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cpr_onav_description package from cpr_onav_description repocpr_onav_description |
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Package Summary
Tags | No category tags. |
Version | 0.1.9 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/cpr-application/cpr_onav_description.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2023-09-29 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- José Mastrangelo
Authors
- José Mastrangelo
cpr_onav_description
This package contains additional description files used for Clearpath Robotics' OutdoorNav software.
Getting Started - Physical Robots
If you have a physical robot that uses OutdoorNav, please follow the OutdoorNav user manual for instructions on configuring your robot model.
The OutdoorNav setup script will prompt you to configure the type, number, and position of all sensors on the robot, automatically generating the necessary environment variables and configuring the robot's description as needed.
Getting Started - Simulations
To simplify simulating robots with the OutdoorNav hardware, several scripts with the necessary environment variables have been provided to add common configurations to existing platforms:
Platform | Model |
---|---|
Husky Observer | ![]() |
Husky Starter Kit | ![]() |
Jackal Starter Kit | ![]() |
Warthog Starter Kit | ![]() |
To simulate these configurations, source the appropriate file in the scripts
directory, and then start the
simulation, for example:
source $(catkin_find cpr_onav_description scripts/husky_starter_kit_envars.bash --first-only)
roslaunch husky_gazebo husky_playpen.launch
The Husky Observer configuration features a PTZ camera, which contains PID controllers to enable control over the pan
and tilt of the camera. The ptz_action_server
repository
contains the simulated_ptz_action_server
package which can be used to add an actionlib
interface to control the
position and zoom level of the simulated camera if desired.
Changelog for package cpr_onav_description
0.1.9 (2023-09-29)
- Add the ground truth odometry plugin for simulation support
- Reduce the target FPS of the RealSense simulations to 6FPS, to match with physical hardware configuration
- Contributors: Chris Iverach-Brereton
0.1.8 (2023-09-18)
- Don\'t pull in axis q62 meshes for all axis ptz camera integrations; a new mesh for dome-style cameras will be added in a future release
- Contributors: Jos
Wiki Tutorials
Source Tutorials
Dependant Packages
Launch files
- launch/gazebo_ptz_controllers.launch
- Launch file for loading the PID controllers for the pan & tilt joints in the Husky Observer PTZ camera
-