ROS Index
|
husarion_components_description package from husarion_components_description repohusarion_components_description |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/husarion/husarion_components_description.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2025-07-10 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
URDF descriptions of components offered with Husarion robots
Additional Links
Maintainers
- Husarion
Authors
- Jakub Delikat
- Rafal Gorecki
- Dawid Kmak
- Pawel Kowalski
- Krzysztof Wojciechowski
husarion_components_description
URDF models of sensors and other components offered alongside with Husarion robots
Available URDF Sensors
| Code | Device Name |
| ----- | ---------------------------- |
| ANT02 | Teltonika 003R-00253 |
| CAM01 | Orbbec Astra |
| CAM03 | StereoLabs ZED 2 |
| CAM04 | StereoLabs ZED 2i |
| CAM05 | StereoLabs ZED M |
| CAM06 | StereoLabs ZED X |
| CAM11 | Luxonis OAK-D-PRO |
| LDR01 | RPLIDAR S1 |
| LDR06 | RPLIDAR S3 |
| LDR10 | Ouster OS0-32 |
| LDR11 | Ouster OS0-64 |
| LDR12 | Ouster OS0-128 |
| LDR13 | Ouster OS1-32 |
| LDR14 | Ouster OS1-64 |
| LDR15 | Ouster OS1-128 |
| LDR20 | Velodyne Puck |
| MAN01 | Universal Robots UR3e |
| MAN02 | Universal Robots UR5e |
| MAN04 | 6DoF Kinova Gen3 |
| MAN05 | 6DoF Kinova Gen3 + 3D vision |
| MAN06 | 7DoF Kinova Gen3 |
| MAN07 | 7DoF Kinova Gen3 + 3D vision |
| GRP02 | Robotiq 2F-85 |
| WCH01 | Wibotic receiver |
Including sensor
First build the package by running:
# create workspace folder and clone husarion_components_description
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/husarion_components_description.git src/husarion_components_description
# in case the package will be used within simulation
export HUSARION_ROS_BUILD_TYPE=simulation
rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build
To include the sensor, use the following code:
<!-- include file with definition of xacro macro of sensor -->
<xacro:include filename="$(find husarion_components_description)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />
<!-- evaluate the macro and place the sensor on robot -->
<xacro:lidar.slamtec_rplidar
parent_link="cover_link"
xyz="0.0 0.0 0.0"
rpy="0.0 0.0 0.0" />
A list of parameters can be found here:
-
parent_link[string, default: None] parent link to which sensor should be attached. -
xyz[float list, default: 0.0 0.0 0.0] 3 float values defining translation between base of a sensor and parent link. Values in m. -
rpy[float list, default: 0.0 0.0 0.0] 3 float values define rotation between parent link and base of a sensor. Values in rad. -
namespace[string, default: ’‘] global namespace common to the entire robot. -
device_namespace[string, default: ’‘] local namespace allowing to distinguish two identical devices from each other. -
model[string, default: ’‘] model argument that appears when you want to load the appropriate model from a given manufacturer.
Some sensors can define their specific parameters. Refer to their definition for more info.
CHANGELOG
No CHANGELOG found.
Package Dependencies
System Dependencies
| Name |
|---|
| python3-yaml |
Dependant Packages
| Name | Deps |
|---|---|
| husarion_ugv_description | |
| husarion_ugv_gazebo |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged husarion_components_description at Robotics Stack Exchange
|
|
husarion_components_description package from husarion_components_description repohusarion_components_description |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/husarion/husarion_components_description.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2025-07-10 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
URDF descriptions of components offered with Husarion robots
Additional Links
Maintainers
- Husarion
Authors
- Jakub Delikat
- Rafal Gorecki
- Dawid Kmak
- Pawel Kowalski
- Krzysztof Wojciechowski
husarion_components_description
URDF models of sensors and other components offered alongside with Husarion robots
Available URDF Sensors
| Code | Device Name |
| ----- | ---------------------------- |
| ANT02 | Teltonika 003R-00253 |
| CAM01 | Orbbec Astra |
| CAM03 | StereoLabs ZED 2 |
| CAM04 | StereoLabs ZED 2i |
| CAM05 | StereoLabs ZED M |
| CAM06 | StereoLabs ZED X |
| CAM11 | Luxonis OAK-D-PRO |
| LDR01 | RPLIDAR S1 |
| LDR06 | RPLIDAR S3 |
| LDR10 | Ouster OS0-32 |
| LDR11 | Ouster OS0-64 |
| LDR12 | Ouster OS0-128 |
| LDR13 | Ouster OS1-32 |
| LDR14 | Ouster OS1-64 |
| LDR15 | Ouster OS1-128 |
| LDR20 | Velodyne Puck |
| MAN01 | Universal Robots UR3e |
| MAN02 | Universal Robots UR5e |
| MAN04 | 6DoF Kinova Gen3 |
| MAN05 | 6DoF Kinova Gen3 + 3D vision |
| MAN06 | 7DoF Kinova Gen3 |
| MAN07 | 7DoF Kinova Gen3 + 3D vision |
| GRP02 | Robotiq 2F-85 |
| WCH01 | Wibotic receiver |
Including sensor
First build the package by running:
# create workspace folder and clone husarion_components_description
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/husarion_components_description.git src/husarion_components_description
# in case the package will be used within simulation
export HUSARION_ROS_BUILD_TYPE=simulation
rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build
To include the sensor, use the following code:
<!-- include file with definition of xacro macro of sensor -->
<xacro:include filename="$(find husarion_components_description)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />
<!-- evaluate the macro and place the sensor on robot -->
<xacro:lidar.slamtec_rplidar
parent_link="cover_link"
xyz="0.0 0.0 0.0"
rpy="0.0 0.0 0.0" />
A list of parameters can be found here:
-
parent_link[string, default: None] parent link to which sensor should be attached. -
xyz[float list, default: 0.0 0.0 0.0] 3 float values defining translation between base of a sensor and parent link. Values in m. -
rpy[float list, default: 0.0 0.0 0.0] 3 float values define rotation between parent link and base of a sensor. Values in rad. -
namespace[string, default: ’‘] global namespace common to the entire robot. -
device_namespace[string, default: ’‘] local namespace allowing to distinguish two identical devices from each other. -
model[string, default: ’‘] model argument that appears when you want to load the appropriate model from a given manufacturer.
Some sensors can define their specific parameters. Refer to their definition for more info.
CHANGELOG
No CHANGELOG found.
Package Dependencies
System Dependencies
| Name |
|---|
| python3-yaml |
Dependant Packages
| Name | Deps |
|---|---|
| husarion_ugv_description | |
| husarion_ugv_gazebo |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged husarion_components_description at Robotics Stack Exchange
No version for distro kilted showing humble. Known supported distros are highlighted in the buttons above.
|
|
husarion_components_description package from husarion_components_description repohusarion_components_description |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/husarion/husarion_components_description.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2025-07-10 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
URDF descriptions of components offered with Husarion robots
Additional Links
Maintainers
- Husarion
Authors
- Jakub Delikat
- Rafal Gorecki
- Dawid Kmak
- Pawel Kowalski
- Krzysztof Wojciechowski
husarion_components_description
URDF models of sensors and other components offered alongside with Husarion robots
Available URDF Sensors
| Code | Device Name |
| ----- | ---------------------------- |
| ANT02 | Teltonika 003R-00253 |
| CAM01 | Orbbec Astra |
| CAM03 | StereoLabs ZED 2 |
| CAM04 | StereoLabs ZED 2i |
| CAM05 | StereoLabs ZED M |
| CAM06 | StereoLabs ZED X |
| CAM11 | Luxonis OAK-D-PRO |
| LDR01 | RPLIDAR S1 |
| LDR06 | RPLIDAR S3 |
| LDR10 | Ouster OS0-32 |
| LDR11 | Ouster OS0-64 |
| LDR12 | Ouster OS0-128 |
| LDR13 | Ouster OS1-32 |
| LDR14 | Ouster OS1-64 |
| LDR15 | Ouster OS1-128 |
| LDR20 | Velodyne Puck |
| MAN01 | Universal Robots UR3e |
| MAN02 | Universal Robots UR5e |
| MAN04 | 6DoF Kinova Gen3 |
| MAN05 | 6DoF Kinova Gen3 + 3D vision |
| MAN06 | 7DoF Kinova Gen3 |
| MAN07 | 7DoF Kinova Gen3 + 3D vision |
| GRP02 | Robotiq 2F-85 |
| WCH01 | Wibotic receiver |
Including sensor
First build the package by running:
# create workspace folder and clone husarion_components_description
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/husarion_components_description.git src/husarion_components_description
# in case the package will be used within simulation
export HUSARION_ROS_BUILD_TYPE=simulation
rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build
To include the sensor, use the following code:
<!-- include file with definition of xacro macro of sensor -->
<xacro:include filename="$(find husarion_components_description)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />
<!-- evaluate the macro and place the sensor on robot -->
<xacro:lidar.slamtec_rplidar
parent_link="cover_link"
xyz="0.0 0.0 0.0"
rpy="0.0 0.0 0.0" />
A list of parameters can be found here:
-
parent_link[string, default: None] parent link to which sensor should be attached. -
xyz[float list, default: 0.0 0.0 0.0] 3 float values defining translation between base of a sensor and parent link. Values in m. -
rpy[float list, default: 0.0 0.0 0.0] 3 float values define rotation between parent link and base of a sensor. Values in rad. -
namespace[string, default: ’‘] global namespace common to the entire robot. -
device_namespace[string, default: ’‘] local namespace allowing to distinguish two identical devices from each other. -
model[string, default: ’‘] model argument that appears when you want to load the appropriate model from a given manufacturer.
Some sensors can define their specific parameters. Refer to their definition for more info.
CHANGELOG
No CHANGELOG found.
Package Dependencies
System Dependencies
| Name |
|---|
| python3-yaml |
Dependant Packages
| Name | Deps |
|---|---|
| husarion_ugv_description | |
| husarion_ugv_gazebo |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged husarion_components_description at Robotics Stack Exchange
No version for distro rolling showing humble. Known supported distros are highlighted in the buttons above.
|
|
husarion_components_description package from husarion_components_description repohusarion_components_description |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/husarion/husarion_components_description.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2025-07-10 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
URDF descriptions of components offered with Husarion robots
Additional Links
Maintainers
- Husarion
Authors
- Jakub Delikat
- Rafal Gorecki
- Dawid Kmak
- Pawel Kowalski
- Krzysztof Wojciechowski
husarion_components_description
URDF models of sensors and other components offered alongside with Husarion robots
Available URDF Sensors
| Code | Device Name |
| ----- | ---------------------------- |
| ANT02 | Teltonika 003R-00253 |
| CAM01 | Orbbec Astra |
| CAM03 | StereoLabs ZED 2 |
| CAM04 | StereoLabs ZED 2i |
| CAM05 | StereoLabs ZED M |
| CAM06 | StereoLabs ZED X |
| CAM11 | Luxonis OAK-D-PRO |
| LDR01 | RPLIDAR S1 |
| LDR06 | RPLIDAR S3 |
| LDR10 | Ouster OS0-32 |
| LDR11 | Ouster OS0-64 |
| LDR12 | Ouster OS0-128 |
| LDR13 | Ouster OS1-32 |
| LDR14 | Ouster OS1-64 |
| LDR15 | Ouster OS1-128 |
| LDR20 | Velodyne Puck |
| MAN01 | Universal Robots UR3e |
| MAN02 | Universal Robots UR5e |
| MAN04 | 6DoF Kinova Gen3 |
| MAN05 | 6DoF Kinova Gen3 + 3D vision |
| MAN06 | 7DoF Kinova Gen3 |
| MAN07 | 7DoF Kinova Gen3 + 3D vision |
| GRP02 | Robotiq 2F-85 |
| WCH01 | Wibotic receiver |
Including sensor
First build the package by running:
# create workspace folder and clone husarion_components_description
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/husarion_components_description.git src/husarion_components_description
# in case the package will be used within simulation
export HUSARION_ROS_BUILD_TYPE=simulation
rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build
To include the sensor, use the following code:
<!-- include file with definition of xacro macro of sensor -->
<xacro:include filename="$(find husarion_components_description)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />
<!-- evaluate the macro and place the sensor on robot -->
<xacro:lidar.slamtec_rplidar
parent_link="cover_link"
xyz="0.0 0.0 0.0"
rpy="0.0 0.0 0.0" />
A list of parameters can be found here:
-
parent_link[string, default: None] parent link to which sensor should be attached. -
xyz[float list, default: 0.0 0.0 0.0] 3 float values defining translation between base of a sensor and parent link. Values in m. -
rpy[float list, default: 0.0 0.0 0.0] 3 float values define rotation between parent link and base of a sensor. Values in rad. -
namespace[string, default: ’‘] global namespace common to the entire robot. -
device_namespace[string, default: ’‘] local namespace allowing to distinguish two identical devices from each other. -
model[string, default: ’‘] model argument that appears when you want to load the appropriate model from a given manufacturer.
Some sensors can define their specific parameters. Refer to their definition for more info.
CHANGELOG
No CHANGELOG found.
Package Dependencies
System Dependencies
| Name |
|---|
| python3-yaml |
Dependant Packages
| Name | Deps |
|---|---|
| husarion_ugv_description | |
| husarion_ugv_gazebo |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged husarion_components_description at Robotics Stack Exchange
No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.
|
|
husarion_components_description package from husarion_components_description repohusarion_components_description |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/husarion/husarion_components_description.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2025-07-10 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
URDF descriptions of components offered with Husarion robots
Additional Links
Maintainers
- Husarion
Authors
- Jakub Delikat
- Rafal Gorecki
- Dawid Kmak
- Pawel Kowalski
- Krzysztof Wojciechowski
husarion_components_description
URDF models of sensors and other components offered alongside with Husarion robots
Available URDF Sensors
| Code | Device Name |
| ----- | ---------------------------- |
| ANT02 | Teltonika 003R-00253 |
| CAM01 | Orbbec Astra |
| CAM03 | StereoLabs ZED 2 |
| CAM04 | StereoLabs ZED 2i |
| CAM05 | StereoLabs ZED M |
| CAM06 | StereoLabs ZED X |
| CAM11 | Luxonis OAK-D-PRO |
| LDR01 | RPLIDAR S1 |
| LDR06 | RPLIDAR S3 |
| LDR10 | Ouster OS0-32 |
| LDR11 | Ouster OS0-64 |
| LDR12 | Ouster OS0-128 |
| LDR13 | Ouster OS1-32 |
| LDR14 | Ouster OS1-64 |
| LDR15 | Ouster OS1-128 |
| LDR20 | Velodyne Puck |
| MAN01 | Universal Robots UR3e |
| MAN02 | Universal Robots UR5e |
| MAN04 | 6DoF Kinova Gen3 |
| MAN05 | 6DoF Kinova Gen3 + 3D vision |
| MAN06 | 7DoF Kinova Gen3 |
| MAN07 | 7DoF Kinova Gen3 + 3D vision |
| GRP02 | Robotiq 2F-85 |
| WCH01 | Wibotic receiver |
Including sensor
First build the package by running:
# create workspace folder and clone husarion_components_description
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/husarion_components_description.git src/husarion_components_description
# in case the package will be used within simulation
export HUSARION_ROS_BUILD_TYPE=simulation
rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build
To include the sensor, use the following code:
<!-- include file with definition of xacro macro of sensor -->
<xacro:include filename="$(find husarion_components_description)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />
<!-- evaluate the macro and place the sensor on robot -->
<xacro:lidar.slamtec_rplidar
parent_link="cover_link"
xyz="0.0 0.0 0.0"
rpy="0.0 0.0 0.0" />
A list of parameters can be found here:
-
parent_link[string, default: None] parent link to which sensor should be attached. -
xyz[float list, default: 0.0 0.0 0.0] 3 float values defining translation between base of a sensor and parent link. Values in m. -
rpy[float list, default: 0.0 0.0 0.0] 3 float values define rotation between parent link and base of a sensor. Values in rad. -
namespace[string, default: ’‘] global namespace common to the entire robot. -
device_namespace[string, default: ’‘] local namespace allowing to distinguish two identical devices from each other. -
model[string, default: ’‘] model argument that appears when you want to load the appropriate model from a given manufacturer.
Some sensors can define their specific parameters. Refer to their definition for more info.
CHANGELOG
No CHANGELOG found.
Package Dependencies
System Dependencies
| Name |
|---|
| python3-yaml |
Dependant Packages
| Name | Deps |
|---|---|
| husarion_ugv_description | |
| husarion_ugv_gazebo |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged husarion_components_description at Robotics Stack Exchange
No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.
|
|
husarion_components_description package from husarion_components_description repohusarion_components_description |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/husarion/husarion_components_description.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2025-07-10 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
URDF descriptions of components offered with Husarion robots
Additional Links
Maintainers
- Husarion
Authors
- Jakub Delikat
- Rafal Gorecki
- Dawid Kmak
- Pawel Kowalski
- Krzysztof Wojciechowski
husarion_components_description
URDF models of sensors and other components offered alongside with Husarion robots
Available URDF Sensors
| Code | Device Name |
| ----- | ---------------------------- |
| ANT02 | Teltonika 003R-00253 |
| CAM01 | Orbbec Astra |
| CAM03 | StereoLabs ZED 2 |
| CAM04 | StereoLabs ZED 2i |
| CAM05 | StereoLabs ZED M |
| CAM06 | StereoLabs ZED X |
| CAM11 | Luxonis OAK-D-PRO |
| LDR01 | RPLIDAR S1 |
| LDR06 | RPLIDAR S3 |
| LDR10 | Ouster OS0-32 |
| LDR11 | Ouster OS0-64 |
| LDR12 | Ouster OS0-128 |
| LDR13 | Ouster OS1-32 |
| LDR14 | Ouster OS1-64 |
| LDR15 | Ouster OS1-128 |
| LDR20 | Velodyne Puck |
| MAN01 | Universal Robots UR3e |
| MAN02 | Universal Robots UR5e |
| MAN04 | 6DoF Kinova Gen3 |
| MAN05 | 6DoF Kinova Gen3 + 3D vision |
| MAN06 | 7DoF Kinova Gen3 |
| MAN07 | 7DoF Kinova Gen3 + 3D vision |
| GRP02 | Robotiq 2F-85 |
| WCH01 | Wibotic receiver |
Including sensor
First build the package by running:
# create workspace folder and clone husarion_components_description
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/husarion_components_description.git src/husarion_components_description
# in case the package will be used within simulation
export HUSARION_ROS_BUILD_TYPE=simulation
rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build
To include the sensor, use the following code:
<!-- include file with definition of xacro macro of sensor -->
<xacro:include filename="$(find husarion_components_description)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />
<!-- evaluate the macro and place the sensor on robot -->
<xacro:lidar.slamtec_rplidar
parent_link="cover_link"
xyz="0.0 0.0 0.0"
rpy="0.0 0.0 0.0" />
A list of parameters can be found here:
-
parent_link[string, default: None] parent link to which sensor should be attached. -
xyz[float list, default: 0.0 0.0 0.0] 3 float values defining translation between base of a sensor and parent link. Values in m. -
rpy[float list, default: 0.0 0.0 0.0] 3 float values define rotation between parent link and base of a sensor. Values in rad. -
namespace[string, default: ’‘] global namespace common to the entire robot. -
device_namespace[string, default: ’‘] local namespace allowing to distinguish two identical devices from each other. -
model[string, default: ’‘] model argument that appears when you want to load the appropriate model from a given manufacturer.
Some sensors can define their specific parameters. Refer to their definition for more info.
CHANGELOG
No CHANGELOG found.
Package Dependencies
System Dependencies
| Name |
|---|
| python3-yaml |
Dependant Packages
| Name | Deps |
|---|---|
| husarion_ugv_description | |
| husarion_ugv_gazebo |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged husarion_components_description at Robotics Stack Exchange
No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.
|
|
husarion_components_description package from husarion_components_description repohusarion_components_description |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/husarion/husarion_components_description.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2025-07-10 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
URDF descriptions of components offered with Husarion robots
Additional Links
Maintainers
- Husarion
Authors
- Jakub Delikat
- Rafal Gorecki
- Dawid Kmak
- Pawel Kowalski
- Krzysztof Wojciechowski
husarion_components_description
URDF models of sensors and other components offered alongside with Husarion robots
Available URDF Sensors
| Code | Device Name |
| ----- | ---------------------------- |
| ANT02 | Teltonika 003R-00253 |
| CAM01 | Orbbec Astra |
| CAM03 | StereoLabs ZED 2 |
| CAM04 | StereoLabs ZED 2i |
| CAM05 | StereoLabs ZED M |
| CAM06 | StereoLabs ZED X |
| CAM11 | Luxonis OAK-D-PRO |
| LDR01 | RPLIDAR S1 |
| LDR06 | RPLIDAR S3 |
| LDR10 | Ouster OS0-32 |
| LDR11 | Ouster OS0-64 |
| LDR12 | Ouster OS0-128 |
| LDR13 | Ouster OS1-32 |
| LDR14 | Ouster OS1-64 |
| LDR15 | Ouster OS1-128 |
| LDR20 | Velodyne Puck |
| MAN01 | Universal Robots UR3e |
| MAN02 | Universal Robots UR5e |
| MAN04 | 6DoF Kinova Gen3 |
| MAN05 | 6DoF Kinova Gen3 + 3D vision |
| MAN06 | 7DoF Kinova Gen3 |
| MAN07 | 7DoF Kinova Gen3 + 3D vision |
| GRP02 | Robotiq 2F-85 |
| WCH01 | Wibotic receiver |
Including sensor
First build the package by running:
# create workspace folder and clone husarion_components_description
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/husarion_components_description.git src/husarion_components_description
# in case the package will be used within simulation
export HUSARION_ROS_BUILD_TYPE=simulation
rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build
To include the sensor, use the following code:
<!-- include file with definition of xacro macro of sensor -->
<xacro:include filename="$(find husarion_components_description)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />
<!-- evaluate the macro and place the sensor on robot -->
<xacro:lidar.slamtec_rplidar
parent_link="cover_link"
xyz="0.0 0.0 0.0"
rpy="0.0 0.0 0.0" />
A list of parameters can be found here:
-
parent_link[string, default: None] parent link to which sensor should be attached. -
xyz[float list, default: 0.0 0.0 0.0] 3 float values defining translation between base of a sensor and parent link. Values in m. -
rpy[float list, default: 0.0 0.0 0.0] 3 float values define rotation between parent link and base of a sensor. Values in rad. -
namespace[string, default: ’‘] global namespace common to the entire robot. -
device_namespace[string, default: ’‘] local namespace allowing to distinguish two identical devices from each other. -
model[string, default: ’‘] model argument that appears when you want to load the appropriate model from a given manufacturer.
Some sensors can define their specific parameters. Refer to their definition for more info.
CHANGELOG
No CHANGELOG found.
Package Dependencies
System Dependencies
| Name |
|---|
| python3-yaml |
Dependant Packages
| Name | Deps |
|---|---|
| husarion_ugv_description | |
| husarion_ugv_gazebo |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged husarion_components_description at Robotics Stack Exchange
No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.
|
|
husarion_components_description package from husarion_components_description repohusarion_components_description |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/husarion/husarion_components_description.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2025-07-10 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
URDF descriptions of components offered with Husarion robots
Additional Links
Maintainers
- Husarion
Authors
- Jakub Delikat
- Rafal Gorecki
- Dawid Kmak
- Pawel Kowalski
- Krzysztof Wojciechowski
husarion_components_description
URDF models of sensors and other components offered alongside with Husarion robots
Available URDF Sensors
| Code | Device Name |
| ----- | ---------------------------- |
| ANT02 | Teltonika 003R-00253 |
| CAM01 | Orbbec Astra |
| CAM03 | StereoLabs ZED 2 |
| CAM04 | StereoLabs ZED 2i |
| CAM05 | StereoLabs ZED M |
| CAM06 | StereoLabs ZED X |
| CAM11 | Luxonis OAK-D-PRO |
| LDR01 | RPLIDAR S1 |
| LDR06 | RPLIDAR S3 |
| LDR10 | Ouster OS0-32 |
| LDR11 | Ouster OS0-64 |
| LDR12 | Ouster OS0-128 |
| LDR13 | Ouster OS1-32 |
| LDR14 | Ouster OS1-64 |
| LDR15 | Ouster OS1-128 |
| LDR20 | Velodyne Puck |
| MAN01 | Universal Robots UR3e |
| MAN02 | Universal Robots UR5e |
| MAN04 | 6DoF Kinova Gen3 |
| MAN05 | 6DoF Kinova Gen3 + 3D vision |
| MAN06 | 7DoF Kinova Gen3 |
| MAN07 | 7DoF Kinova Gen3 + 3D vision |
| GRP02 | Robotiq 2F-85 |
| WCH01 | Wibotic receiver |
Including sensor
First build the package by running:
# create workspace folder and clone husarion_components_description
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/husarion_components_description.git src/husarion_components_description
# in case the package will be used within simulation
export HUSARION_ROS_BUILD_TYPE=simulation
rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build
To include the sensor, use the following code:
<!-- include file with definition of xacro macro of sensor -->
<xacro:include filename="$(find husarion_components_description)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />
<!-- evaluate the macro and place the sensor on robot -->
<xacro:lidar.slamtec_rplidar
parent_link="cover_link"
xyz="0.0 0.0 0.0"
rpy="0.0 0.0 0.0" />
A list of parameters can be found here:
-
parent_link[string, default: None] parent link to which sensor should be attached. -
xyz[float list, default: 0.0 0.0 0.0] 3 float values defining translation between base of a sensor and parent link. Values in m. -
rpy[float list, default: 0.0 0.0 0.0] 3 float values define rotation between parent link and base of a sensor. Values in rad. -
namespace[string, default: ’‘] global namespace common to the entire robot. -
device_namespace[string, default: ’‘] local namespace allowing to distinguish two identical devices from each other. -
model[string, default: ’‘] model argument that appears when you want to load the appropriate model from a given manufacturer.
Some sensors can define their specific parameters. Refer to their definition for more info.
CHANGELOG
No CHANGELOG found.
Package Dependencies
System Dependencies
| Name |
|---|
| python3-yaml |
Dependant Packages
| Name | Deps |
|---|---|
| husarion_ugv_description | |
| husarion_ugv_gazebo |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged husarion_components_description at Robotics Stack Exchange
No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.
|
|
husarion_components_description package from husarion_components_description repohusarion_components_description |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/husarion/husarion_components_description.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2025-07-10 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
URDF descriptions of components offered with Husarion robots
Additional Links
Maintainers
- Husarion
Authors
- Jakub Delikat
- Rafal Gorecki
- Dawid Kmak
- Pawel Kowalski
- Krzysztof Wojciechowski
husarion_components_description
URDF models of sensors and other components offered alongside with Husarion robots
Available URDF Sensors
| Code | Device Name |
| ----- | ---------------------------- |
| ANT02 | Teltonika 003R-00253 |
| CAM01 | Orbbec Astra |
| CAM03 | StereoLabs ZED 2 |
| CAM04 | StereoLabs ZED 2i |
| CAM05 | StereoLabs ZED M |
| CAM06 | StereoLabs ZED X |
| CAM11 | Luxonis OAK-D-PRO |
| LDR01 | RPLIDAR S1 |
| LDR06 | RPLIDAR S3 |
| LDR10 | Ouster OS0-32 |
| LDR11 | Ouster OS0-64 |
| LDR12 | Ouster OS0-128 |
| LDR13 | Ouster OS1-32 |
| LDR14 | Ouster OS1-64 |
| LDR15 | Ouster OS1-128 |
| LDR20 | Velodyne Puck |
| MAN01 | Universal Robots UR3e |
| MAN02 | Universal Robots UR5e |
| MAN04 | 6DoF Kinova Gen3 |
| MAN05 | 6DoF Kinova Gen3 + 3D vision |
| MAN06 | 7DoF Kinova Gen3 |
| MAN07 | 7DoF Kinova Gen3 + 3D vision |
| GRP02 | Robotiq 2F-85 |
| WCH01 | Wibotic receiver |
Including sensor
First build the package by running:
# create workspace folder and clone husarion_components_description
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/husarion_components_description.git src/husarion_components_description
# in case the package will be used within simulation
export HUSARION_ROS_BUILD_TYPE=simulation
rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build
To include the sensor, use the following code:
<!-- include file with definition of xacro macro of sensor -->
<xacro:include filename="$(find husarion_components_description)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />
<!-- evaluate the macro and place the sensor on robot -->
<xacro:lidar.slamtec_rplidar
parent_link="cover_link"
xyz="0.0 0.0 0.0"
rpy="0.0 0.0 0.0" />
A list of parameters can be found here:
-
parent_link[string, default: None] parent link to which sensor should be attached. -
xyz[float list, default: 0.0 0.0 0.0] 3 float values defining translation between base of a sensor and parent link. Values in m. -
rpy[float list, default: 0.0 0.0 0.0] 3 float values define rotation between parent link and base of a sensor. Values in rad. -
namespace[string, default: ’‘] global namespace common to the entire robot. -
device_namespace[string, default: ’‘] local namespace allowing to distinguish two identical devices from each other. -
model[string, default: ’‘] model argument that appears when you want to load the appropriate model from a given manufacturer.
Some sensors can define their specific parameters. Refer to their definition for more info.
CHANGELOG
No CHANGELOG found.
Package Dependencies
System Dependencies
| Name |
|---|
| python3-yaml |
Dependant Packages
| Name | Deps |
|---|---|
| husarion_ugv_description | |
| husarion_ugv_gazebo |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged husarion_components_description at Robotics Stack Exchange
No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.
|
|
husarion_components_description package from husarion_components_description repohusarion_components_description |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/husarion/husarion_components_description.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2025-07-10 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
URDF descriptions of components offered with Husarion robots
Additional Links
Maintainers
- Husarion
Authors
- Jakub Delikat
- Rafal Gorecki
- Dawid Kmak
- Pawel Kowalski
- Krzysztof Wojciechowski
husarion_components_description
URDF models of sensors and other components offered alongside with Husarion robots
Available URDF Sensors
| Code | Device Name |
| ----- | ---------------------------- |
| ANT02 | Teltonika 003R-00253 |
| CAM01 | Orbbec Astra |
| CAM03 | StereoLabs ZED 2 |
| CAM04 | StereoLabs ZED 2i |
| CAM05 | StereoLabs ZED M |
| CAM06 | StereoLabs ZED X |
| CAM11 | Luxonis OAK-D-PRO |
| LDR01 | RPLIDAR S1 |
| LDR06 | RPLIDAR S3 |
| LDR10 | Ouster OS0-32 |
| LDR11 | Ouster OS0-64 |
| LDR12 | Ouster OS0-128 |
| LDR13 | Ouster OS1-32 |
| LDR14 | Ouster OS1-64 |
| LDR15 | Ouster OS1-128 |
| LDR20 | Velodyne Puck |
| MAN01 | Universal Robots UR3e |
| MAN02 | Universal Robots UR5e |
| MAN04 | 6DoF Kinova Gen3 |
| MAN05 | 6DoF Kinova Gen3 + 3D vision |
| MAN06 | 7DoF Kinova Gen3 |
| MAN07 | 7DoF Kinova Gen3 + 3D vision |
| GRP02 | Robotiq 2F-85 |
| WCH01 | Wibotic receiver |
Including sensor
First build the package by running:
# create workspace folder and clone husarion_components_description
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/husarion_components_description.git src/husarion_components_description
# in case the package will be used within simulation
export HUSARION_ROS_BUILD_TYPE=simulation
rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build
To include the sensor, use the following code:
<!-- include file with definition of xacro macro of sensor -->
<xacro:include filename="$(find husarion_components_description)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />
<!-- evaluate the macro and place the sensor on robot -->
<xacro:lidar.slamtec_rplidar
parent_link="cover_link"
xyz="0.0 0.0 0.0"
rpy="0.0 0.0 0.0" />
A list of parameters can be found here:
-
parent_link[string, default: None] parent link to which sensor should be attached. -
xyz[float list, default: 0.0 0.0 0.0] 3 float values defining translation between base of a sensor and parent link. Values in m. -
rpy[float list, default: 0.0 0.0 0.0] 3 float values define rotation between parent link and base of a sensor. Values in rad. -
namespace[string, default: ’‘] global namespace common to the entire robot. -
device_namespace[string, default: ’‘] local namespace allowing to distinguish two identical devices from each other. -
model[string, default: ’‘] model argument that appears when you want to load the appropriate model from a given manufacturer.
Some sensors can define their specific parameters. Refer to their definition for more info.
CHANGELOG
No CHANGELOG found.
Package Dependencies
System Dependencies
| Name |
|---|
| python3-yaml |
Dependant Packages
| Name | Deps |
|---|---|
| husarion_ugv_description | |
| husarion_ugv_gazebo |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged husarion_components_description at Robotics Stack Exchange
No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.
|
|
husarion_components_description package from husarion_components_description repohusarion_components_description |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/husarion/husarion_components_description.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2025-07-10 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
URDF descriptions of components offered with Husarion robots
Additional Links
Maintainers
- Husarion
Authors
- Jakub Delikat
- Rafal Gorecki
- Dawid Kmak
- Pawel Kowalski
- Krzysztof Wojciechowski
husarion_components_description
URDF models of sensors and other components offered alongside with Husarion robots
Available URDF Sensors
| Code | Device Name |
| ----- | ---------------------------- |
| ANT02 | Teltonika 003R-00253 |
| CAM01 | Orbbec Astra |
| CAM03 | StereoLabs ZED 2 |
| CAM04 | StereoLabs ZED 2i |
| CAM05 | StereoLabs ZED M |
| CAM06 | StereoLabs ZED X |
| CAM11 | Luxonis OAK-D-PRO |
| LDR01 | RPLIDAR S1 |
| LDR06 | RPLIDAR S3 |
| LDR10 | Ouster OS0-32 |
| LDR11 | Ouster OS0-64 |
| LDR12 | Ouster OS0-128 |
| LDR13 | Ouster OS1-32 |
| LDR14 | Ouster OS1-64 |
| LDR15 | Ouster OS1-128 |
| LDR20 | Velodyne Puck |
| MAN01 | Universal Robots UR3e |
| MAN02 | Universal Robots UR5e |
| MAN04 | 6DoF Kinova Gen3 |
| MAN05 | 6DoF Kinova Gen3 + 3D vision |
| MAN06 | 7DoF Kinova Gen3 |
| MAN07 | 7DoF Kinova Gen3 + 3D vision |
| GRP02 | Robotiq 2F-85 |
| WCH01 | Wibotic receiver |
Including sensor
First build the package by running:
# create workspace folder and clone husarion_components_description
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/husarion_components_description.git src/husarion_components_description
# in case the package will be used within simulation
export HUSARION_ROS_BUILD_TYPE=simulation
rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build
To include the sensor, use the following code:
<!-- include file with definition of xacro macro of sensor -->
<xacro:include filename="$(find husarion_components_description)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />
<!-- evaluate the macro and place the sensor on robot -->
<xacro:lidar.slamtec_rplidar
parent_link="cover_link"
xyz="0.0 0.0 0.0"
rpy="0.0 0.0 0.0" />
A list of parameters can be found here:
-
parent_link[string, default: None] parent link to which sensor should be attached. -
xyz[float list, default: 0.0 0.0 0.0] 3 float values defining translation between base of a sensor and parent link. Values in m. -
rpy[float list, default: 0.0 0.0 0.0] 3 float values define rotation between parent link and base of a sensor. Values in rad. -
namespace[string, default: ’‘] global namespace common to the entire robot. -
device_namespace[string, default: ’‘] local namespace allowing to distinguish two identical devices from each other. -
model[string, default: ’‘] model argument that appears when you want to load the appropriate model from a given manufacturer.
Some sensors can define their specific parameters. Refer to their definition for more info.
CHANGELOG
No CHANGELOG found.
Package Dependencies
System Dependencies
| Name |
|---|
| python3-yaml |
Dependant Packages
| Name | Deps |
|---|---|
| husarion_ugv_description | |
| husarion_ugv_gazebo |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged husarion_components_description at Robotics Stack Exchange
No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.
|
|
husarion_components_description package from husarion_components_description repohusarion_components_description |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/husarion/husarion_components_description.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2025-07-10 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
URDF descriptions of components offered with Husarion robots
Additional Links
Maintainers
- Husarion
Authors
- Jakub Delikat
- Rafal Gorecki
- Dawid Kmak
- Pawel Kowalski
- Krzysztof Wojciechowski
husarion_components_description
URDF models of sensors and other components offered alongside with Husarion robots
Available URDF Sensors
| Code | Device Name |
| ----- | ---------------------------- |
| ANT02 | Teltonika 003R-00253 |
| CAM01 | Orbbec Astra |
| CAM03 | StereoLabs ZED 2 |
| CAM04 | StereoLabs ZED 2i |
| CAM05 | StereoLabs ZED M |
| CAM06 | StereoLabs ZED X |
| CAM11 | Luxonis OAK-D-PRO |
| LDR01 | RPLIDAR S1 |
| LDR06 | RPLIDAR S3 |
| LDR10 | Ouster OS0-32 |
| LDR11 | Ouster OS0-64 |
| LDR12 | Ouster OS0-128 |
| LDR13 | Ouster OS1-32 |
| LDR14 | Ouster OS1-64 |
| LDR15 | Ouster OS1-128 |
| LDR20 | Velodyne Puck |
| MAN01 | Universal Robots UR3e |
| MAN02 | Universal Robots UR5e |
| MAN04 | 6DoF Kinova Gen3 |
| MAN05 | 6DoF Kinova Gen3 + 3D vision |
| MAN06 | 7DoF Kinova Gen3 |
| MAN07 | 7DoF Kinova Gen3 + 3D vision |
| GRP02 | Robotiq 2F-85 |
| WCH01 | Wibotic receiver |
Including sensor
First build the package by running:
# create workspace folder and clone husarion_components_description
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/husarion_components_description.git src/husarion_components_description
# in case the package will be used within simulation
export HUSARION_ROS_BUILD_TYPE=simulation
rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build
To include the sensor, use the following code:
<!-- include file with definition of xacro macro of sensor -->
<xacro:include filename="$(find husarion_components_description)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />
<!-- evaluate the macro and place the sensor on robot -->
<xacro:lidar.slamtec_rplidar
parent_link="cover_link"
xyz="0.0 0.0 0.0"
rpy="0.0 0.0 0.0" />
A list of parameters can be found here:
-
parent_link[string, default: None] parent link to which sensor should be attached. -
xyz[float list, default: 0.0 0.0 0.0] 3 float values defining translation between base of a sensor and parent link. Values in m. -
rpy[float list, default: 0.0 0.0 0.0] 3 float values define rotation between parent link and base of a sensor. Values in rad. -
namespace[string, default: ’‘] global namespace common to the entire robot. -
device_namespace[string, default: ’‘] local namespace allowing to distinguish two identical devices from each other. -
model[string, default: ’‘] model argument that appears when you want to load the appropriate model from a given manufacturer.
Some sensors can define their specific parameters. Refer to their definition for more info.
CHANGELOG
No CHANGELOG found.
Package Dependencies
System Dependencies
| Name |
|---|
| python3-yaml |
Dependant Packages
| Name | Deps |
|---|---|
| husarion_ugv_description | |
| husarion_ugv_gazebo |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged husarion_components_description at Robotics Stack Exchange
No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.
|
|
husarion_components_description package from husarion_components_description repohusarion_components_description |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/husarion/husarion_components_description.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2025-07-10 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
URDF descriptions of components offered with Husarion robots
Additional Links
Maintainers
- Husarion
Authors
- Jakub Delikat
- Rafal Gorecki
- Dawid Kmak
- Pawel Kowalski
- Krzysztof Wojciechowski
husarion_components_description
URDF models of sensors and other components offered alongside with Husarion robots
Available URDF Sensors
| Code | Device Name |
| ----- | ---------------------------- |
| ANT02 | Teltonika 003R-00253 |
| CAM01 | Orbbec Astra |
| CAM03 | StereoLabs ZED 2 |
| CAM04 | StereoLabs ZED 2i |
| CAM05 | StereoLabs ZED M |
| CAM06 | StereoLabs ZED X |
| CAM11 | Luxonis OAK-D-PRO |
| LDR01 | RPLIDAR S1 |
| LDR06 | RPLIDAR S3 |
| LDR10 | Ouster OS0-32 |
| LDR11 | Ouster OS0-64 |
| LDR12 | Ouster OS0-128 |
| LDR13 | Ouster OS1-32 |
| LDR14 | Ouster OS1-64 |
| LDR15 | Ouster OS1-128 |
| LDR20 | Velodyne Puck |
| MAN01 | Universal Robots UR3e |
| MAN02 | Universal Robots UR5e |
| MAN04 | 6DoF Kinova Gen3 |
| MAN05 | 6DoF Kinova Gen3 + 3D vision |
| MAN06 | 7DoF Kinova Gen3 |
| MAN07 | 7DoF Kinova Gen3 + 3D vision |
| GRP02 | Robotiq 2F-85 |
| WCH01 | Wibotic receiver |
Including sensor
First build the package by running:
# create workspace folder and clone husarion_components_description
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/husarion_components_description.git src/husarion_components_description
# in case the package will be used within simulation
export HUSARION_ROS_BUILD_TYPE=simulation
rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build
To include the sensor, use the following code:
<!-- include file with definition of xacro macro of sensor -->
<xacro:include filename="$(find husarion_components_description)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />
<!-- evaluate the macro and place the sensor on robot -->
<xacro:lidar.slamtec_rplidar
parent_link="cover_link"
xyz="0.0 0.0 0.0"
rpy="0.0 0.0 0.0" />
A list of parameters can be found here:
-
parent_link[string, default: None] parent link to which sensor should be attached. -
xyz[float list, default: 0.0 0.0 0.0] 3 float values defining translation between base of a sensor and parent link. Values in m. -
rpy[float list, default: 0.0 0.0 0.0] 3 float values define rotation between parent link and base of a sensor. Values in rad. -
namespace[string, default: ’‘] global namespace common to the entire robot. -
device_namespace[string, default: ’‘] local namespace allowing to distinguish two identical devices from each other. -
model[string, default: ’‘] model argument that appears when you want to load the appropriate model from a given manufacturer.
Some sensors can define their specific parameters. Refer to their definition for more info.
CHANGELOG
No CHANGELOG found.
Package Dependencies
System Dependencies
| Name |
|---|
| python3-yaml |
Dependant Packages
| Name | Deps |
|---|---|
| husarion_ugv_description | |
| husarion_ugv_gazebo |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged husarion_components_description at Robotics Stack Exchange
No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.
|
|
husarion_components_description package from husarion_components_description repohusarion_components_description |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/husarion/husarion_components_description.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2025-07-10 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
URDF descriptions of components offered with Husarion robots
Additional Links
Maintainers
- Husarion
Authors
- Jakub Delikat
- Rafal Gorecki
- Dawid Kmak
- Pawel Kowalski
- Krzysztof Wojciechowski
husarion_components_description
URDF models of sensors and other components offered alongside with Husarion robots
Available URDF Sensors
| Code | Device Name |
| ----- | ---------------------------- |
| ANT02 | Teltonika 003R-00253 |
| CAM01 | Orbbec Astra |
| CAM03 | StereoLabs ZED 2 |
| CAM04 | StereoLabs ZED 2i |
| CAM05 | StereoLabs ZED M |
| CAM06 | StereoLabs ZED X |
| CAM11 | Luxonis OAK-D-PRO |
| LDR01 | RPLIDAR S1 |
| LDR06 | RPLIDAR S3 |
| LDR10 | Ouster OS0-32 |
| LDR11 | Ouster OS0-64 |
| LDR12 | Ouster OS0-128 |
| LDR13 | Ouster OS1-32 |
| LDR14 | Ouster OS1-64 |
| LDR15 | Ouster OS1-128 |
| LDR20 | Velodyne Puck |
| MAN01 | Universal Robots UR3e |
| MAN02 | Universal Robots UR5e |
| MAN04 | 6DoF Kinova Gen3 |
| MAN05 | 6DoF Kinova Gen3 + 3D vision |
| MAN06 | 7DoF Kinova Gen3 |
| MAN07 | 7DoF Kinova Gen3 + 3D vision |
| GRP02 | Robotiq 2F-85 |
| WCH01 | Wibotic receiver |
Including sensor
First build the package by running:
# create workspace folder and clone husarion_components_description
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/husarion_components_description.git src/husarion_components_description
# in case the package will be used within simulation
export HUSARION_ROS_BUILD_TYPE=simulation
rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build
To include the sensor, use the following code:
<!-- include file with definition of xacro macro of sensor -->
<xacro:include filename="$(find husarion_components_description)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />
<!-- evaluate the macro and place the sensor on robot -->
<xacro:lidar.slamtec_rplidar
parent_link="cover_link"
xyz="0.0 0.0 0.0"
rpy="0.0 0.0 0.0" />
A list of parameters can be found here:
-
parent_link[string, default: None] parent link to which sensor should be attached. -
xyz[float list, default: 0.0 0.0 0.0] 3 float values defining translation between base of a sensor and parent link. Values in m. -
rpy[float list, default: 0.0 0.0 0.0] 3 float values define rotation between parent link and base of a sensor. Values in rad. -
namespace[string, default: ’‘] global namespace common to the entire robot. -
device_namespace[string, default: ’‘] local namespace allowing to distinguish two identical devices from each other. -
model[string, default: ’‘] model argument that appears when you want to load the appropriate model from a given manufacturer.
Some sensors can define their specific parameters. Refer to their definition for more info.
CHANGELOG
No CHANGELOG found.
Package Dependencies
System Dependencies
| Name |
|---|
| python3-yaml |
Dependant Packages
| Name | Deps |
|---|---|
| husarion_ugv_description | |
| husarion_ugv_gazebo |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged husarion_components_description at Robotics Stack Exchange
No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.
|
|
husarion_components_description package from husarion_components_description repohusarion_components_description |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/husarion/husarion_components_description.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2025-07-10 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
URDF descriptions of components offered with Husarion robots
Additional Links
Maintainers
- Husarion
Authors
- Jakub Delikat
- Rafal Gorecki
- Dawid Kmak
- Pawel Kowalski
- Krzysztof Wojciechowski
husarion_components_description
URDF models of sensors and other components offered alongside with Husarion robots
Available URDF Sensors
| Code | Device Name |
| ----- | ---------------------------- |
| ANT02 | Teltonika 003R-00253 |
| CAM01 | Orbbec Astra |
| CAM03 | StereoLabs ZED 2 |
| CAM04 | StereoLabs ZED 2i |
| CAM05 | StereoLabs ZED M |
| CAM06 | StereoLabs ZED X |
| CAM11 | Luxonis OAK-D-PRO |
| LDR01 | RPLIDAR S1 |
| LDR06 | RPLIDAR S3 |
| LDR10 | Ouster OS0-32 |
| LDR11 | Ouster OS0-64 |
| LDR12 | Ouster OS0-128 |
| LDR13 | Ouster OS1-32 |
| LDR14 | Ouster OS1-64 |
| LDR15 | Ouster OS1-128 |
| LDR20 | Velodyne Puck |
| MAN01 | Universal Robots UR3e |
| MAN02 | Universal Robots UR5e |
| MAN04 | 6DoF Kinova Gen3 |
| MAN05 | 6DoF Kinova Gen3 + 3D vision |
| MAN06 | 7DoF Kinova Gen3 |
| MAN07 | 7DoF Kinova Gen3 + 3D vision |
| GRP02 | Robotiq 2F-85 |
| WCH01 | Wibotic receiver |
Including sensor
First build the package by running:
# create workspace folder and clone husarion_components_description
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/husarion_components_description.git src/husarion_components_description
# in case the package will be used within simulation
export HUSARION_ROS_BUILD_TYPE=simulation
rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build
To include the sensor, use the following code:
<!-- include file with definition of xacro macro of sensor -->
<xacro:include filename="$(find husarion_components_description)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />
<!-- evaluate the macro and place the sensor on robot -->
<xacro:lidar.slamtec_rplidar
parent_link="cover_link"
xyz="0.0 0.0 0.0"
rpy="0.0 0.0 0.0" />
A list of parameters can be found here:
-
parent_link[string, default: None] parent link to which sensor should be attached. -
xyz[float list, default: 0.0 0.0 0.0] 3 float values defining translation between base of a sensor and parent link. Values in m. -
rpy[float list, default: 0.0 0.0 0.0] 3 float values define rotation between parent link and base of a sensor. Values in rad. -
namespace[string, default: ’‘] global namespace common to the entire robot. -
device_namespace[string, default: ’‘] local namespace allowing to distinguish two identical devices from each other. -
model[string, default: ’‘] model argument that appears when you want to load the appropriate model from a given manufacturer.
Some sensors can define their specific parameters. Refer to their definition for more info.
CHANGELOG
No CHANGELOG found.
Package Dependencies
System Dependencies
| Name |
|---|
| python3-yaml |
Dependant Packages
| Name | Deps |
|---|---|
| husarion_ugv_description | |
| husarion_ugv_gazebo |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged husarion_components_description at Robotics Stack Exchange
No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.
|
|
husarion_components_description package from husarion_components_description repohusarion_components_description |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/husarion/husarion_components_description.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2025-07-10 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
URDF descriptions of components offered with Husarion robots
Additional Links
Maintainers
- Husarion
Authors
- Jakub Delikat
- Rafal Gorecki
- Dawid Kmak
- Pawel Kowalski
- Krzysztof Wojciechowski
husarion_components_description
URDF models of sensors and other components offered alongside with Husarion robots
Available URDF Sensors
| Code | Device Name |
| ----- | ---------------------------- |
| ANT02 | Teltonika 003R-00253 |
| CAM01 | Orbbec Astra |
| CAM03 | StereoLabs ZED 2 |
| CAM04 | StereoLabs ZED 2i |
| CAM05 | StereoLabs ZED M |
| CAM06 | StereoLabs ZED X |
| CAM11 | Luxonis OAK-D-PRO |
| LDR01 | RPLIDAR S1 |
| LDR06 | RPLIDAR S3 |
| LDR10 | Ouster OS0-32 |
| LDR11 | Ouster OS0-64 |
| LDR12 | Ouster OS0-128 |
| LDR13 | Ouster OS1-32 |
| LDR14 | Ouster OS1-64 |
| LDR15 | Ouster OS1-128 |
| LDR20 | Velodyne Puck |
| MAN01 | Universal Robots UR3e |
| MAN02 | Universal Robots UR5e |
| MAN04 | 6DoF Kinova Gen3 |
| MAN05 | 6DoF Kinova Gen3 + 3D vision |
| MAN06 | 7DoF Kinova Gen3 |
| MAN07 | 7DoF Kinova Gen3 + 3D vision |
| GRP02 | Robotiq 2F-85 |
| WCH01 | Wibotic receiver |
Including sensor
First build the package by running:
# create workspace folder and clone husarion_components_description
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/husarion_components_description.git src/husarion_components_description
# in case the package will be used within simulation
export HUSARION_ROS_BUILD_TYPE=simulation
rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build
To include the sensor, use the following code:
<!-- include file with definition of xacro macro of sensor -->
<xacro:include filename="$(find husarion_components_description)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />
<!-- evaluate the macro and place the sensor on robot -->
<xacro:lidar.slamtec_rplidar
parent_link="cover_link"
xyz="0.0 0.0 0.0"
rpy="0.0 0.0 0.0" />
A list of parameters can be found here:
-
parent_link[string, default: None] parent link to which sensor should be attached. -
xyz[float list, default: 0.0 0.0 0.0] 3 float values defining translation between base of a sensor and parent link. Values in m. -
rpy[float list, default: 0.0 0.0 0.0] 3 float values define rotation between parent link and base of a sensor. Values in rad. -
namespace[string, default: ’‘] global namespace common to the entire robot. -
device_namespace[string, default: ’‘] local namespace allowing to distinguish two identical devices from each other. -
model[string, default: ’‘] model argument that appears when you want to load the appropriate model from a given manufacturer.
Some sensors can define their specific parameters. Refer to their definition for more info.
CHANGELOG
No CHANGELOG found.
Package Dependencies
System Dependencies
| Name |
|---|
| python3-yaml |
Dependant Packages
| Name | Deps |
|---|---|
| husarion_ugv_description | |
| husarion_ugv_gazebo |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged husarion_components_description at Robotics Stack Exchange
No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.
|
|
husarion_components_description package from husarion_components_description repohusarion_components_description |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/husarion/husarion_components_description.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2025-07-10 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
URDF descriptions of components offered with Husarion robots
Additional Links
Maintainers
- Husarion
Authors
- Jakub Delikat
- Rafal Gorecki
- Dawid Kmak
- Pawel Kowalski
- Krzysztof Wojciechowski
husarion_components_description
URDF models of sensors and other components offered alongside with Husarion robots
Available URDF Sensors
| Code | Device Name |
| ----- | ---------------------------- |
| ANT02 | Teltonika 003R-00253 |
| CAM01 | Orbbec Astra |
| CAM03 | StereoLabs ZED 2 |
| CAM04 | StereoLabs ZED 2i |
| CAM05 | StereoLabs ZED M |
| CAM06 | StereoLabs ZED X |
| CAM11 | Luxonis OAK-D-PRO |
| LDR01 | RPLIDAR S1 |
| LDR06 | RPLIDAR S3 |
| LDR10 | Ouster OS0-32 |
| LDR11 | Ouster OS0-64 |
| LDR12 | Ouster OS0-128 |
| LDR13 | Ouster OS1-32 |
| LDR14 | Ouster OS1-64 |
| LDR15 | Ouster OS1-128 |
| LDR20 | Velodyne Puck |
| MAN01 | Universal Robots UR3e |
| MAN02 | Universal Robots UR5e |
| MAN04 | 6DoF Kinova Gen3 |
| MAN05 | 6DoF Kinova Gen3 + 3D vision |
| MAN06 | 7DoF Kinova Gen3 |
| MAN07 | 7DoF Kinova Gen3 + 3D vision |
| GRP02 | Robotiq 2F-85 |
| WCH01 | Wibotic receiver |
Including sensor
First build the package by running:
# create workspace folder and clone husarion_components_description
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/husarion_components_description.git src/husarion_components_description
# in case the package will be used within simulation
export HUSARION_ROS_BUILD_TYPE=simulation
rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build
To include the sensor, use the following code:
<!-- include file with definition of xacro macro of sensor -->
<xacro:include filename="$(find husarion_components_description)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />
<!-- evaluate the macro and place the sensor on robot -->
<xacro:lidar.slamtec_rplidar
parent_link="cover_link"
xyz="0.0 0.0 0.0"
rpy="0.0 0.0 0.0" />
A list of parameters can be found here:
-
parent_link[string, default: None] parent link to which sensor should be attached. -
xyz[float list, default: 0.0 0.0 0.0] 3 float values defining translation between base of a sensor and parent link. Values in m. -
rpy[float list, default: 0.0 0.0 0.0] 3 float values define rotation between parent link and base of a sensor. Values in rad. -
namespace[string, default: ’‘] global namespace common to the entire robot. -
device_namespace[string, default: ’‘] local namespace allowing to distinguish two identical devices from each other. -
model[string, default: ’‘] model argument that appears when you want to load the appropriate model from a given manufacturer.
Some sensors can define their specific parameters. Refer to their definition for more info.
CHANGELOG
No CHANGELOG found.
Package Dependencies
System Dependencies
| Name |
|---|
| python3-yaml |
Dependant Packages
| Name | Deps |
|---|---|
| husarion_ugv_description | |
| husarion_ugv_gazebo |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged husarion_components_description at Robotics Stack Exchange
No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.
|
|
husarion_components_description package from husarion_components_description repohusarion_components_description |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/husarion/husarion_components_description.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2025-07-10 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
URDF descriptions of components offered with Husarion robots
Additional Links
Maintainers
- Husarion
Authors
- Jakub Delikat
- Rafal Gorecki
- Dawid Kmak
- Pawel Kowalski
- Krzysztof Wojciechowski
husarion_components_description
URDF models of sensors and other components offered alongside with Husarion robots
Available URDF Sensors
| Code | Device Name |
| ----- | ---------------------------- |
| ANT02 | Teltonika 003R-00253 |
| CAM01 | Orbbec Astra |
| CAM03 | StereoLabs ZED 2 |
| CAM04 | StereoLabs ZED 2i |
| CAM05 | StereoLabs ZED M |
| CAM06 | StereoLabs ZED X |
| CAM11 | Luxonis OAK-D-PRO |
| LDR01 | RPLIDAR S1 |
| LDR06 | RPLIDAR S3 |
| LDR10 | Ouster OS0-32 |
| LDR11 | Ouster OS0-64 |
| LDR12 | Ouster OS0-128 |
| LDR13 | Ouster OS1-32 |
| LDR14 | Ouster OS1-64 |
| LDR15 | Ouster OS1-128 |
| LDR20 | Velodyne Puck |
| MAN01 | Universal Robots UR3e |
| MAN02 | Universal Robots UR5e |
| MAN04 | 6DoF Kinova Gen3 |
| MAN05 | 6DoF Kinova Gen3 + 3D vision |
| MAN06 | 7DoF Kinova Gen3 |
| MAN07 | 7DoF Kinova Gen3 + 3D vision |
| GRP02 | Robotiq 2F-85 |
| WCH01 | Wibotic receiver |
Including sensor
First build the package by running:
# create workspace folder and clone husarion_components_description
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/husarion_components_description.git src/husarion_components_description
# in case the package will be used within simulation
export HUSARION_ROS_BUILD_TYPE=simulation
rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build
To include the sensor, use the following code:
<!-- include file with definition of xacro macro of sensor -->
<xacro:include filename="$(find husarion_components_description)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />
<!-- evaluate the macro and place the sensor on robot -->
<xacro:lidar.slamtec_rplidar
parent_link="cover_link"
xyz="0.0 0.0 0.0"
rpy="0.0 0.0 0.0" />
A list of parameters can be found here:
-
parent_link[string, default: None] parent link to which sensor should be attached. -
xyz[float list, default: 0.0 0.0 0.0] 3 float values defining translation between base of a sensor and parent link. Values in m. -
rpy[float list, default: 0.0 0.0 0.0] 3 float values define rotation between parent link and base of a sensor. Values in rad. -
namespace[string, default: ’‘] global namespace common to the entire robot. -
device_namespace[string, default: ’‘] local namespace allowing to distinguish two identical devices from each other. -
model[string, default: ’‘] model argument that appears when you want to load the appropriate model from a given manufacturer.
Some sensors can define their specific parameters. Refer to their definition for more info.
CHANGELOG
No CHANGELOG found.
Package Dependencies
System Dependencies
| Name |
|---|
| python3-yaml |
Dependant Packages
| Name | Deps |
|---|---|
| husarion_ugv_description | |
| husarion_ugv_gazebo |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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husarion_components_description package from husarion_components_description repohusarion_components_description |
ROS Distro
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Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/husarion/husarion_components_description.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2025-07-10 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
URDF descriptions of components offered with Husarion robots
Additional Links
Maintainers
- Husarion
Authors
- Jakub Delikat
- Rafal Gorecki
- Dawid Kmak
- Pawel Kowalski
- Krzysztof Wojciechowski
husarion_components_description
URDF models of sensors and other components offered alongside with Husarion robots
Available URDF Sensors
| Code | Device Name |
| ----- | ---------------------------- |
| ANT02 | Teltonika 003R-00253 |
| CAM01 | Orbbec Astra |
| CAM03 | StereoLabs ZED 2 |
| CAM04 | StereoLabs ZED 2i |
| CAM05 | StereoLabs ZED M |
| CAM06 | StereoLabs ZED X |
| CAM11 | Luxonis OAK-D-PRO |
| LDR01 | RPLIDAR S1 |
| LDR06 | RPLIDAR S3 |
| LDR10 | Ouster OS0-32 |
| LDR11 | Ouster OS0-64 |
| LDR12 | Ouster OS0-128 |
| LDR13 | Ouster OS1-32 |
| LDR14 | Ouster OS1-64 |
| LDR15 | Ouster OS1-128 |
| LDR20 | Velodyne Puck |
| MAN01 | Universal Robots UR3e |
| MAN02 | Universal Robots UR5e |
| MAN04 | 6DoF Kinova Gen3 |
| MAN05 | 6DoF Kinova Gen3 + 3D vision |
| MAN06 | 7DoF Kinova Gen3 |
| MAN07 | 7DoF Kinova Gen3 + 3D vision |
| GRP02 | Robotiq 2F-85 |
| WCH01 | Wibotic receiver |
Including sensor
First build the package by running:
# create workspace folder and clone husarion_components_description
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/husarion_components_description.git src/husarion_components_description
# in case the package will be used within simulation
export HUSARION_ROS_BUILD_TYPE=simulation
rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build
To include the sensor, use the following code:
<!-- include file with definition of xacro macro of sensor -->
<xacro:include filename="$(find husarion_components_description)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />
<!-- evaluate the macro and place the sensor on robot -->
<xacro:lidar.slamtec_rplidar
parent_link="cover_link"
xyz="0.0 0.0 0.0"
rpy="0.0 0.0 0.0" />
A list of parameters can be found here:
-
parent_link[string, default: None] parent link to which sensor should be attached. -
xyz[float list, default: 0.0 0.0 0.0] 3 float values defining translation between base of a sensor and parent link. Values in m. -
rpy[float list, default: 0.0 0.0 0.0] 3 float values define rotation between parent link and base of a sensor. Values in rad. -
namespace[string, default: ’‘] global namespace common to the entire robot. -
device_namespace[string, default: ’‘] local namespace allowing to distinguish two identical devices from each other. -
model[string, default: ’‘] model argument that appears when you want to load the appropriate model from a given manufacturer.
Some sensors can define their specific parameters. Refer to their definition for more info.
CHANGELOG
No CHANGELOG found.
Package Dependencies
System Dependencies
| Name |
|---|
| python3-yaml |
Dependant Packages
| Name | Deps |
|---|---|
| husarion_ugv_description | |
| husarion_ugv_gazebo |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.