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husarion_ugv_ros repository

husarion_ugv_ros repository

husarion_ugv_ros repository

husarion_ugv_ros repository

husarion_ugv husarion_ugv_battery husarion_ugv_bringup husarion_ugv_controller husarion_ugv_description husarion_ugv_diagnostics husarion_ugv_gazebo husarion_ugv_hardware_interfaces husarion_ugv_lights husarion_ugv_localization husarion_ugv_manager husarion_ugv_msgs husarion_ugv_utils

Repository Summary

Checkout URI https://github.com/husarion/husarion_ugv_ros.git
VCS Type git
VCS Version ros2
Last Updated 2025-04-04
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
husarion_ugv 2.2.1
husarion_ugv_battery 2.2.1
husarion_ugv_bringup 2.2.1
husarion_ugv_controller 2.2.1
husarion_ugv_description 2.2.1
husarion_ugv_diagnostics 2.2.1
husarion_ugv_gazebo 2.2.1
husarion_ugv_hardware_interfaces 2.2.1
husarion_ugv_lights 2.2.1
husarion_ugv_localization 2.2.1
husarion_ugv_manager 2.2.1
husarion_ugv_msgs 2.2.1
husarion_ugv_utils 2.2.1

README

husarion_ugv_ros

ROS 2 packages for Husarion UGV (Unmanned Ground Vehicle). The repository is a collection of necessary packages enabling the launch of the Lynx and Panther robots.

pre-commit

Panther preview

Quick start

Create workspace

mkdir ~/husarion_ws
cd ~/husarion_ws
git clone -b ros2 https://github.com/husarion/husarion_ugv_ros.git src/husarion_ugv_ros

Configure environment

The repository is used to run the code both on the real robot and in the simulation. Specify HUSARION_ROS_BUILD_TYPE the variable according to your needs.

Real robot:

export HUSARION_ROS_BUILD_TYPE=hardware

Simulation:

export HUSARION_ROS_BUILD_TYPE=simulation

Build

vcs import src < src/husarion_ugv_ros/husarion_ugv/${HUSARION_ROS_BUILD_TYPE}_deps.repos

sudo rosdep init
rosdep update --rosdistro $ROS_DISTRO
rosdep install --from-paths src -y -i

source /opt/ros/$ROS_DISTRO/setup.bash
colcon build --symlink-install --packages-up-to husarion_ugv --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF

source install/setup.bash

[!NOTE] To build code on a real robot you need to run above commands on the robot Built-in Computer.

Running

Real robot:

ros2 launch husarion_ugv_bringup bringup.launch.py

Simulation:

ros2 launch husarion_ugv_gazebo simulation.launch.py

[!IMPORTANT] You can change spawning robot in simulation, by adding robot_model:={robot_model} argument.

Launch Arguments

Launch arguments are largely common to both simulation and physical robot. However, there is a group of arguments that apply only to hardware or only to the simulator. Below is a legend to the tables with all launch arguments.

Symbol Meaning
🤖 Available for physical robot
🖥️ Available in simulation
🤖 🖥️ Argument Description
Type: Default
❌ ✅ add_world_transform Adds a world frame that connects the tf trees of individual robots (useful when running multiple robots).
bool: False
✅ ✅ animations_config_path Path to a YAML file with a description of led configuration. This file includes definition of robot panels, virtual segments and default animations.
string: {robot_model}_animations.yaml
❌ ✅ battery_config_path Path to the Ignition LinearBatteryPlugin configuration file. This configuration is intended for use in simulations only.
string: None
✅ ✅ components_config_path Additional components configuration file. Components described in this file are dynamically included in robot’s URDF. Available options are described in the manual.
string: components.yaml
✅ ✅ controller_config_path Path to controller configuration file. A path to custom configuration can be specified here.
string: {wheel_type}_controller.yaml
✅ ✅ disable_manager Enable or disable manager_bt_node.
bool: False
✅ ✅ fuse_gps Include GPS for data fusion.
bool: False
❌ ✅ gz_bridge_config_path Path to the parameter_bridge configuration file.
string: gz_bridge.yaml
❌ ✅ gz_gui Run simulation with specific GUI layout.
string: teleop.config
❌ ✅ gz_headless_mode Run the simulation in headless mode. Useful when a GUI is not needed or to reduce the number of calculations.
bool: False
❌ ✅ gz_log_level Adjust the level of console output.
int: 1 (choices: 0, 1, 2, 3, 4)
❌ ✅ gz_world Absolute path to SDF world file.
string: husarion_world.sdf
✅ ✅ launch_nmea_gps Whether to launch the NMEA NavSat driver node. Advisable when the robot is equipped with the ANT02.
bool: False
✅ ✅ lights_bt_project_path Path to BehaviorTree project file, responsible for lights management.
string: LightsBT.btproj
✅ ✅ localization_config_path Specify the path to the localization configuration file.
string: relative_localization.yaml
✅ ✅ localization_mode Specifies the localization mode:
- ‘relative’ odometry/filtered data is relative to the initial position and orientation.
- ‘enu’ odometry/filtered data is relative to initial position and ENU (East North Up) orientation.
string: relative (choices: relative, enu)
✅ ✅ log_level Sets verbosity of launched nodes.
string: INFO
✅ ✅ namespace Add namespace to all launched nodes.
string: env(ROBOT_NAMESPACE)
✅ ✅ publish_robot_state Whether to publish the default URDF of specified robot.
bool: True
❌ ✅ robot_model Specify robot model type.
string: env(ROBOT_MODEL_NAME) (choices: lynx, panther)
✅ ✅ safety_bt_project_path Path to BehaviorTree project file, responsible for safety and shutdown management.
string: SafetyBT.btproj
✅ ✅ shutdown_hosts_config_path Path to file with list of hosts to request shutdown.
string: shutdown_hosts.yaml
✅ ✅ use_ekf Enable or disable EKF.
bool: True
❌ ✅ use_joint_state_publisher Flag enabling joint_state_publisher to publish information about the wheel position. Should be false when there is a controller that sends this information.
bool: False
❌ ✅ use_joint_state_publisher_gui Flag enabling joint_state_publisher_gui to publish information about the wheel position. Should be false when there is a controller that sends this information.
bool: False
❌ ✅ use_rviz Run RViz simultaneously.
bool: True
✅ ✅ use_sim Whether simulation is used.
bool: False
✅ ✅ user_led_animations_path Path to a YAML file with a description of the user-defined animations.
string: ''
✅ ✅ wheel_config_path Path to wheel configuration file.
string: {wheel_type}.yaml
✅ ✅ wheel_type Specify the wheel type. If the selected wheel type is not ‘custom’, the wheel_config_path and controller_config_path arguments will be automatically adjusted and can be omitted.
string: WH01 (for Panther), WH05 (for Lynx) (choices: WH01, WH02, WH04, WH05, custom)
❌ ✅ x Initial robot position in the global ‘x’ axis.
float: 0.0
❌ ✅ y Initial robot position in the global ‘y’ axis.
float: -2.0
❌ ✅ z Initial robot position in the global ‘z’ axis.
float: 0.2
❌ ✅ roll Initial robot ‘roll’ orientation.
float: 0.0
❌ ✅ pitch Initial robot ‘pitch’ orientation.
float: 0.0
❌ ✅ yaw Initial robot ‘yaw’ orientation.
float: 0.0

[!TIP]

To read the arguments for individual packages, add the -s flag to the ros2 launch command (e.g. ros2 launch husarion_ugv_bringup bringup.launch.py ​​-s)

Developer Info

Setup pre-commit

This project uses pre-commit to maintain high quality of the source code. Install precommit after downloading the repository to apply the changes.

pre-commit install

Unit testing

Running on laptop

colcon build --symlink-install --packages-up-to husarion_ugv --cmake-args -DCMAKE_BUILD_TYPE=Release -DTEST_INTEGRATION=OFF
colcon test --packages-up-to husarion_ugv

Running on the Built-In Computer

colcon build --symlink-install --packages-up-to husarion_ugv --cmake-args -DCMAKE_BUILD_TYPE=Release -DTEST_INTEGRATION=ON
colcon test --packages-up-to husarion_ugv

CONTRIBUTING

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husarion_ugv_ros repository

husarion_ugv_ros repository

husarion_ugv_ros repository

husarion_ugv_ros repository

husarion_ugv_ros repository

husarion_ugv_ros repository

husarion_ugv_ros repository

husarion_ugv_ros repository

husarion_ugv_ros repository

husarion_ugv_ros repository

husarion_ugv_ros repository

husarion_ugv_ros repository

husarion_ugv_ros repository

husarion_ugv_ros repository

husarion_ugv_ros repository