husarion_ugv_controller

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

Launch Files

• controller.launch.py: Establishes communication with the hardware by loading the robot’s URDF with plugins and configures the controllers to exchange information between the engine driver and the IMU.

Configuration Files

• WH01_controller.yaml: Configures imu_broadcaster, joint_state_broadcaster and drive_controller controllers for default WH01 wheels.
• WH02_controller.yaml: Configures imu_broadcaster, joint_state_broadcaster and drive_controller controllers for mecanum WH02 wheels.
• WH04_controller.yaml: Configures imu_broadcaster, joint_state_broadcaster and drive_controller controllers for small pneumatic WH04 wheels.
• WH05_controller.yaml: Configures imu_broadcaster, joint_state_broadcaster and drive_controller controllers for Lynx pneumatic wheels.

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_controller \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

• Merge pull request #509 from husarion/ros2-imu-ros2-controll-fix
• Workaround and remove ros2_controllers custom fork
• Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-shutdown-request
• Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-enchance-performance
• Contributors: Dawid Kmak, kmakd, rafal-gorecki

2.2.0 (2025-03-13)

• release fixes (#497)
• 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 log level argument to launch files (#473)
• adjust wheel_separation_multiplier (#485)
• Merge pull request #479 from husarion/e_stop_torque_enable
• Rename to motor_torque_enable
• Rename service e_stop_torque_enable
• Add suggestions
• Change logic from [motor_power_enable]{.title-ref} to [e_stop_torque_enable]{.title-ref}
• Fix and update config script (rename panther_description -> husarion_ugv_description)
• Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
• Readme files minor fixes (#463)
• 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
• decrease cmd_vel_timeout
• 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
• Merge pull request #444 from husarion/ros2-config-dir
• component file
• use configs from /config dir
• 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 pull request #403 from husarion/ros2-control-ns-fix
• Remove deprecated --namespace arg
• Merge remote-tracking branch 'origin/ros2-devel' into ros2-testing-poc
• Ros2 estop sim gui (#384)
• Merge branch 'ros2-devel' into ros2-ns-refactor
• unify CMakeLists.txt files (#381)
• unify CMakeLists.txt files
• New format of documentation (#369)
• Contributors: Dawid, Dawid Kmak, pawelirh, rafal-gorecki

2.1.0 (2024-08-02)

• Fix imu tf frame (#373)
• Process noise update (#361)
• Merge pull request #362 from husarion/ros2-api-reorganization
• Enhance ROS API names in the stack
• Contributors: Dawid Kmak, pawelirh, rafal-gorecki

2.0.4 (2024-06-28)

• Add EKF GPS configuration (#351)
• Merge pull request #343 from husarion/ros2-gpio-controller-revision
• 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
• Implement changes in driver node
• Merge branch 'ros2' into ros2-gz-lights
• Contributors: Dawid Kmak, pawelirh, rafal-gorecki

2.0.3 (2024-06-06)

• Merge pull request #320 from husarion/ros2-clear-logs
• Organize logs: panther_system and panther_imu
• Contributors: Dawid Kmak, pawelirh

2.0.2 (2024-06-05)

• Launch refactor (#307)
• Merge branch 'ros2' of https://github.com/husarion/panther_ros into ros2-manager-refactor
• added diagnostics remapping and namespace to system_status (#306)
• added remappings to diagnostics
• Ros2 add components (#277)
• Merge pull request #304 from husarion/ros2-control-fix
• Merge branch 'ros2' into ros2-control-fix
• fix ekf
• Merge pull request #303 from husarion/ros2-controler-patch
• Patch
• Fix controller with namespace
• Merge branch 'ros2' of https://github.com/husarion/panther_ros into ros2-manager-refactor
• Multi robot spawn working (#256)
• Contributors: Dawid, Jakub Delicat, Paweł Irzyk, rafal-gorecki

2.0.1 (2024-05-01)

• 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)
• Add controller readme
• 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
• 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
• Update panther_controller/config/WH04_controller.yaml
• Update panther_controller/config/WH04_controller.yaml
• Add comments
• update covariances
• Merge pull request #251 from husarion/ros2-build-depend Hardware / Sim Dependencies
• Add Readme
• Add Readme
• HW/SIM Dependencies
• Changed controllers spawn timeout to 10 (#248)
• Merge remote-tracking branch 'origin/ros2-devel' into ros2-manager-plugins
• Update covariance
• Merge pull request #235 from husarion/ros2-dependencies Fix dependencies
• Update panther_controller/package.xml Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>>
• Fix dependency
• Merge pull request #227 from husarion/ros2-add-mecanum-controller Add mecanum controller
• update
• 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
• update
• update
• update
• clean
• Add mecanum controller
• Merge pull request #219 from husarion/ros2-control-pdo-commands ros2_control PDO commands
• Merge branch 'ros2-control' into ros2-control-pdo-commands Conflicts: panther_controller/config/WH01_controller.yaml panther_controller/config/WH02_controller.yaml panther_controller/config/WH04_controller.yaml panther_description/urdf/panther_macro.urdf.xacro panther_hardware_interfaces/CMakeLists.txt panther_hardware_interfaces/CODE_STRUCTURE.md panther_hardware_interfaces/README.md panther_hardware_interfaces/include/panther_hardware_interfaces/canopen_controller.hpp panther_hardware_interfaces/include/panther_hardware_interfaces/motors_controller.hpp panther_hardware_interfaces/include/panther_hardware_interfaces/panther_system.hpp panther_hardware_interfaces/include/panther_hardware_interfaces/panther_system_ros_interface.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/canopen_controller.cpp panther_hardware_interfaces/src/motors_controller.cpp panther_hardware_interfaces/src/panther_system.cpp panther_hardware_interfaces/src/panther_system_ros_interface.cpp panther_hardware_interfaces/src/roboteq_driver.cpp
• 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
• CR suggestions
• CR suggestions - remove effort controller
• Remove todos
• Update controllers config
• Change to 100Hz and increase allowed number of errors
• Change frequency to 125hz
• 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
• Merge branch 'ros2-devel' into ros2-control Conflicts: panther_bringup/launch/bringup.launch.py
• Fix launches
• fix controller launch
• Add odom topic remap
• Update todo comments
• Change controller frequency to 50hz
• Fix update rates in controllers
• Merge pull request #212 from husarion/ros2-imu-node ROS 2 imu node
• Update controller configs
• add use_sim condition
• read imu position from env
• Precommit changes
• 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 comment to controller
• 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
• add new launch params
• review fixes
• Update panther_controller/package.xml Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>>
• Update panther_controller/launch/controller.launch.py Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>>
• Update panther_controller/launch/controller.launch.py Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>>
• Update panther_controller/launch/controller.launch.py Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>>
• Update panther_controller/config/WH04_controller.yaml Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>>
• Update panther_controller/config/WH02_controller.yaml Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>>
• Update panther_controller/config/WH02_controller.yaml Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>>
• Update panther_controller/config/WH02_controller.yaml Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>>
• Update panther_controller/config/WH02_controller.yaml Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>>
• fix controller and ekf covariance
• fix deps
• grammar fixes
• add battery plugin
• add wheel params in launches
• add imu filter and ekf
• initial sim configuration draft
• Add ros2 control
• Contributors: Dawid, Dawid Kmak, Jakub Delicat, Krzysztof Wojciechowski, Maciej Stępień, Paweł Irzyk, Paweł Kowalski, rafal-gorecki