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

cp -r src/ros2_controllers/imu_sensor_broadcaster src
rm -rf src/ros2_controllers

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