husarion_ugv_gazebo

The package contains a launch file and source files used to run the robot simulation in Gazebo. The simulator tries to reproduce the behavior of a real robot as much as possible, including the provision of an analogous ROS_API.

Launch Files

• spawn_robot.launch.py: Responsible for spawning the robot in the simulator.
• simulate_robot.launch.py: Responsible for giving birth to the robot and simulating its physical behavior, such as driving, displaying data, etc.
• simulate_multiple_robots.launch.py: Similar to the above with logic allowing you to quickly add a swarm of robots.
• simulation.launch.py: A target file that runs the gazebo simulator that adds and simulates the robot’s behavior in accordance with the given arguments.

Configuration Files

• battery_plugin.yaml: Simulated LinearBatteryPlugin configuration.
• gz_bridge.yaml: Specify data to exchange between ROS and Gazebo simulation.
• teleop_with_estop.config: Gazebo layout configuration file, which adds E-Stop and Teleop widgets.

ROS Nodes

EStop

EStop is a Gazebo GUI plugin responsible for easy and convenient changing of the robot’s E-stop state.

Service Clients

• hardware/e_stop_reset [std_srvs/Trigger]: Resets E-stop.
• hardware/e_stop_trigger [std_srvs/Trigger]: Triggers E-stop.

EStopSystem

Plugin based on ign_system is responsible for handling sensor interfaces (only IMU for now) and sending requests for joints compatible with ros2_control. Plugin also adds E-Stop support.

Publishers

• gz_ros2_control/e_stop [std_msgs/Bool]: Current E-stop state.

Service Servers

• gz_ros2_control/e_stop_reset [std_srvs/Trigger]: Resets E-stop.
• gz_ros2_control/e_stop_trigger [std_srvs/Trigger]: Triggers E-stop.

[!NOTE] Above topics and services should be remapped to match real robot

Parameters

Required parameters are defined when including the interface in the URDF (you can check out panther_macro.urdf.xacro).

• e_stop_initial_state [bool, default: true]: Initial state of E-stop.

LEDStrip

LEDStrip is a Gazebo System plugin responsible for visualizing light and displaying markers based on the data received from a gz::msgs::Image message.

[!NOTE] The topics and services mentioned below are related to Gazebo interfaces, not ROS interfaces.

Subscribers

• {topic} [gz::msgs::Image]: Subscribes to an image message for visualization. The topic is specified via a parameter.

Service Servers

• /marker [gz::msgs::Marker]: Service to request markers for visualizing the received image.

Parameters

The following parameters are required when including this interface in the URDF (you can refer to the gazebo.urdf.xacro file for details).

• light_name [string, default: ”“]: The name of the light entity. The visualization will be attached to this entity.
• topic [string, default: ”“]: The name of the topic from which the Image message is received.
• namespace [string, default: ”“]: Specifies the namespace to differentiate topics and models in scenarios with multiple robots.
• frequency [double, default: 10.0]: Defines the frequency at which the animation is updated.
• width [double, default: 1.0]: Specifies the width (y-axis) of the visualization array.
• height [double, default: 1.0]: Specifies the height (z-axis) of the visualization array.

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_gazebo \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

• 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: kmakd

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
• E-Stop GUI reacts to changing e_stop state (#481)
• Add log level argument to launch files (#473)
• Updated deprecated includes (#487)
• Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
• Merge pull request #480 from husarion/ros2-cmake-export
• Add exports to cmake
• Changed add joints to use_joint_state_publisher | added joint state p… (#470)
• 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
• Add husarion_ugv_msgs
• 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
• Merge pull request #433 from husarion/ros2-add-rviz-launch
• Move RViz arg
• Add RViz launch
• 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)

• LEDStrip plugin to Gazebo (#391)
• 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
• Dawid suggestions
• Update panther_gazebo/include/panther_gazebo/gz_panther_system.hpp
• Merge remote-tracking branch 'origin/ros2-devel' into ros2-testing-poc
• Merge pull request #386 from husarion/ros2-unify-filenames
• delete typo
• Dawid suggestions
• Update panther_gazebo/src/gz_panther_system.cpp
• Update panther_gazebo/src/gz_panther_system.cpp
• Update panther_gazebo/include/panther_gazebo/gz_panther_system.hpp
• Fix links in documentations (#387)
• Rename PantherSystem -> GzPantherSystem
• Dawid suggestions part 1
• Change to Estop -> EStop
• Inherit from IgnitionSystem
• Move estop to plugins folder
• Typos in Readme + estop publish on service call
• Add david suggestion and change gui layout
• Update panther_gazebo/panther_hardware_plugins.xml
• Ros2 estop sim gui (#384)
• Rename config and launch file in manager package
• Merge branch 'ros2-devel' into ros2-ns-refactor
• unify CMakeLists.txt files (#381)
• Add dependencies
• unify CMakeLists.txt files
• Add EStop to Gazebo
• New format of documentation (#369)
• Contributors: Dawid, Dawid Kmak, KmakD, Paweł Irzyk, pawelirh, rafal-gorecki

2.1.0 (2024-08-02)

• Fixed gazebo lights tfs (#377)
• Merge pull request #362 from husarion/ros2-api-reorganization
• Fix battery topic in simulation
• Enhance ROS API names in the stack
• Contributors: Dawid Kmak, Jakub Delicat, pawelirh

2.0.4 (2024-06-28)

• Add EKF GPS configuration (#351)
• Merge pull request #337 from husarion/ros2-gz-lights
• Fix indexing
• Suggestions
• Add image width check
• Some more suggestions
• Suggestions and pre-commit update
• Move antenna to ros-components-description (#340)
• Improve readme
• Add img encoding check
• Clean up
• Simplify lights to one class
• Fix
• Code rabbit suggestions
• Add manager
• Merge branch 'ros2-devel' into ros2-gz-lights
• Save work
• Fixes
• Add next suggestions
• Apply some Dawid suggestions
• Merge remote-tracking branch 'origin/ros2-devel' into ros2-gpio-controller-revision
• Merge branch 'ros2' into ros2-build-in-animation
• update package xml
• Add markers
• First marker script
• Simplify and add cmd_vel
• Add lights to panther_gazebo
• Add lights launch to panther_gazebo
• Merge branch 'ros2' into ros2-gz-lights
• decrease intensity
• Steering lights from channel topics
• Working light changing from ros
• Add light macro
• Contributors: Dawid Kmak, pawelirh, rafal-gorecki

2.0.3 (2024-06-06)

• Merge pull request #320 from husarion/ros2-clear-logs
• Emulate tty in simulation
• 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
• 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
• Multi robot spawn working (#256)
• Merge pull request #300 from husarion/rename_package
• use new launch
• Package rename
• Contributors: Dawid, Jakub Delicat, Paweł Irzyk, rafal-gorecki

2.0.1 (2024-05-01)

• Merge pull request #273 from husarion/ros2-sim-battery
• Fix battery discharge
• 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
• 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 branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-panther-manager
• Merge branch 'ros2-devel' into ros2-ekf-optimalization
• Merge branch 'ros2-devel' into ros2-lights-tests
• Merge pull request #252 from husarion/ros2-depend-patch Dependency simulation fix
• Dependency simulation fix
• Merge pull request #251 from husarion/ros2-build-depend Hardware / Sim Dependencies
• Use FindPackageShare
• reverted panther_gazebo
• Added TickAfterTimeout
• Revert "added test for single host plugin" This reverts commit a4f9051c8dfcf03cefa4f827904126fb50c0b316.
• added test for single host plugin
• Merge branch 'ros2-devel' into ros2-control Conflicts: panther_gpiod/CMakeLists.txt panther_gpiod/package.xml panther_gpiod/src/gpio_driver.cpp
• Gazebo - fix collisions (#225)
  • Fix collisions
  • remove parent dir
  • Clean up suggestions
  • Clean up suggestions
  • Undo changes
  • Undo commit
• added behaviortree_ros2 to the repository because it is not in rosped
• Fix collisions
• 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 pre-commit, clang-format and license to files (#207) Add pre-commit, clang-format and license to files
• Add panther_gazebo launch params docs (#204)
  • add params docs
  • small fixes

  * Update panther_gazebo/README.md Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>> * Update panther_gazebo/README.md Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>> * Update panther_gazebo/README.md Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>> * Update panther_gazebo/README.md Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>> * Update panther_gazebo/README.md Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>> * Update panther_gazebo/README.md Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>>

  • Update README.md
  • Update README.md

  * Update panther_gazebo/README.md Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>> ---------Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>>

• 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_gazebo/launch/simulation.launch.py Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>>
• Update panther_gazebo/package.xml Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>>
• Update panther_gazebo/config/battery_plugin.yaml Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>>
• Update panther_gazebo/launch/simulation.launch.py Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>>
• Update panther_gazebo/launch/simulation.launch.py Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>>
• Update panther_gazebo/launch/simulation.launch.py Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>>
• fix ekf
• fix deps
• grammar fixes
• add battery plugin
• add wheel params in launches
• initial sim configuration draft
• Contributors: Dawid, Dawid Kmak, Jakub Delicat, Krzysztof Wojciechowski, Maciej Stępień, Paweł Irzyk, Paweł Kowalski, rafal-gorecki