husarion_ugv_description

The package contains URDF files responsible for creating a representation of the robot by specifying the relationships and types of connections (joints) between individual links. It also contains information about the robot’s mesh.

Launch Files

• load_urdf.launch.py - loads the robot’s URDF and creates simple bindings to display moving joints.
• overwrite_robot_description.launch.py - launch is able to change robot_description topic in runtime.
• rviz.launch.py - launch RViz2 with basic configuration.

Configuration Files

• components.yaml: Allows you to quickly add visualization of sensors, TF connections and simulate their behavior in the simulator.
• WH01.yaml: Description of physical and visual parameters for the wheel WH01.
• WH02.yaml: Description of physical and visual parameters for the wheel WH02.
• WH04.yaml: Description of physical and visual parameters for the wheel WH04.
• WH05.yaml: Description of physical and visual parameters for the wheel WH05.

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_description \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

• bump components version (#519)
• fix Lynx imu default position (#515)
• Merge pull request #509 from husarion/ros2-imu-ros2-controll-fix
• And add dev to components example
• 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)

• Merge pull request #498 from husarion/2.2.0-sim-fix
• release fixes (#497)
• Add fixes
• 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
• Ros2 change wheels mount point (#492)
• Ros2 readme update (#477)
• Merge branch 'ros2-devel' into e_stop_torque_enable
• Add reling link (#474)
• Changed add joints to use_joint_state_publisher | added joint state p… (#470)
• Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
• Contributors: Dawid Kmak, Jakub Delicat, 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)

• LEDStrip plugin to Gazebo (#391)
• Merge pull request #374 from husarion/ros2-ns-refactor
• 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 pull request #383 from husarion/ros-sim-estop
• Merge remote-tracking branch 'origin/ros2-devel' into ros2-testing-poc
• Rename PantherSystem -> GzPantherSystem
• Typos in Readme + estop publish on service call
• Ros2 estop sim gui (#384)
• Merge branch 'ros2-devel' into ros2-ns-refactor
• unify CMakeLists.txt files (#381)
• Add remapping
• unify CMakeLists.txt files
• Add EStop to Gazebo
• New format of documentation (#369)
• Namespace refactor
• Contributors: Dawid, Dawid Kmak, KmakD, Paweł Irzyk, pawelirh, rafal-gorecki

2.1.0 (2024-08-02)

• Fixed gazebo lights tfs (#377)
• Ros2 system status tf namespace (#372)
• Fix imu tf frame (#373)
• Ros2 fix wheels friction (#370)
• Merge pull request #362 from husarion/ros2-api-reorganization
• Enhance ROS API names in the stack
• Contributors: Dawid Kmak, Jakub Delicat, pawelirh, rafal-gorecki

2.0.4 (2024-06-28)

• Delete unnecessary dependency
• Add EKF GPS configuration (#351)
• Merge pull request #337 from husarion/ros2-gz-lights
• Move antenna to ros-components-description (#340)
• Add manager
• Merge branch 'ros2-devel' into ros2-gz-lights
• Apply some Dawid suggestions
• Merge remote-tracking branch 'origin/ros2-devel' into ros2-gpio-controller-revision
• Merge branch 'ros2' into ros2-build-in-animation
• Simplify and add cmd_vel
• Use default components
• Merge branch 'ros2' into ros2-gz-lights
• Steering lights from channel topics
• Add light macro
• Add lights to urdf
• Contributors: Dawid Kmak, pawelirh, rafal-gorecki

2.0.3 (2024-06-06)

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

2.0.2 (2024-06-05)

• Merge pull request #318 from husarion/fix-default-path
• Fix default components config path
• Launch refactor (#307)
• Merge branch 'ros2' of https://github.com/husarion/panther_ros into ros2-manager-refactor
• Ros2 add components (#277)
• Merge pull request #304 from husarion/ros2-control-fix
• 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
• Multi robot spawn working (#256)
• Merge pull request #300 from husarion/rename_package
• Merge branch 'ros2' into rename_package
• Merge pull request #299 from husarion/ros2-diagnose-charging-current
• use new launch
• Fix typo in comment
• Contributors: Dawid, Dawid Kmak, Jakub Delicat, Paweł Irzyk, pawelirh, rafal-gorecki

2.0.1 (2024-05-01)

• Merge pull request #273 from husarion/ros2-sim-battery
• Update panther_description/urdf/gazebo.urdf.xacro
• Fix battery discharge
• Merge pull request #261 from husarion/ros2-readme
• 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 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
• Add comments
• Merge remote-tracking branch 'origin/ros2-devel' into ros2-manager-plugins
• update params (#243)
• fix imu topic
• fix controller topic
• 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-add-mecanum-controller
• Gazebo - fix collisions (#225)
  • Fix collisions
  • remove parent dir
  • Clean up suggestions
  • Clean up suggestions
  • Undo changes
  • Undo commit
• Fix collisions
• Merge pull request #219 from husarion/ros2-control-pdo-commands ros2_control PDO commands
• CR suggestions
• Fix comment in the urdf
• 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
• CR suggestions - add ms to timeouts
• 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
• Update communication parameters
• Change to 100Hz and increase allowed number of errors
• Update documentation
• Change frequency to 125hz
• Add configurable driver states update frequency
• 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
• Update whole system to use new pdo communication and add proper timeouts
• Move can interface name to parameter
• Change controller frequency to 50hz
• Fix roboteq naming
• 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
• Fix urdf
• Add pre-commit, clang-format and license to files (#207) Add pre-commit, clang-format and license to files
• [WIP] Refactor panther system
• Refactor can controller
• Increase max pdo errors count
• Increase initialization/activation attempts
• Move timeouts and attempts to parameters
• Merge pull request #203 from husarion/ros2-ign-add-gps Update external_antenna.urdf.xacro
• Update external_antenna.urdf.xacro
• Merge pull request #201 from husarion/ros2-gazebo Ros2 gazebo
• rename ekf node
• small fixes
• add new launch params
• review fixes
• Update panther_description/urdf/panther_macro.urdf.xacro Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>>
• Update panther_description/urdf/panther_macro.urdf.xacro Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>>
• Update panther_description/urdf/components/external_antenna.urdf.xacro Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>>
• Update panther_description/urdf/body.urdf.xacro Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>>
• Update panther_description/package.xml Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>>
• Update panther_description/urdf/panther_macro.urdf.xacro Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>>
• Update panther_description/urdf/panther_macro.urdf.xacro Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>>
• Update panther_description/CMakeLists.txt Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>>
• fix ekf
• add mesh path parsing
• grammar fixes
• add battery plugin
• add wheel params in launches
• add imu filter and ekf
• initial sim configuration draft
• Read single sdo value every read cycle
• Add reading other roboteq driver feedback
• Remove torque control code
• Add ros2 control
• Contributors: Dawid, Dawid Kmak, Jakub Delicat, Krzysztof Wojciechowski, Maciej Stępień, Paweł Kowalski, rafal-gorecki