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

0.1.12 (2024-05-27)

• Fix the Axis camera prefixes so we can more-easily identify the sensor frames
• Changed prefix for ptz cameras
• Added antenna links to urdf
• Change axis_ptz_num to axis_q62_num for Q62 specific entries
• Use the axis_description package for the camera URDFs, add axis dome camera meshes
• Add ptz camera links to urdf
• Added color of xvn unit
• Fix axis of xvn stl file
• Added xvn stl to model
• Revert fender fix. use position relative to base_link
• Correct unless close
• Add dependency on jackal fenders
• Fix rear laser xyz, rpy
• Added xvn link to urdf
• Contributors: Chris Iverach-Brereton, José Mastrangelo

0.1.11 (2024-04-01)

• Added teleop urdf functionality
• Add the top-down SVGs for Husky Observer
• Contributors: Chris Iverach-Brereton, José Mastrangelo

0.1.10 (2023-10-31)

• Add: Custom 3d_lidar.urdf.xacro for simulating VLP16 / 3d lidars
• Mod: Decrease Hokuyo update rate from 50->10 Hz
• Contributors: Stephen Phillips

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: José Mastrangelo

0.1.7 (2023-09-08)

• Expand the readme, add setup scripts for the starter kit on Jackal, Warthog, and Husky.
• Add setup script for the Husky Observer
• Add the RealSense gazebo plugins to the starter kit
• Contributors: Chris Iverach-Brereton

0.1.6 (2023-08-24)

• Fix the path to the wibotic antenna mesh
• Contributors: Chris Iverach-Brereton

0.1.5 (2023-08-21)

• Add support for Husky Observer
• Add a new macro for the GNSS antennas, including collision bodies
• Add Husky Observer backpack model, Q62 meshes, support for [observer]{.title-ref} configuration
• Fix the path for the Hokuyo mesh, add simplified collision geometry
• Contributors: Chris Iverach-Brereton

0.1.4 (2023-08-10)

• fix urdf issue related to including multiple realsense cameras. moved all includes into custom block. each of the standard/starter sub-urdfs have their own include lines for the required sensors.
• 0.1.3
• Changes.
• fix: move lms1xx link back into correct location. this bug was resolve in the intall script. update hokuyo prefix
• Contributors: José Mastrangelo, Tony Baltovski

0.1.3 (2023-07-25)

• fix: move lms1xx link back into correct location. this bug was resolve in the intall script. update hokuyo prefix
• Contributors: José Mastrangelo

0.1.2 (2023-06-05)

• modified sensor topic names. and move laser out of block as a temp fix
• Contributors: José Mastrangelo

0.1.1 (2023-05-08)

• Added license file.
• remove circular dependency by adding local copies of accesory urdf files
• added charge receiver link
• Contributors: José Mastrangelo, Tony Baltovski

0.1.0 (2023-03-16)

• Added STL files for Starter Kit, Velodynes and Realsense D435s
• Added urdf files for starter and standard kits
• Contributors: José Mastrangelo