husarion_ugv_gazebo

The package contains a launch file and source files used to run the robot simulation in Gazebo. The simulator tries to reproduce the behavior of a real robot as much as possible, including the provision of an analogous ROS_API.

Launch Files

• spawn_robot.launch.py: Responsible for spawning the robot in the simulator.
• simulate_robot.launch.py: Responsible for giving birth to the robot and simulating its physical behavior, such as driving, displaying data, etc.
• simulate_multiple_robots.launch.py: Similar to the above with logic allowing you to quickly add a swarm of robots.
• simulation.launch.py: A target file that runs the gazebo simulator that adds and simulates the robot’s behavior in accordance with the given arguments.

Configuration Files

• battery_plugin.yaml: Simulated LinearBatteryPlugin configuration.
• gz_bridge.yaml: Specify data to exchange between ROS and Gazebo simulation.
• teleop_with_estop.config: Gazebo layout configuration file, which adds E-Stop and Teleop widgets.

ROS Nodes

EStop

EStop is a Gazebo GUI plugin responsible for easy and convenient changing of the robot’s E-stop state.

Service Clients

• hardware/e_stop_reset [std_srvs/Trigger]: Resets E-stop.
• hardware/e_stop_trigger [std_srvs/Trigger]: Triggers E-stop.

EStopSystem

Plugin based on ign_system is responsible for handling sensor interfaces (only IMU for now) and sending requests for joints compatible with ros2_control. Plugin also adds E-Stop support.

Publishers

• gz_ros2_control/e_stop [std_msgs/Bool]: Current E-stop state.

Service Servers

• gz_ros2_control/e_stop_reset [std_srvs/Trigger]: Resets E-stop.
• gz_ros2_control/e_stop_trigger [std_srvs/Trigger]: Triggers E-stop.

[!NOTE] Above topics and services should be remapped to match real robot

Parameters

Required parameters are defined when including the interface in the URDF (you can check out panther_macro.urdf.xacro).

• e_stop_initial_state [bool, default: true]: Initial state of E-stop.

LEDStrip

LEDStrip is a Gazebo System plugin responsible for visualizing light and displaying markers based on the data received from a gz::msgs::Image message.

[!NOTE] The topics and services mentioned below are related to Gazebo interfaces, not ROS interfaces.

Subscribers

• {topic} [gz::msgs::Image]: Subscribes to an image message for visualization. The topic is specified via a parameter.

Service Servers

• /marker [gz::msgs::Marker]: Service to request markers for visualizing the received image.

Parameters

The following parameters are required when including this interface in the URDF (you can refer to the gazebo.urdf.xacro file for details).

• light_name [string, default: ”“]: The name of the light entity. The visualization will be attached to this entity.
• topic [string, default: ”“]: The name of the topic from which the Image message is received.
• namespace [string, default: ”“]: Specifies the namespace to differentiate topics and models in scenarios with multiple robots.
• frequency [double, default: 10.0]: Defines the frequency at which the animation is updated.
• width [double, default: 1.0]: Specifies the width (y-axis) of the visualization array.
• height [double, default: 1.0]: Specifies the height (z-axis) of the visualization array.

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_gazebo \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

• Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-shutdown-request
• Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-enchance-performance
• Contributors: kmakd

2.2.0 (2025-03-13)

• Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
• Merge pull request #496 from husarion/repo-rename
• update links
• Merge branch 'ros2-devel' into lights-new
• E-Stop GUI reacts to changing e_stop state (#481)
• Add log level argument to launch files (#473)
• Updated deprecated includes (#487)
• Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
• Merge pull request #480 from husarion/ros2-cmake-export
• Add exports to cmake
• Changed add joints to use_joint_state_publisher | added joint state p… (#470)
• Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
• Merge pull request #466 from husarion/ros2-add-msgs
• Merge branch 'ros2-devel' into ros2-add-msgs
• Merge branch 'ros2-devel' into add-panther-diagnostics-config
• Merge remote-tracking branch 'origin/ros2-devel' into ros2-devel
• Add husarion_ugv_msgs
• Merge pull request #457 from husarion/ros2-lynx-devel
• Merge pull request #455 from husarion/ros2-lynx-merge
• use ROBOT_MODEL_NAME env
• Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-lynx-devel
• Merge pull request #433 from husarion/ros2-add-rviz-launch
• Move RViz arg
• Add RViz launch
• Ros2 husarion ugv v2 (#422)
• Contributors: BOOTCFG, Dawid Kmak, Jakub Delicat, Miłosz Łagan, Rafal Gorecki, Stefan, kmakd, rafal-gorecki

2.1.2 (2024-12-02)

• Merge branch 'ros2-devel' into ros2-lights-tests
• Contributors: pawelirh

2.1.1 (2024-09-05)

• LEDStrip plugin to Gazebo (#391)
• Merge branch 'ros2-devel' into ros2-ns-refactor
• Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-add-nmea-gps
• Merge pull request #383 from husarion/ros-sim-estop
• Dawid suggestions
• Update panther_gazebo/include/panther_gazebo/gz_panther_system.hpp
• Merge remote-tracking branch 'origin/ros2-devel' into ros2-testing-poc
• Merge pull request #386 from husarion/ros2-unify-filenames
• delete typo
• Dawid suggestions
• Update panther_gazebo/src/gz_panther_system.cpp
• Update panther_gazebo/src/gz_panther_system.cpp
• Update panther_gazebo/include/panther_gazebo/gz_panther_system.hpp
• Fix links in documentations (#387)
• Rename PantherSystem -> GzPantherSystem
• Dawid suggestions part 1
• Change to Estop -> EStop
• Inherit from IgnitionSystem
• Move estop to plugins folder

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