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

Description	ROS package for Panther autonomous mobile robot
Checkout URI	https://github.com/husarion/husarion_ugv_ros.git
VCS Type	git
VCS Version	humble
Last Updated	2025-04-04
Dev Status	DEVELOPED
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.

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

No CONTRIBUTING.md found.

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

Description	ROS package for Panther autonomous mobile robot
Checkout URI	https://github.com/husarion/husarion_ugv_ros.git
VCS Type	git
VCS Version	ros2
Last Updated	2025-05-19
Dev Status	DEVELOPED
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	2.3.0
husarion_ugv_battery	2.3.0
husarion_ugv_bringup	2.3.0
husarion_ugv_controller	2.3.0
husarion_ugv_description	2.3.0
husarion_ugv_diagnostics	2.3.0
husarion_ugv_gazebo	2.3.0
husarion_ugv_hardware_interfaces	2.3.0
husarion_ugv_lights	2.3.0
husarion_ugv_localization	2.3.0
husarion_ugv_manager	2.3.0
husarion_ugv_msgs	2.3.0
husarion_ugv_utils	2.3.0

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.

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 Gazebo `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

No CONTRIBUTING.md found.

husarion_ugv_ros repository

No version for distro kilted. Known supported distros are highlighted in the buttons above.

husarion_ugv_ros repository

No version for distro rolling. Known supported distros are highlighted in the buttons above.

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

Description	ROS package for Panther autonomous mobile robot
Checkout URI	https://github.com/husarion/husarion_ugv_ros.git
VCS Type	git
VCS Version	ros2
Last Updated	2025-05-19
Dev Status	DEVELOPED
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	2.3.0
husarion_ugv_battery	2.3.0
husarion_ugv_bringup	2.3.0
husarion_ugv_controller	2.3.0
husarion_ugv_description	2.3.0
husarion_ugv_diagnostics	2.3.0
husarion_ugv_gazebo	2.3.0
husarion_ugv_hardware_interfaces	2.3.0
husarion_ugv_lights	2.3.0
husarion_ugv_localization	2.3.0
husarion_ugv_manager	2.3.0
husarion_ugv_msgs	2.3.0
husarion_ugv_utils	2.3.0

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.

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 Gazebo `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

No CONTRIBUTING.md found.

husarion_ugv_ros repository

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husarion_ugv_ros repository

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husarion_ugv_ros repository

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husarion_ugv_ros repository

No version for distro melodic. Known supported distros are highlighted in the buttons above.