animations queue tests
    • clean up code | clean up code
    • Update documentation | add launching controller node
    • make it work
    • update scheduler

    * Update panther_lights/LIGHTS_API.md Co-authored-by: Paweł Irzyk <<108666440+pawelirh@users.noreply.github.com>>

    • review fixes
    • update pre-commit and fix typos

    * Update panther_bringup/README.md Co-authored-by: rafal-gorecki <<126687345+rafal-gorecki@users.noreply.github.com>> * Update panther_hardware_interfaces/README.md Co-authored-by: rafal-gorecki <<126687345+rafal-gorecki@users.noreply.github.com>> * Update panther_lights/README.md Co-authored-by: rafal-gorecki <<126687345+rafal-gorecki@users.noreply.github.com>> * Update panther_lights/test/test_controller_node.cpp Co-authored-by: rafal-gorecki <<126687345+rafal-gorecki@users.noreply.github.com>>

    • review fixes

    * Update README.md ---------Co-authored-by: Paweł Kowalski <<82044322+pkowalsk1@users.noreply.github.com>> Co-authored-by: Paweł Irzyk <<108666440+pawelirh@users.noreply.github.com>> Co-authored-by: rafal-gorecki <<126687345+rafal-gorecki@users.noreply.github.com>>

  • EKF config
  • Merge pull request #235 from husarion/ros2-dependencies Fix dependencies
  • Ros2 diagnostics hardware interfaces (#231)
    • add GPIO controller
    • Basic integration of gpio controller and panther system
    • [WIP] Add panther version
    • add io state topic
    • Remove unnecessary parts from cmakelists
    • Cleanup gpio controller
    • Add estop to panther system
    • Add todo comment
    • Add ServiceWrapper
    • Add estop services
    • Add remaps to ros2 control
    • Add publishing estop state, change iostate to latched and fix publishing initial state
    • revise e-stop logic in initial stage
    • same, but in better way
    • small changes
    • remove clear_errors service
    • Fix test
    • Add resetting gpio controller
    • Change wheel separation multiplier to 1.0
    • fix pin names list
    • add robot version check before GPIO read
    • Change lock in gpio driver
    • Fix order in cmakelists
    • Change throws to exception in briefs
    • Remove unnecessary includes
    • Fix controller_manager topic remaps
    • Add checking if last commands were 0 before resetting estop
    • Change estop variable to atomic bool
    • Add motor controller mutex
    • Change order of operations when setting estop
    • Fix order of methods
    • Fixes in panther system - change methods order, use ReadDriverStatesUpdateFrequency, remove unnecessary logs
    • Remove max_safety_stop_attempts (no longer needed after adding gpio controller)
    • Refactor setting estop in write method
    • Fix estop naming convention
    • Remove old todos
    • Fix typo
    • Review fixes
    • fix formatting

    * Update panther_hardware_interfaces/include/panther_hardware_interfaces/gpio_controller.hpp Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>>

    • review fixes
    • rename some methods
    • draft of InitializeAndPublishIOStateMsg functionality
    • Initialize diagnostic updater
    • Update docs
    • fix io_state topic
    • fix service warappers
    • small fix
    • Add missing dependencies
    • Implement diagnostics tasks
    • Add header file to panther_system
    • Add get map methods
    • Add utilities and tests
    • Fix mistaken removal
    • Fix method order

    * Update panther_hardware_interfaces/README.md Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>> * Update panther_hardware_interfaces/src/panther_system.cpp Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>> * Update panther_hardware_interfaces/src/panther_system.cpp Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>> * Update panther_hardware_interfaces/src/panther_system.cpp Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>> * Update panther_hardware_interfaces/src/roboteq_data_converters.cpp Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>> * Update panther_utils/include/panther_utils/common_utilities.hpp Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>> * Update panther_utils/include/panther_utils/diagnostics.hpp Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>> * Update panther_utils/test/test_common_utilities.cpp Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>> * Update panther_utils/test/test_diagnostics.cpp Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>> * Add additional test in test_diagnostics ---------Co-authored-by: Paweł Kowalski <<kowalski.pawel.r@gmail.com>> Co-authored-by: Maciej Stępień <<maciej.stepien@husarion.com>> Co-authored-by: Paweł Kowalski <<82044322+pkowalsk1@users.noreply.github.com>> Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>>

  • Decrease bringup time
  • Merge remote-tracking branch 'origin/ros2-devel' into ros2-add-mecanum-controller
  • Merge pull request #208 from husarion/ros2-control Add ROS 2 control
  • Merge branch 'ros2-devel' into ros2-control Conflicts: panther_gpiod/CMakeLists.txt panther_gpiod/package.xml panther_gpiod/src/gpio_driver.cpp
  • Add GPIO controller (#222)
    • add GPIO controller
    • Basic integration of gpio controller and panther system
    • [WIP] Add panther version
    • add io state topic
    • Remove unnecessary parts from cmakelists
    • Cleanup gpio controller
    • Add estop to panther system
    • Add todo comment
    • Add ServiceWrapper
    • Add estop services
    • Add remaps to ros2 control
    • Add publishing estop state, change iostate to latched and fix publishing initial state
    • revise e-stop logic in initial stage
    • same, but in better way
    • small changes
    • remove clear_errors service
    • Fix test
    • Add resetting gpio controller
    • Change wheel separation multiplier to 1.0
    • fix pin names list
    • add robot version check before GPIO read
    • Change lock in gpio driver
    • Fix order in cmakelists
    • Change throws to exception in briefs
    • Remove unnecessary includes
    • Fix controller_manager topic remaps
    • Add checking if last commands were 0 before resetting estop
    • Change estop variable to atomic bool
    • Add motor controller mutex
    • Change order of operations when setting estop
    • Fix order of methods
    • Fixes in panther system - change methods order, use ReadDriverStatesUpdateFrequency, remove unnecessary logs
    • Remove max_safety_stop_attempts (no longer needed after adding gpio controller)
    • Refactor setting estop in write method
    • Fix estop naming convention
    • Remove old todos
    • Fix typo
    • Review fixes
    • fix formatting

    * Update panther_hardware_interfaces/include/panther_hardware_interfaces/gpio_controller.hpp Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>>

    • review fixes
    • rename some methods
    • draft of InitializeAndPublishIOStateMsg functionality
    • fix io_state topic
    • fix service warappers
    • small fix
    • rewiew fixes
    • add briefs in gpio_controler
    • review fixes

    * small fix ---------Co-authored-by: Paweł Kowalski <<kowalski.pawel.r@gmail.com>> Co-authored-by: Paweł Kowalski <<82044322+pkowalsk1@users.noreply.github.com>> Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>>

  • Add IMU noise + basic EKF configuration (#229)
    • Fix collisions
    • remove parent dir
    • Add IMU noise
    • EKF working
    • Add controller
    • Update panther_bringup/config/ekf.yaml
    • Update panther_bringup/config/ekf.yaml
    • Format
  • Merge branch 'ros2-devel' into ros2-control-pdo-commands Conflicts: panther_bringup/launch/bringup.launch.py panther_controller/config/WH01_controller.yaml panther_controller/config/WH02_controller.yaml panther_controller/config/WH04_controller.yaml
  • Merge branch 'ros2-devel' into ros2-control Conflicts: panther_bringup/launch/bringup.launch.py panther_controller/config/WH01_controller.yaml panther_controller/config/WH02_controller.yaml panther_controller/config/WH04_controller.yaml
  • Manuall merge of ros2-prealpha to ros2-dev (#218)
    • manually merge prealpha with ros2-dev
    • typo and formatting
    • change locks and simplify code
    • add missing library
    • fix build
  • Remove todos
  • Merge branch 'ros2-control' into ros2-control-pdo-commands Conflicts: panther_hardware_interfaces/README.md panther_hardware_interfaces/include/panther_hardware_interfaces/canopen_controller.hpp panther_hardware_interfaces/include/panther_hardware_interfaces/panther_system.hpp panther_hardware_interfaces/include/panther_hardware_interfaces/roboteq_data_converters.hpp panther_hardware_interfaces/include/panther_hardware_interfaces/roboteq_driver.hpp panther_hardware_interfaces/src/motors_controller.cpp panther_hardware_interfaces/src/panther_system.cpp panther_hardware_interfaces/src/roboteq_driver.cpp
  • ROS 2 ekf update (#214)
    • update ekf config
    • add ekf launch arguments
    • add README

    * Update panther_bringup/README.md Co-authored-by: Maciej Stępień <<maciek1284@outlook.com>> * Update panther_bringup/README.md Co-authored-by: Maciej Stępień <<maciek1284@outlook.com>> * Update panther_bringup/README.md Co-authored-by: Maciej Stępień <<maciek1284@outlook.com>> ---------Co-authored-by: Maciej Stępień <<maciek1284@outlook.com>>

  • Fix imu launch
  • Merge branch 'ros2-devel' into ros2-control Conflicts: panther_bringup/launch/bringup.launch.py
  • Fix launches
  • Merge pull request #212 from husarion/ros2-imu-node ROS 2 imu node
  • review fixes
  • fix launch
  • update imu config
  • add use_sim condition
  • Merge branch 'ros2-devel' into ros2-control Conflicts: .clang-format README.md panther_controller/CMakeLists.txt panther_controller/launch/controller.launch.py panther_controller/package.xml panther_description/CMakeLists.txt panther_description/config/WH01.yaml panther_description/config/WH02.yaml panther_description/config/WH04.yaml panther_description/meshes/WH01/fl_wheel.dae panther_description/meshes/WH01/fr_wheel.dae panther_description/meshes/WH01/rl_wheel.dae panther_description/meshes/WH01/rr_wheel.dae panther_description/meshes/WH02/fl_wheel.dae panther_description/meshes/WH02/fr_wheel.dae panther_description/meshes/WH02/rl_wheel.dae panther_description/meshes/WH02/rr_wheel.dae panther_description/meshes/WH04/fl_wheel.dae panther_description/meshes/WH04/fr_wheel.dae panther_description/meshes/WH04/rl_wheel.dae panther_description/meshes/WH04/rr_wheel.dae panther_description/meshes/body.dae panther_description/meshes/components/external_antenna.dae panther_description/package.xml panther_description/rviz/panther.rviz panther_description/urdf/body.urdf.xacro panther_description/urdf/components/external_antenna.urdf.xacro panther_description/urdf/panther.urdf.xacro panther_description/urdf/panther_macro.urdf.xacro panther_description/urdf/wheel.urdf.xacro
  • add launching imu nodes
  • Add pre-commit, clang-format and license to files (#207) Add pre-commit, clang-format and license to files
  • Merge pull request #201 from husarion/ros2-gazebo Ros2 gazebo
  • review fixes
  • add puslish_robot_state param in all files
  • rename ekf node
  • review fixes
  • Update panther_bringup/launch/bringup.launch.py Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>>
  • Update panther_bringup/launch/bringup.launch.py Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>>
  • Update panther_bringup/launch/bringup.launch.py Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>>
  • Update panther_bringup/config/ekf.yaml Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>>
  • fix controller and ekf covariance
  • fix ekf
  • grammar fixes
  • grammar fixes
  • add battery plugin
  • add wheel params in launches
  • add imu filter and ekf
  • initial sim configuration draft
  • Contributors: Dawid, Dawid Kmak, Jakub Delicat, Krzysztof Wojciechowski, Maciej Stępień, Paweł Irzyk, Paweł Kowalski, rafal-gorecki

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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