Husky Description

In order to facilitate editing structures, payloads, and edit other features of the Husky, we use the following environment variables. All of the definitions below are of the default values for each variable.

Namespace

When dealing with multiple Husky robots it is necessary to set a namespace for each

export ROBOT_NAMESPACE='/'

File Paths

The following variables are used to set the paths of extra configuration files.

# Extend URDF with custom file
export HUSKY_URDF_EXTRAS='empty.urdf'
export CPR_URDF_EXTRAS='empty.urdf'

Bumpers

The front and rear bumpers can be toggled on/off and extended using the following variables. The front bumper can be swapped for one with wibotic wireless charging.

export HUSKY_FRONT_BUMPER=1
export HUSKY_REAR_BUMPER=1
export HUSKY_FRONT_BUMPER_EXTEND=0
export HUSKY_REAR_BUMPER_EXTEND=0
export HUSKY_WIBOTIC_BUMPER=0

Top Plate

By default, the standard plate is added atop the user rail. This top plate can be swapped for a larger top plate.

Standard Plate:

export HUSKY_TOP_PLATE_ENABLED=1
export HUSKY_LARGE_TOP_PLATE=0
export HUSKY_USER_RAIL_ENABLED=1

Large Top Plate:

export HUSKY_TOP_PLATE_ENABLED=1
export HUSKY_LARGE_TOP_PLATE=1
export HUSKY_USER_RAIL_ENABLED=0

PACS

The PACS system overwrites the previous top plate and user rail with a custom top plate with preset locations. There are 56 standard locations organized in a grid, from A01 to G08 (where A through G define the columns, while 1 through 8 define the rows. The middle value is the height level. Additional levels can be added using risers).

# Enable to use swap to PACS top plate
export HUSKY_PACS_ENABLED=1

Risers

There are two types of risers that can be added to the robot.
Full risers span the entire top plate (i.e. it is like adding a second plate atop the default one). Only one can be added.
Partial risers span a row of the plate. Multiple can be added.
To add multiple, enter a list of LEVELS and ROWS. These lists must be of the same length. The LEVELS list defines the height of each riser; while, the ROWS list defines the row of each riser. \

export HUSKY_FULL_RISER_LEVEL=1 # 10cm increment
export HUSKY_PARTIAL_RISER_LEVELS="1 5" # List of levels, 10cm and 50cm
export HUSKY_PARTIAL_RISER_ROWS="1 8" # List of rows, first row (at 10 cm), second row (at 50 cm)

Brackets

Once you have enabled PACS (and any risers), you have a three dimensional grid atop of which you can add brackets. There are three types of brackets:

• horizontal: standard bracket, a 10cm x 10cm plate.
• horizontal_large: larger 13cm x 13cm plate.
• vertical: base is same size as standard plate, but has a vertical wall where mounting link is added.

These brackets can be added to any hardpoint (i.e. A01 through G08). In the following environment variables ‘A01’ is used as an example but it can be swapped for any hardpoint (including those on risers).

export HUSKY_A01_BRACKET_ENABLED=1
export HUSKY_A01_BRACKET_TYPE='horizontal' # or 'horizontal_large' or 'vertical'
export HUSKY_A01_BRACKET_XYZ='0 0 0'
export HUSKY_A01_BRACKET_RPY='0 0 0'
export HUSKY_A01_BRACKET_EXTENSION='0' # distance from surface of plate/riser to surface of bracket in milimeters

Sensor Arch

The standard sensor arch can be added using the following environment variables.

export HUSKY_SENSOR_ARCH=1
export HUSKY_SENSOR_ARCH_HEIGHT='510' # or 300
export HUSKY_SENSOR_ARCH_OFFSET='0 0 0'
export HUSKY_SENSOR_ARCH_RPY='0 0 0'

Husky Payloads

The following environment variable provide a system to add standard sensors to the Husky URDF.
Every sensor has three types of environment variables:

1. Enable: these will add the sensor to the URDF and start the launch file.
2. Launch: these correspond to parameters exclusively in the launch file.
3. Description: these correspond to parameters excluvesively in the URDF.

SICK LMS1XX Laser

Primary

export HUSKY_LMS1XX_ENABLED=1

Launch

export HUSKY_LMS1XX_TOPIC='front/scan'
export HUSKY_LMS1XX_IP='192.168.131.20'

Description

export HUSKY_LMS1XX_PREFIX='front'
export HUSKY_LMS1XX_PARENT='top_plate_link'
export HUSKY_LMS1XX_XYZ='0.2206 0.0 0.00635' # standard offset when parent is 'top_plate_link'
export HUSKY_LMS1XX_RPY='0.0 0.0 0.0' # standard orientation when parent is 'top_plate_link'

Secondary

export HUSKY_LMS1XX_SECONDARY_ENABLED=1

Launch

export HUSKY_LMS1XX_SECONDARY_TOPIC='rear/scan'
export HUSKy_LMS1XX_SECONDARY_IP='192.168.131.21'

Description

export HUSKY_LMS1XX_SECONDARY_PREFIX='rear'
export HUSKY_LMS1XX_SECONDARY_PARENT='top_plate_link'
export HUSKY_LMS1XX_SECONDARY_XYZ='-0.2206 0.0 0.00635' # standard offset when parent is 'top_plate_link'
export HUSKY_LMS1XX_SECONDARY_RPY='0.0 0.0 3.14159' # standard orientation when parent is 'top_plate_link'

Hokuyo UST10

Front

export HUSKY_UST10_ENABLED=1

Launch

export HUSKY_UST10_TOPIC='front/scan'
export HUSKY_UST10_IP='192.168.131.20'

Description

export HUSKY_UST10_PREFIX='front'
export HUSKY_UST10_PARENT='top_plate_link'
export HUSKY_UST10_XYZ='0.2206 0.0 0.00635' # standard offset when parent is 'top_plate_link'
export HUSKY_UST10_RPY='0 0 0'

Rear

export HUSKY_UST10_SECONDARY_ENABLED=1

Launch

export HUSKY_UST10_SECONDARY_TOPIC='rear/scan'
export HUSKY_UST10_SECONDARY_IP='192.168.131.21'

Description

export HUSKY_UST10_SECONDARY_PREFIX='rear'
export HUSKY_UST10_SECONDARY_PARENT='top_plate_link'
export HUSKY_UST10_SECONDARY_XYZ='-0.2206 0.0 0.00635' # standard offset when parent is 'top_plate_link'
export HUSKY_UST10_SECONDARY_RPY='0 0 3.14159' # standard orientation when parent is 'top_plate_link'

Velodyne VLP16

Primary

export HUSKY_LASER_3D_ENABLED=1

Launch

export HUSKY_LASER_3D_TOPIC='points'
export HUSKY_LASER_3D_HOST='192.168.131.20'

Description

export HUSKY_LASER_3D_TOWER=1
export HUSKY_LASER_3D_PREFIX=''
export HUSKY_LASER_3D_PARENT='top_plate_link'
export HUSKY_LASER_3D_XYZ='0 0 0'
export HUSKY_LASER_3D_RPY='0 0 0'

Secondary

export HUSKY_LASER_3D_SECONDARY_ENABLED=1

Launch

export HUSKY_LASER_3D_SECONDARY_HOST='192.168.131.21'
export HUSKY_LASER_3D_SECONDARY_TOPIC='secondary_points'

Description

export HUSKY_LASER_3D_SECONDARY_TOWER=1
export HUSKY_LASER_3D_SECONDARY_PREFIX='secondary_'
export HUSKY_LASER_3D_SECONDARY_PARENT='top_plate_link'
export HUSKY_LASER_3D_SECONDARY_XYZ='0 0 0'
export HUSKY_LASER_3D_SECONDARY_RPY='0 0 -3.1415' # standard orientation to face backwards

Intel Realsense

Primary

export HUSKY_REALSENSE_ENABLED=1

Launch

export HUSKY_REALSENSE_SERIAL='0'
export HUSKY_REALSENSE_TOPIC='realsense'
export HUSKY_REALSENSE_POINTCLOUD_ENABLED=1
export HUSKY_REALSENSE_DEPTH_ENABLED=1
export HUSKY_REALSENSE_DEPTH_FRAMERATE='30'
export HUSKY_REALSENSE_DEPTH_HEIGHT='480'
export HUSKY_REALSENSE_DEPTH_WIDTH='640'
export HUSKY_REALSENSE_COLOR_ENABLED=1
export HUSKY_REALSENSE_COLOR_FRAMERATE='30'
export HUSKY_REALSENSE_COLOR_HEIGHT='480'
export HUSKY_REALSENSE_COLOR_WIDTH='640'
export HUSKY_REALSENSE_PREFIX=camera

Description

export HUSKY_REALSENSE_PREFIX='camera'
export HUSKY_REALSENSE_PARENT='top_plate_link'
export HUSKY_REALSENSE_XYZ='0 0 0'
export HUSKY_REALSENSE_RPY='0 0 0'

Secondary

export HUSKY_REALSENSE_SECONDARY_ENABLED=1

Launch

export HUSKY_REALSENSE_SECONDARY_SERIAL='0'
export HUSKY_REALSENSE_SECONDARY_TOPIC='realsense_secondary'
export HUSKY_REALSENSE_SECONDARY_POINTCLOUD_ENABLED=1
export HUSKY_REALSENSE_DEPTH_ENABLED=1
export HUSKY_REALSENSE_DEPTH_FRAMERATE='30'
export HUSKY_REALSENSE_DEPTH_HEIGHT='480'
export HUSKY_REALSENSE_DEPTH_WIDTH='640'
export HUSKY_REALSENSE_COLOR_ENABLED=1
export HUSKY_REALSENSE_COLOR_FRAMERATE='30'
export HUSKY_REALSENSE_COLOR_HEIGHT='480'
export HUSKY_REALSENSE_COLOR_WIDTH='640'
export HUSKY_REALSENSE_SECONDARY_PREFIX='secondary_camera'

Description

export HUSKY_REALSENSE_SECONDARY_PREFIX='camera_secondary'
export HUSKY_REALSENSE_SECONDARY_PARENT='top_plate_link'
export HUSKY_REALSENSE_SECONDARY_XYZ='0 0 0'
export HUSKY_REALSENSE_SECONDARY_RPY='0 0 0'

Flir Blackfly S

Primary

export HUSKY_BLACKFLY=1

Launch

export HUSKY_BLACKFLY_SERIAL='0'
export HUSKY_BLACKFLY_DEVICE='USB3'
export HUSKY_BLACKFLY_ENCODING='BayerRG8'
export HUSKY_BLACKFLY_FRAMERATE='30'

Description

export HUSKY_BLACKFLY_MOUNT_ENABLED=1
export HUSKY_BLACKFLY_MOUNT_ANGLE='0'
export HUSKY_BLACKFLY_PREFIX='blackfly'
export HUSKY_BLACKFLY_PARENT='top_plate_link'
export HUSKY_BLACKFLY_XYZ='0 0 0'
export HUSKY_BLACKFLY_RPY='0 0 0'

Secondary

export HUSKY_BLACKFLY_SECONDARY=1

Launch

export HUSKY_BLACKFLY_SECONDARY_SERIAL='0'
export HUSKY_BLACKFLY_SECONDARY_DEVICE='USB3'
export HUSKY_BLACKFLY_SECONDARY_ENCODING='BayerRG8'
export HUSKY_BLACKFLY_SECONDARY_FRAMERATE='30'

Description

export HUSKY_BLACKFLY_SECONDARY_MOUNT_ENABLED=1
export HUSKY_BLACKFLY_SECONDARY_MOUNT_ANGLE='0'
export HUSKY_BLACKFLY_SECONDARY_PREFIX='blackfly_secondary'
export HUSKY_BLACKFLY_SECONDARY_PARENT='top_plate_link'
export HUSKY_BLACKFLY_SECONDARY_XYZ='0 0 0'
export HUSKY_BLACKFLY_SECONDARY_RPY='0 0 0'

IMU

These could be either Microstrain, UM7, or UM6

export HUSKY_IMU_XYZ='0.19 0 0.149'
export HUSKY_IMU_RPY='0 -1.5708 3.1416'
export HUSKY_IMU_PARENT='base_link'
export HUSKY_IMU_PORT='/dev/microstrain ' # or '/dev/clearpath/um7' or '/dev/clearpath/um6'
# for UM6 and UM7 only
export HUSKY_MAG_CONFIG="$(catkin_find 'husky_bringup' --first-only)/config/mag_config_default.yaml"

Navsat

export HUSKY_NAVSAT_PORT=/dev/clearpath/gps
export HUSKY_NAVSAT_BAUD=19200

Changelog for package husky_description

0.6.10 (2024-03-18)

• Add simplified collision geometry to the URDF
• Contributors: Chris Iverach-Brereton

0.6.9 (2023-05-19)

• change envvars to use a configuraiton string
• fix alphabtical order of dependencies
• add onav description dependency
• modified envvar and args to match format of file
• added urdf for outdoornav
• Contributors: José Mastrangelo

0.6.8 (2023-05-04)

• Only Included Realsense if Enabled
• Contributors: Luis Camero

0.6.7 (2023-03-10)

• Fixed Realsense URDF
• Update README.md
• Cleared up launch from description variables
• Changed 'true' and '1' to 1
• Switched all enables to true
• Contributors: luis-camero

0.6.6 (2023-01-16)

0.6.5 (2022-11-25)

• Removed old bracket
• Updated brackets
• Change the reference heading of the GPS plugin to be east so the coordinate system is ENU
• Rename DATUM_* to GAZEBO_WORLD_*. We're separating the datum from the world's origin, and this keeps envars from clobbering each other
• LMS1XX Tower EnvVar (#250)
  • Added second velodyne description
  • Added environment variable to remove the LMS1XX mount
  • Removed console output
• Use DATUM_LAT and DATUM_LON envars to override the default reference lat/lon for the Gazebo GPS plugin. This addresses a compatibility issue with outdoor nav simulations
• Contributors: Chris Iverach-Brereton, Luis Camero, luis-camero

0.6.4 (2022-06-16)

• Fixes for velodyne prefix
• PACS Brackets (#238)
  • Added STL models for brackets
  • Added brackets to URDF
  • Added bracket environment variables
• Fixed issues with find
• Added README with all Environment Variables
• Duplicate URDF for every standard sensor
• Added fath pivot mount as dependency
• Added URDF of Blackfly on top of fath_pivot_mount
• Added prefix to name parameter to differentiate between primary and secondary
• Changed ENABLE to ENABLED
• Changed HUSKY_FULL_RISER to HUSKY_FULL_RISER_LEVEL
• Added PACS top plate and mounts to decorations
• Added PACS urdf definitions
• Added PACS meshes
• Contributors: Luis Camero, luis-camero

0.6.3 (2022-05-16)

• Added Blackfly
• Added blackfly description dependancy
• Realsense will no longer add the Sensor Arch (#220)
  • Add parent link env-var to imu
  • Sensor Arch is only enabled by HUSKY_SENSOR_ARCH, changed default realsense mount frame to
• Contributors: Luis Camero, luis-camero

0.6.2 (2022-02-15)

• Added Wibotic mesh and STL
• Bump CMake version to avoid CMP0048 warning.
• Contributors: Luis Camero, Tony Baltovski

0.6.1 (2022-01-18)

• Fixed error in URDF
• Added Hokuyo
• Check launch file only if testing When building husky_control, husky_description, husky_navigation or husky_viz without tests, CMake fails as it does not find [catkin_run_tests_target]{.title-ref} command. This patch adds conditions to fix this problem.
• Revert changes to mount_base_link to preserve use of origin argument; instead, simply created an additional plate link that sits between the supports and VLP16
• Create visual geometry of vlp16_mount_base_link
• Update mount support dimensions and spacing to better represent real-world measurements
• [husky_description] Fixed malformed STL warning for top_plate.stl.
• Contributors: Alexandre Iooss, Luis Camero, Tony Baltovski, jyang-cpr

0.6.0 (2021-09-28)

0.5.1 (2021-09-16)

• cpr urdf extras
• Remove the need to explicitly specify the laser_enabled, realsense_enabled, and urdf_extras arguments; use the envars to make it easier to simulate customized robots & use the moveit setup assistant.
• Update intel_realsense.urdf.xacro modify image format in sim to avoid log warn spam
• Add HUSKY_{FRONT|REAR}_BUMPER envars we can use to completely turn off the front & rear bumpers. This is requested to make integration of the wireless charging docks easier
• Add VLP16, secondary LMS1xx support (#164)
  • Minimal refactor to add VLP16 + secondary LMS1xx support. Update defaults for the laser_enabled and realsense_enabled args to refer to the underlying envars to improve consistency when launching simulations. Modify the sensor bar to allow it to be positioned in the center by default, but with configurable xyz and rpy offsets
  • Add the new run dependencies
  • Remove the prefix's trailing underscore in the vlp16 mount to make it consistent. Fix an inconsistent envar for the sensor arch, add an arg to explicitly enable it, to stay internally consistent with the rest of Husky.
  • Fix the envars; its just HUSKY_LMS1XX, not HUSKY_LASER_LMS1XX
  • Revert to enabling the main laser by default in the simulations, add the velodyne_gazebo_plugins dependency
• Add the ability to add the sensor bar with an envar without adding the realsense. Add the sensor bar height as another arg + envar, fix the URDF when the 300mm sensorbar is enabled.
• Contributors: Chris I-B, Ebrahim Shahrivar, vamshi konduri

0.5.0 (2021-08-23)

• Update husky.urdf.xacro (#169) Fix Failed to build tree: child link [base_laser_mount] of joint [laser_mount_joint] not found error. As found on https://answers.ros.org/question/354219/failed-to-build-tree-child-link-base_laser_mount-of-joint-laser_mount_joint-not-found/
• Contributors: Guido Sanchez

0.4.4 (2020-08-13)

• Remove support for the Kinect for Xbox 360. We've had the deprecation warning around for a while, so let's finally do it. Realsense support is in-place as a drop-in replacement that gets added to the top rollbar, just like the old Kinect would have.
• Changed intertial to inertial fixed a minor typo
• Removed Paul Bovbel as maintainer.
• Fix the warnings the ROS buildfarm was giving for Melodic
• Add support for some environment variables to override realsense defaults
• Use the STL from realsense2_description, rotated as necessary. Add realsense2_description to the dependencies
• Refactor so that the sensor bar only gets added once if either the realsense OR the kinect is enabled. Adding both will still cause issues because they'll mount to the same point on the bracket, but at least the URDF won't fail.
• Finish adding the simulated realsense to the topbar, add support for the physical realsense. Tidy up some parameters that were copied in last night but not yet configured.
• Mark the Kinect for Xbox 360 as deprecated, start adding support for the Intel Realsense D400 series as a replacement
• Contributors: Cedric Martens, Chris I-B, Chris Iverach-Brereton, Tony Baltovski

0.4.3 (2020-04-20)

• Fixed GazeboRosControlPlugin missing error
• Contributors: lerolynn

0.4.2 (2019-12-11)

0.4.1 (2019-09-30)

0.4.0 (2019-08-01)

0.3.4 (2019-08-01)

0.3.3 (2019-04-18)

• Fixed bumper extensions, cleaned up collision meshes
• Contributors: Dave Niewinski

0.3.2 (2019-03-25)

• Added some additional frames on the top plates and an environment variable for diabling the user rails
• Added env var to allow a 7cm forward bumper extension (#92)
  • Added env var to allow for extendable front bumper
  • Fix weird spacing
  • Uploaded bumper extension meshes
  • Allowed for different lengths of bumper extensions
• Contributors: Dave Niewinski, Guy Stoppi

0.3.1 (2018-08-02)

• Removed unnecessary dae objects and duplicate vertices
• Contributors: Dave Niewinski

0.3.0 (2018-04-11)

• Updated all package versions to 0.2.6.
• Added a large top plate (used for waterproofing upgrade and UR5 upgrade) and an environment variable for controlling it HUSKY_LARGE_TOP_PLATE
• changed Husky wheel radius, a Husky outdoor tire is 13 inchs (0.3302m)
• [husky_description] Updated inertial parameters.
• [husky_description] Fixed depreciated syntax.
• Remove defunct email address
• Updated maintainers.
• Changes for xacro updates in kinetic.
• Add interface definitions
• Purge more UR; Implement urdf_extras
• Update URDF for multirobot
• Move packages into monorepo for kinetic; strip out ur packages
• wheel.urdf.xacro: swap iyy, izz inertias Fixes #34.
• Contributors: Dave Niewinski, Martin Cote, Paul Bovbel, Steven Peters, Tony Baltovski

0.2.7 (2015-12-31)

• Fixed indent.
• Added Sick LMS1XX URDF.
• Contributors: Tony Baltovski

0.2.6 (2015-07-08)

• Adjust Kinect angle so it doesn't hit top plate
• Contributors: Paul Bovbel

0.2.5 (2015-04-16)

• Add standard mount for lms1xx
• Contributors: Paul Bovbel

0.2.4 (2015-04-13)

• Add argument to enable/disable top plate
• Fix sensor arch name
• Fix conflict with underlay When using -z check, underlayed instances of husky_gazebo would override overlays.
• Update top plate model
• Contributors: Paul Bovbel

0.2.3 (2015-04-08)

• Integrate husky_customization workflow
• Disable all accessories by default
• Contributors: Paul Bovbel

0.2.2 (2015-03-23)

• Fix package urls
• Contributors: Paul Bovbel

0.2.1 (2015-03-23)

• Port stl to dae format, removing material/gazebo colours
• Make base_footprint a child of base_link
• Contributors: Paul Bovbel

0.2.0 (2015-03-23)

• Add Kinect, UR5 peripherals
• Contributors: Paul Bovbel, Devon Ash

0.1.2 (2015-01-30)

• Update maintainers and description
• Get rid of chassis_link, switch to base_footprint and base_link
• Switch to NED orientation for UM6 standard package
• Contributors: Paul Bovbel

0.1.1 (2015-01-14)

• Remove multirobot changes, experiment later
• Contributors: Paul Bovbel

0.1.0 (2015-01-13)

• Major refactor for indigo release:
  • base_link is now located on the ground plane, while chassis_link
  • refactored joint names for consistency with Jackal and Grizzly for ros_control
  • moved plugins requiring gazebo dependencies to husky_gazebo (imu, gps, lidar, ros_control)
  • initial prefixing for multirobot
• Contributors: Alex Bencz, James Servos, Mike Purvis, Paul Bovbel, Prasenjit Mukherjee, y22ma

0.0.2 (2013-09-30)

• Renamed /models folder to /meshes to follow the convention of other gazebo simulation packages.
• Changed the base.urdf.xacro to use base_footprint as the parent frame. For some reason, the new Gazebo paints all parts the same color as base_link when base_link is the parent.

0.0.1 (2013-09-11)

• Move to model-only launchfile.
• Catkinize package, add install targets.
• husky_description moved up to repository root.