husarion_ugv_manager

A package containing nodes responsible for high-level control of Husarion UGV.

Launch Files

This package contains:

• manager.launch.py: Responsible for launching behavior trees responsible for safety and LED animations scheduling.

Configuration Files

• lights.xml: BehaviorTree for managing lights.
• LightsBT.btproj: BehaviorTree project for managing Panther lights.
• SafetyBT.btproj: BehaviorTree project for managing Panther safety protocols.
• safety.xml: BehaviorTree for monitoring and managing dangerous situations.
• shutdown.xml: BehaviorTree for initiating shutdown procedures.
• lights_manager_parameters.yaml: Defines parameters for the lights_manager node.
• lights_manager.yaml: Contains parameters for the lights_manager node.
• safety_manager_parameters.yaml: Defines parameters for the safety_manager node.
• safety_manager.yaml: Contains parameters for the safety_manager node.
• shutdown_hosts.yaml: List with all hosts to request shutdown.

ROS Nodes

lights_manager_node

Node responsible for managing Bumper Lights animation scheduling.

Subscribers

• battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.
• hardware/e_stop [std_msgs/Bool]: State of emergency stop.

Service Clients (for Default Trees)

• ~/lights/set_animation [husarion_ugv_msgs/SetLEDAnimation]: Allows setting animation on Bumper Lights based on animation ID.

Parameters

• battery.anim_period.critical [float, default: 15.0]: Time in [s] to wait before repeating animation, indicating a critical Battery state.
• battery.anim_period.low [float, default: 30.0]: Time in [s] to wait before repeating the animation, indicating a low Battery state.
• battery.charging_anim_step [float, default: 0.1]: This parameter defines the minimum change in battery percentage required to trigger an update in the battery charging animation.
• battery.percent.threshold.critical [float, default: 0.1]: If the Battery percentage drops below this value, an animation indicating a critical Battery state will start being displayed.
• battery.percent.threshold.low [float, default: 0.4]: If the Battery percentage drops below this value, the animation indicating a low Battery state will start being displayed.
• battery.percent.window_len [int, default: 6]: Moving average window length used to smooth out Battery percentage readings.
• bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.
• plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.
• ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.
• ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.
• ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.
• timer_frequency [float, default: 10.0]: Frequency [Hz] at which lights tree will be ticked.

safety_manager_node

Node responsible for managing safety features, and software shutdown of components.

Subscribers

• battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.
• hardware/e_stop [std_msgs/Bool]: State of emergency stop.
• hardware/io_state [husarion_ugv_msgs/IOState]: State of IO pins.
• hardware/robot_driver_state [husarion_ugv_msgs/RobotDriverState]: State of motor controllers.
• system_status [husarion_ugv_msgs/SystemStatus]: Built-in computer system status, includes the most important computation-related parameters.

Service Clients (for Default Trees)

• ~/hardware/aux_power_enable [std_srvs/SetBool]: Enables Aux Power output.
• ~/hardware/e_stop_trigger [std_srvs/Trigger]: Triggers E-stop.
• ~/hardware/fan_enable [std_srvs/SetBool]: Enables fan.

Parameters

• battery.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Battery.
• bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.
• cpu.temp.fan_off [float, default: 60.0]: Temperature in [°C] of the Built-in Computer’s CPU, below which the fan is turned off.
• cpu.temp.fan_on [float, default: 70.0]: Temperature in [°C] of the Built-in Computer’s CPU, above which the fan is turned on.
• cpu.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Built-in Computer’s CPU.
• driver.temp.fan_off [float, default: 35.0]: Temperature in [°C] of any drivers below which the fan is turned off.
• driver.temp.fan_on [float, default: 45.0]: Temperature in [°C] of any drivers above which the fan is turned on.
• driver.temp.window_len [int, default: 6]: Moving average window length used to smooth out the temperature readings of each driver.
• fan_turn_off_timeout [float, default: 60.0]: Minimal time in [s], after which the fan may be turned off.
• plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.
• ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.
• ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.
• ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.
• shutdown_hosts_path [string, default: None]: Path to a YAML file containing a list of hosts to request shutdown. To correctly format the YAML file, include a hosts field consisting of a list with the following fields:
  • ip [string, default: None]: IP of a host to shutdown using HTTP request.
  • port [string, default: 3003]: HTTP communication port.
  • secret [string, default: husarion]: Secret to sign HTTP request with.
  • timeout [string, default: 5.0]: Time in [s] to wait for the host to shutdown. The Built-in Computer will turn off after all computers are shutdown or reached timeout. Keep in mind that hardware will cut power off after a given time after pressing the power button. Refer to the hardware manual for more information.
• timer_frequency [float, default: 10.0]: Frequency [Hz] at which safety tree will be ticked.

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_manager \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

• Merge pull request #512 from husarion/ros2-fix-intergration-tests
• fix paths
• Fix missing overheating error animation (#501)
• Merge pull request #493 from husarion/ros2-shutdown-request
• 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
• update docs
• fix lights bt tests
• update lights bt
• update animations
• add time conversion test
• fix time
• clean up
• update tree
• clean up
• do an "implementation back flip"
• ping host to check if it is still available
• check server return code
• add shutdown_remote_host_node
• add CommandHandlerInterface
• read command output
• use fork to call commands
• Contributors: Dawid Kmak, Stefan, kmakd

2.2.0 (2025-03-13)

• update docs and battery timeout (#500)
• Merge pull request #499 from husarion/docs_fix
• release fixes (#497)
• ROS 2 fix manager ports (#495)
• Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
• Merge pull request #496 from husarion/repo-rename
• Merge pull request #484 from husarion/lights-new
• ROS 2 lights new review (#494)
• update links
• Merge branch 'ros2-devel' into lights-new
• reverted header fix
• added autoremap to btcpp subtrees
• manager review changes
• Merge pull request #490 from husarion/ros2-fix-bild-warnings
• decreased charging animation step
• better animations visibility
• updated LEDAnimation message
• animation renaming
• addedd position mirroring
• hotfix
• new animations
• added drive state to lights blackboard
• fix build warnings
• Ros2 unit test workflow (#471)
• Add log level argument to launch files (#473)
• Ros2 expot test directory (#483)
• Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
• Merge pull request #480 from husarion/ros2-cmake-export
• Suggestions
• Add ament_index_cpp dependency
• Add exports to cmake
• Parameters reorganisation (#472)
• ROS2 docking utils (#462)
• 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
• Ros2 fix manager (#465)
• Added exporting include manager (#464)
• Merge branch 'ros2-devel' into add-panther-diagnostics-config
• husarion_ugv_msg -> husarion_ugv_msgs
• Merge pull request #461 from husarion/ros2-bt-manager-to-hpp
• added inline
• Moved test to INTEGRATION tests | addded testign in the readme
• Removed bt manager .cpp
• 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
• fix tests
• Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-lynx-devel
• Merge pull request #444 from husarion/ros2-config-dir
• Merge pull request #438 from husarion/ros2-param-gen
• Change param type
• Change lights BT param types
• use configs from /config dir
• Parameter type casts and typo fixes
• Generate node parameters from yaml files
• Merge branch 'ros2-devel' into ros2-lynx-devel
• Ros2 husarion ugv v2 (#422)
• Contributors: BOOTCFG, Dawid Kmak, Jakub Delicat, Milosz Lagan, Miłosz Łagan, Rafal Gorecki, Stefan, kmakd, rafal-gorecki

2.1.2 (2024-12-02)

• Fix safety_manager path (#411)
• Merge branch 'ros2-devel' into ros2-lights-tests
• Contributors: Jakub Delicat, 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 #389 from husarion/hotfix-ssh-lib
• Add missing module configuration
• Merge remote-tracking branch 'origin/ros2-devel' into ros2-testing-poc
• Merge pull request #386 from husarion/ros2-unify-filenames
• Move BT plugins to src directory
• Minor modifications
• Fix links in documentations (#387)
• Merge remote-tracking branch 'origin/ros2-devel' into ros2-unify-filenames
• Rename shutdown hosts config
• Reorganize files in panther_lights
• Ros2 estop sim gui (#384)
• Restructure files tree in manager tests
• Correct include guards in manager package
• Rename config and launch file in manager package
• Merge branch 'ros2-devel' into ros2-ns-refactor
• Ros2 increase bt service timeout (#382)
• Update after changes in panther_diagnostics
• unify CMakeLists.txt files (#381)
• unify CMakeLists.txt files
• New format of documentation (#369)
• Contributors: Dawid, Dawid Kmak, KmakD, Paweł Irzyk, pawelirh, rafal-gorecki

2.1.0 (2024-08-02)

• Merge pull request #362 from husarion/ros2-api-reorganization
• Enhance ROS API names in the stack
• Contributors: Dawid Kmak, pawelirh

2.0.4 (2024-06-28)

• Merge pull request #337 from husarion/ros2-gz-lights
• Merge branch 'ros2-devel' into ros2-gz-lights
• Save work
• Merge remote-tracking branch 'origin/ros2-devel' into ros2-gpio-controller-revision
• Merge branch 'ros2' into ros2-build-in-animation
• ROS 2 remove obsolate tests in BT (#333)
• 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
• Remove unused header include
• Move utils include to cpp files
• Update panther_manager/src/lights_manager_node.cpp
• Revise logging in BT panther_manager
• Contributors: Dawid Kmak, Paweł Irzyk, pawelirh

2.0.2 (2024-06-05)

• Merge pull request #319 from husarion/ros2-fix-battery-and-manager-tests
• Formatting
• Fixed tests
• Merge remote-tracking branch 'origin/ros2-fix-bt' into ros2
• Launch refactor (#307)
• Fix behaviour trees
• Merge pull request #301 from husarion/ros2-manager-refactor
• coderabbit suggestions
• disable shutdown nodes in tests
• fix TurnOnFanAtStartup test
• Merge pull request #314 from husarion/ros2-logging
• speed up tests
• Changed all RCLCPP logs to streams
• review fixes
• format bt files
• almost there
• BehaviorTreeManager briefs and tests
• move factory outside bt manager
• add BehaviorTreeManager class
• update parameters names
• review fixes
• Merge branch 'ros2' of https://github.com/husarion/panther_ros into ros2-manager-refactor
• add behavior trees tests
• Multi robot spawn working (#256)
• add lights and safety tests
• update readme
• update briefs
• update bt_utils tests
• add utils briefs
• move bt registration to bt_utils
• update behaviortree_ros2 repository
• update bb in subscribers callbacks
• move lights and safety to separate nodes
• Contributors: Dawid, Dawid Kmak, Jakub Delicat, Paweł Irzyk, pawelirh, 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
• 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)

• Merge pull request #258 from husarion/ros2-control-fix-err-flag-reset ROS 2- Fix Error Clearing Mechanism for Roboteq Controllers
• fixes for pth 1.06
• 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
• few more
• Group and order improvement
• Rest of fils
• Headers + Copyright
• Merge pull request #246 from husarion/ros2-panther-manager ROS 2 panther_manager
• Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-panther-manager
• Merge pull request #232 from husarion/ros2-manager-plugins ROS 2 manager plugins
• fix tests
• add missing params and fix default launch
• Fixed typo | cleaned up the test_shutdown_hosts_node
• fix
• Added shutdonw hosts node
• Merge branch 'ros2-manager-plugins' of https://github.com/husarion/panther_ros into ros2-panther-manager
• remove MultiThreadedExecutor
• Add suggestions
• Add README
• remove bad file
• Added all suggestions
• fixed user to username | added test_shutdown_host
• fixed tick after timeout node
• add MultiThreadedExecutor
• review fixes
• fix merge and move files
• Merge branch 'ros2-manager-plugins' of https://github.com/husarion/panther_ros into ros2-panther-manager
• fixed tests
• Changed tests' names to PascalCase | added testing::TempDir() | Starting services when there are wrong parameters
• Added RegisterNode template function
• Made fixed commit for behaviortreee | templated create service function | removed unused warnings
• applied panther_utils
• Changed utils names and moved start stop to constructor and destructor
• Added package suggestions without tests
• fix bb constant name
• add missing dependencies
• add manager_bt_node tests
• add log if tree fails
• clean up code
• port manager to ROS 2
• added tests for tick_after_timeout
• Added TickAfterTimeout
• typo
• tested on the robot
• Fixed tesT
• Revert "added test for single host plugin" This reverts commit a4f9051c8dfcf03cefa4f827904126fb50c0b316.
• added test for single host plugin
• added test single plugin
• Added tests for signal shutdown plugin
• Fixed building trigger
• Removed different types of building behavio tree
• Moved pluigns to actions | added shutdown plugins
• Added explicite casts
• Added tests for set animation plugin
• Added trigger tests
• Added full call_set_bool plugin test
• Added trigger service call plugin
• added set bool service
• added set bool service
• added behaviortree_ros2 to the repository because it is not in rosped
• Contributors: Dawid, Dawid Kmak, Jakub Delicat, Paweł Irzyk, Paweł Kowalski, rafal-gorecki