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husarion_ugv_manager package from husarion_ugv_ros repo

husarion_ugv husarion_ugv_battery husarion_ugv_bringup husarion_ugv_controller husarion_ugv_description husarion_ugv_diagnostics husarion_ugv_gazebo husarion_ugv_hardware_interfaces husarion_ugv_lights husarion_ugv_localization husarion_ugv_manager husarion_ugv_msgs husarion_ugv_utils

ROS Distro
humble

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.2.1
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/husarion/husarion_ugv_ros.git
VCS Type git
VCS Version humble
Last Updated 2025-04-04
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Set of nodes used for high level management of Husarion UGV

Additional Links

Maintainers

  • Husarion

Authors

  • Jakub Delicat
  • Dawid Kmak
husarion_ugv_manager/README.md

husarion_ugv_manager

A package containing nodes responsible for high-level control of Husarion UGV.

Launch Files

This package contains:

  • manager.launch.py: Responsible for launching behavior trees responsible for safety and LED animations scheduling.

Configuration Files

ROS Nodes

lights_manager_node

Node responsible for managing Bumper Lights animation scheduling.

Subscribers

  • battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.
  • hardware/e_stop [std_msgs/Bool]: State of emergency stop.

Service Clients (for Default Trees)

  • ~/lights/set_animation [husarion_ugv_msgs/SetLEDAnimation]: Allows setting animation on Bumper Lights based on animation ID.

Parameters

  • battery.anim_period.critical [float, default: 15.0]: Time in [s] to wait before repeating animation, indicating a critical Battery state.
  • battery.anim_period.low [float, default: 30.0]: Time in [s] to wait before repeating the animation, indicating a low Battery state.
  • battery.charging_anim_step [float, default: 0.1]: This parameter defines the minimum change in battery percentage required to trigger an update in the battery charging animation.
  • battery.percent.threshold.critical [float, default: 0.1]: If the Battery percentage drops below this value, an animation indicating a critical Battery state will start being displayed.
  • battery.percent.threshold.low [float, default: 0.4]: If the Battery percentage drops below this value, the animation indicating a low Battery state will start being displayed.
  • battery.percent.window_len [int, default: 6]: Moving average window length used to smooth out Battery percentage readings.
  • bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.
  • plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.
  • ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.
  • ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.
  • ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.
  • timer_frequency [float, default: 10.0]: Frequency [Hz] at which lights tree will be ticked.

safety_manager_node

Node responsible for managing safety features, and software shutdown of components.

Subscribers

  • battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.
  • hardware/e_stop [std_msgs/Bool]: State of emergency stop.
  • hardware/io_state [husarion_ugv_msgs/IOState]: State of IO pins.
  • hardware/robot_driver_state [husarion_ugv_msgs/RobotDriverState]: State of motor controllers.
  • system_status [husarion_ugv_msgs/SystemStatus]: Built-in computer system status, includes the most important computation-related parameters.

Service Clients (for Default Trees)

  • ~/hardware/aux_power_enable [std_srvs/SetBool]: Enables Aux Power output.
  • ~/hardware/e_stop_trigger [std_srvs/Trigger]: Triggers E-stop.
  • ~/hardware/fan_enable [std_srvs/SetBool]: Enables fan.

Parameters

  • battery.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Battery.
  • bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.
  • cpu.temp.fan_off [float, default: 60.0]: Temperature in [°C] of the Built-in Computer’s CPU, below which the fan is turned off.
  • cpu.temp.fan_on [float, default: 70.0]: Temperature in [°C] of the Built-in Computer’s CPU, above which the fan is turned on.
  • cpu.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Built-in Computer’s CPU.
  • driver.temp.fan_off [float, default: 35.0]: Temperature in [°C] of any drivers below which the fan is turned off.
  • driver.temp.fan_on [float, default: 45.0]: Temperature in [°C] of any drivers above which the fan is turned on.
  • driver.temp.window_len [int, default: 6]: Moving average window length used to smooth out the temperature readings of each driver.
  • fan_turn_off_timeout [float, default: 60.0]: Minimal time in [s], after which the fan may be turned off.
  • plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.
  • ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.
  • ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.
  • ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.
  • shutdown_hosts_path [string, default: None]: Path to a YAML file containing a list of hosts to request shutdown. To correctly format the YAML file, include a hosts field consisting of a list with the following fields:
    • ip [string, default: None]: IP of a host to shutdown using HTTP request.
    • port [string, default: 3003]: HTTP communication port.
    • secret [string, default: husarion]: Secret to sign HTTP request with.
    • timeout [string, default: 5.0]: Time in [s] to wait for the host to shutdown. The Built-in Computer will turn off after all computers are shutdown or reached timeout. Keep in mind that hardware will cut power off after a given time after pressing the power button. Refer to the hardware manual for more information.
  • timer_frequency [float, default: 10.0]: Frequency [Hz] at which safety tree will be ticked.
CHANGELOG

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_manager \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

  • Merge pull request #512 from husarion/ros2-fix-intergration-tests
  • fix paths
  • Fix missing overheating error animation (#501)
  • Merge pull request #493 from husarion/ros2-shutdown-request
  • 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
  • update docs
  • fix lights bt tests
  • update lights bt
  • update animations
  • add time conversion test
  • fix time
  • clean up
  • update tree
  • clean up
  • do an "implementation back flip"
  • ping host to check if it is still available
  • check server return code
  • add shutdown_remote_host_node
  • add CommandHandlerInterface
  • read command output
  • use fork to call commands
  • Contributors: Dawid Kmak, Stefan, kmakd

2.2.0 (2025-03-13)

  • update docs and battery timeout (#500)
  • Merge pull request #499 from husarion/docs_fix
  • release fixes (#497)
  • ROS 2 fix manager ports (#495)
  • Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
  • Merge pull request #496 from husarion/repo-rename
  • Merge pull request #484 from husarion/lights-new
  • ROS 2 lights new review (#494)
  • update links
  • Merge branch 'ros2-devel' into lights-new
  • reverted header fix
  • added autoremap to btcpp subtrees
  • manager review changes
  • Merge pull request #490 from husarion/ros2-fix-bild-warnings
  • decreased charging animation step
  • better animations visibility
  • updated LEDAnimation message
  • animation renaming
  • addedd position mirroring
  • hotfix
  • new animations
  • added drive state to lights blackboard
  • fix build warnings
  • Ros2 unit test workflow (#471)
  • Add log level argument to launch files (#473)
  • Ros2 expot test directory (#483)
  • Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
  • Merge pull request #480 from husarion/ros2-cmake-export
  • Suggestions
  • Add ament_index_cpp dependency
  • Add exports to cmake
  • Parameters reorganisation (#472)
  • ROS2 docking utils (#462)
  • Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
  • Merge pull request #466 from husarion/ros2-add-msgs

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged husarion_ugv_manager at Robotics Stack Exchange

Package symbol

husarion_ugv_manager package from husarion_ugv_ros repo

husarion_ugv husarion_ugv_battery husarion_ugv_bringup husarion_ugv_controller husarion_ugv_description husarion_ugv_diagnostics husarion_ugv_gazebo husarion_ugv_hardware_interfaces husarion_ugv_lights husarion_ugv_localization husarion_ugv_manager husarion_ugv_msgs husarion_ugv_utils

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.3.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/husarion/husarion_ugv_ros.git
VCS Type git
VCS Version ros2
Last Updated 2025-05-29
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Set of nodes used for high level management of Husarion UGV

Additional Links

Maintainers

  • Husarion

Authors

  • Jakub Delicat
  • Dawid Kmak
husarion_ugv_manager/README.md

husarion_ugv_manager

A package containing nodes responsible for high-level control of Husarion UGV.

Launch Files

This package contains:

  • manager.launch.py: Responsible for launching behavior trees responsible for safety and LED animations scheduling.

Configuration Files

ROS Nodes

lights_manager_node

Node responsible for managing Bumper Lights animation scheduling.

Subscribers

  • battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.
  • hardware/e_stop [std_msgs/Bool]: State of emergency stop.

Service Clients (for Default Trees)

  • ~/lights/set_animation [husarion_ugv_msgs/SetLEDAnimation]: Allows setting animation on Bumper Lights based on animation ID.

Parameters

  • battery.anim_period.critical [float, default: 15.0]: Time in [s] to wait before repeating animation, indicating a critical Battery state.
  • battery.anim_period.low [float, default: 30.0]: Time in [s] to wait before repeating the animation, indicating a low Battery state.
  • battery.charging_anim_step [float, default: 0.1]: This parameter defines the minimum change in battery percentage required to trigger an update in the battery charging animation.
  • battery.percent.threshold.critical [float, default: 0.1]: If the Battery percentage drops below this value, an animation indicating a critical Battery state will start being displayed.
  • battery.percent.threshold.low [float, default: 0.4]: If the Battery percentage drops below this value, the animation indicating a low Battery state will start being displayed.
  • battery.percent.window_len [int, default: 6]: Moving average window length used to smooth out Battery percentage readings.
  • bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.
  • plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.
  • ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.
  • ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.
  • ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.
  • timer_frequency [float, default: 10.0]: Frequency [Hz] at which lights tree will be ticked.

safety_manager_node

Node responsible for managing safety features, and software shutdown of components.

Subscribers

  • battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.
  • hardware/e_stop [std_msgs/Bool]: State of emergency stop.
  • hardware/io_state [husarion_ugv_msgs/IOState]: State of IO pins.
  • hardware/robot_driver_state [husarion_ugv_msgs/RobotDriverState]: State of motor controllers.
  • system_status [husarion_ugv_msgs/SystemStatus]: Built-in computer system status, includes the most important computation-related parameters.

Service Clients (for Default Trees)

  • ~/hardware/aux_power_enable [std_srvs/SetBool]: Enables Aux Power output.
  • ~/hardware/e_stop_trigger [std_srvs/Trigger]: Triggers E-stop.
  • ~/hardware/fan_enable [std_srvs/SetBool]: Enables fan.

Parameters

  • battery.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Battery.
  • bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.
  • cpu.temp.fan_off [float, default: 60.0]: Temperature in [°C] of the Built-in Computer’s CPU, below which the fan is turned off.
  • cpu.temp.fan_on [float, default: 70.0]: Temperature in [°C] of the Built-in Computer’s CPU, above which the fan is turned on.
  • cpu.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Built-in Computer’s CPU.
  • driver.temp.fan_off [float, default: 35.0]: Temperature in [°C] of any drivers below which the fan is turned off.
  • driver.temp.fan_on [float, default: 45.0]: Temperature in [°C] of any drivers above which the fan is turned on.
  • driver.temp.window_len [int, default: 6]: Moving average window length used to smooth out the temperature readings of each driver.
  • fan_turn_off_timeout [float, default: 60.0]: Minimal time in [s], after which the fan may be turned off.
  • plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.
  • ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.
  • ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.
  • ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.
  • shutdown_hosts_path [string, default: None]: Path to a YAML file containing a list of hosts to request shutdown. To correctly format the YAML file, include a hosts field consisting of a list with the following fields:
    • ip [string, default: None]: IP of a host to shutdown using HTTP request.
    • port [string, default: 3003]: HTTP communication port.
    • secret [string, default: husarion]: Secret to sign HTTP request with.
    • timeout [string, default: 5.0]: Time in [s] to wait for the host to shutdown. The Built-in Computer will turn off after all computers are shutdown or reached timeout. Keep in mind that hardware will cut power off after a given time after pressing the power button. Refer to the hardware manual for more information.
  • timer_frequency [float, default: 10.0]: Frequency [Hz] at which safety tree will be ticked.
CHANGELOG

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_manager \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.3.0 (2025-05-19)

  • Revert "Update changelog"
  • Revert "2.3.0"
  • Revert "2.3.0"
  • Revert "Update changelog"
  • Reapply "Release 2.3.0 to ros2"
  • Merge branch 'ros2' of https://github.com/husarion/husarion_ugv_ros into rel-test
  • Merge pull request #550 from husarion/release-2.3.0
  • 2.3.0
  • Update changelog
  • Merge pull request #549 from husarion/revert-546-release-2.3.0
  • Revert "Release 2.3.0"
  • Merge pull request #548 from husarion/revert-547-2.3.0-20250425
  • Revert "Release 2.3.0 to ros2"
  • Merge pull request #547 from husarion/2.3.0-20250425
  • Merge pull request #546 from husarion/release-2.3.0
  • 2.3.0
  • Update changelog
  • fix lights manager (#537)
  • Merge remote-tracking branch 'origin/ros2-devel' into change-pat
  • Merge pull request #518 from husarion/jazzy-devel-hw
  • Delete debuging changes
  • Dawid suggestions
  • Merge branch 'ros2-devel' into jazzy-devel-hw
  • update minimal version in manager
  • Fix BT conditions test
  • Undo changes
  • Fix test
  • Update workflow to jazzy
  • Merge branch 'jazzy-devel-sim' into jazzy-devel-hw
  • Merge branch 'ros2-devel' into jazzy-devel-sim
  • Merge branch 'ros2-devel' into jazzy-devel-sim
  • Merge branch 'jazzy-devel-sim' into jazzy-devel-hw
  • Merge branch 'ros2-devel' into jazzy-devel-sim
  • Contributors: Dawid Kmak, Rafal Gorecki, action-bot, github-actions[bot], kmakd, rafal-gorecki, rafal.gorecki

2.2.1 (2025-04-04)

  • Merge pull request #512 from husarion/ros2-fix-intergration-tests
  • fix paths
  • Fix missing overheating error animation (#501)
  • Merge pull request #493 from husarion/ros2-shutdown-request
  • 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
  • update docs
  • fix lights bt tests
  • update lights bt
  • update animations
  • add time conversion test
  • fix time
  • clean up
  • update tree
  • clean up
  • do an "implementation back flip"
  • ping host to check if it is still available
  • check server return code
  • add shutdown_remote_host_node
  • add CommandHandlerInterface
  • read command output
  • use fork to call commands
  • Contributors: Dawid Kmak, Stefan, kmakd

2.2.0 (2025-03-13)

  • update docs and battery timeout (#500)
  • Merge pull request #499 from husarion/docs_fix
  • release fixes (#497)
  • ROS 2 fix manager ports

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged husarion_ugv_manager at Robotics Stack Exchange

No version for distro kilted showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

husarion_ugv_manager package from husarion_ugv_ros repo

husarion_ugv husarion_ugv_battery husarion_ugv_bringup husarion_ugv_controller husarion_ugv_description husarion_ugv_diagnostics husarion_ugv_gazebo husarion_ugv_hardware_interfaces husarion_ugv_lights husarion_ugv_localization husarion_ugv_manager husarion_ugv_msgs husarion_ugv_utils

ROS Distro
humble

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.2.1
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/husarion/husarion_ugv_ros.git
VCS Type git
VCS Version humble
Last Updated 2025-04-04
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Set of nodes used for high level management of Husarion UGV

Additional Links

Maintainers

  • Husarion

Authors

  • Jakub Delicat
  • Dawid Kmak
husarion_ugv_manager/README.md

husarion_ugv_manager

A package containing nodes responsible for high-level control of Husarion UGV.

Launch Files

This package contains:

  • manager.launch.py: Responsible for launching behavior trees responsible for safety and LED animations scheduling.

Configuration Files

ROS Nodes

lights_manager_node

Node responsible for managing Bumper Lights animation scheduling.

Subscribers

  • battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.
  • hardware/e_stop [std_msgs/Bool]: State of emergency stop.

Service Clients (for Default Trees)

  • ~/lights/set_animation [husarion_ugv_msgs/SetLEDAnimation]: Allows setting animation on Bumper Lights based on animation ID.

Parameters

  • battery.anim_period.critical [float, default: 15.0]: Time in [s] to wait before repeating animation, indicating a critical Battery state.
  • battery.anim_period.low [float, default: 30.0]: Time in [s] to wait before repeating the animation, indicating a low Battery state.
  • battery.charging_anim_step [float, default: 0.1]: This parameter defines the minimum change in battery percentage required to trigger an update in the battery charging animation.
  • battery.percent.threshold.critical [float, default: 0.1]: If the Battery percentage drops below this value, an animation indicating a critical Battery state will start being displayed.
  • battery.percent.threshold.low [float, default: 0.4]: If the Battery percentage drops below this value, the animation indicating a low Battery state will start being displayed.
  • battery.percent.window_len [int, default: 6]: Moving average window length used to smooth out Battery percentage readings.
  • bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.
  • plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.
  • ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.
  • ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.
  • ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.
  • timer_frequency [float, default: 10.0]: Frequency [Hz] at which lights tree will be ticked.

safety_manager_node

Node responsible for managing safety features, and software shutdown of components.

Subscribers

  • battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.
  • hardware/e_stop [std_msgs/Bool]: State of emergency stop.
  • hardware/io_state [husarion_ugv_msgs/IOState]: State of IO pins.
  • hardware/robot_driver_state [husarion_ugv_msgs/RobotDriverState]: State of motor controllers.
  • system_status [husarion_ugv_msgs/SystemStatus]: Built-in computer system status, includes the most important computation-related parameters.

Service Clients (for Default Trees)

  • ~/hardware/aux_power_enable [std_srvs/SetBool]: Enables Aux Power output.
  • ~/hardware/e_stop_trigger [std_srvs/Trigger]: Triggers E-stop.
  • ~/hardware/fan_enable [std_srvs/SetBool]: Enables fan.

Parameters

  • battery.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Battery.
  • bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.
  • cpu.temp.fan_off [float, default: 60.0]: Temperature in [°C] of the Built-in Computer’s CPU, below which the fan is turned off.
  • cpu.temp.fan_on [float, default: 70.0]: Temperature in [°C] of the Built-in Computer’s CPU, above which the fan is turned on.
  • cpu.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Built-in Computer’s CPU.
  • driver.temp.fan_off [float, default: 35.0]: Temperature in [°C] of any drivers below which the fan is turned off.
  • driver.temp.fan_on [float, default: 45.0]: Temperature in [°C] of any drivers above which the fan is turned on.
  • driver.temp.window_len [int, default: 6]: Moving average window length used to smooth out the temperature readings of each driver.
  • fan_turn_off_timeout [float, default: 60.0]: Minimal time in [s], after which the fan may be turned off.
  • plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.
  • ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.
  • ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.
  • ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.
  • shutdown_hosts_path [string, default: None]: Path to a YAML file containing a list of hosts to request shutdown. To correctly format the YAML file, include a hosts field consisting of a list with the following fields:
    • ip [string, default: None]: IP of a host to shutdown using HTTP request.
    • port [string, default: 3003]: HTTP communication port.
    • secret [string, default: husarion]: Secret to sign HTTP request with.
    • timeout [string, default: 5.0]: Time in [s] to wait for the host to shutdown. The Built-in Computer will turn off after all computers are shutdown or reached timeout. Keep in mind that hardware will cut power off after a given time after pressing the power button. Refer to the hardware manual for more information.
  • timer_frequency [float, default: 10.0]: Frequency [Hz] at which safety tree will be ticked.
CHANGELOG

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_manager \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

  • Merge pull request #512 from husarion/ros2-fix-intergration-tests
  • fix paths
  • Fix missing overheating error animation (#501)
  • Merge pull request #493 from husarion/ros2-shutdown-request
  • 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
  • update docs
  • fix lights bt tests
  • update lights bt
  • update animations
  • add time conversion test
  • fix time
  • clean up
  • update tree
  • clean up
  • do an "implementation back flip"
  • ping host to check if it is still available
  • check server return code
  • add shutdown_remote_host_node
  • add CommandHandlerInterface
  • read command output
  • use fork to call commands
  • Contributors: Dawid Kmak, Stefan, kmakd

2.2.0 (2025-03-13)

  • update docs and battery timeout (#500)
  • Merge pull request #499 from husarion/docs_fix
  • release fixes (#497)
  • ROS 2 fix manager ports (#495)
  • Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
  • Merge pull request #496 from husarion/repo-rename
  • Merge pull request #484 from husarion/lights-new
  • ROS 2 lights new review (#494)
  • update links
  • Merge branch 'ros2-devel' into lights-new
  • reverted header fix
  • added autoremap to btcpp subtrees
  • manager review changes
  • Merge pull request #490 from husarion/ros2-fix-bild-warnings
  • decreased charging animation step
  • better animations visibility
  • updated LEDAnimation message
  • animation renaming
  • addedd position mirroring
  • hotfix
  • new animations
  • added drive state to lights blackboard
  • fix build warnings
  • Ros2 unit test workflow (#471)
  • Add log level argument to launch files (#473)
  • Ros2 expot test directory (#483)
  • Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
  • Merge pull request #480 from husarion/ros2-cmake-export
  • Suggestions
  • Add ament_index_cpp dependency
  • Add exports to cmake
  • Parameters reorganisation (#472)
  • ROS2 docking utils (#462)
  • Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
  • Merge pull request #466 from husarion/ros2-add-msgs

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged husarion_ugv_manager at Robotics Stack Exchange

No version for distro rolling showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

husarion_ugv_manager package from husarion_ugv_ros repo

husarion_ugv husarion_ugv_battery husarion_ugv_bringup husarion_ugv_controller husarion_ugv_description husarion_ugv_diagnostics husarion_ugv_gazebo husarion_ugv_hardware_interfaces husarion_ugv_lights husarion_ugv_localization husarion_ugv_manager husarion_ugv_msgs husarion_ugv_utils

ROS Distro
humble

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.2.1
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/husarion/husarion_ugv_ros.git
VCS Type git
VCS Version humble
Last Updated 2025-04-04
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Set of nodes used for high level management of Husarion UGV

Additional Links

Maintainers

  • Husarion

Authors

  • Jakub Delicat
  • Dawid Kmak
husarion_ugv_manager/README.md

husarion_ugv_manager

A package containing nodes responsible for high-level control of Husarion UGV.

Launch Files

This package contains:

  • manager.launch.py: Responsible for launching behavior trees responsible for safety and LED animations scheduling.

Configuration Files

ROS Nodes

lights_manager_node

Node responsible for managing Bumper Lights animation scheduling.

Subscribers

  • battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.
  • hardware/e_stop [std_msgs/Bool]: State of emergency stop.

Service Clients (for Default Trees)

  • ~/lights/set_animation [husarion_ugv_msgs/SetLEDAnimation]: Allows setting animation on Bumper Lights based on animation ID.

Parameters

  • battery.anim_period.critical [float, default: 15.0]: Time in [s] to wait before repeating animation, indicating a critical Battery state.
  • battery.anim_period.low [float, default: 30.0]: Time in [s] to wait before repeating the animation, indicating a low Battery state.
  • battery.charging_anim_step [float, default: 0.1]: This parameter defines the minimum change in battery percentage required to trigger an update in the battery charging animation.
  • battery.percent.threshold.critical [float, default: 0.1]: If the Battery percentage drops below this value, an animation indicating a critical Battery state will start being displayed.
  • battery.percent.threshold.low [float, default: 0.4]: If the Battery percentage drops below this value, the animation indicating a low Battery state will start being displayed.
  • battery.percent.window_len [int, default: 6]: Moving average window length used to smooth out Battery percentage readings.
  • bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.
  • plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.
  • ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.
  • ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.
  • ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.
  • timer_frequency [float, default: 10.0]: Frequency [Hz] at which lights tree will be ticked.

safety_manager_node

Node responsible for managing safety features, and software shutdown of components.

Subscribers

  • battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.
  • hardware/e_stop [std_msgs/Bool]: State of emergency stop.
  • hardware/io_state [husarion_ugv_msgs/IOState]: State of IO pins.
  • hardware/robot_driver_state [husarion_ugv_msgs/RobotDriverState]: State of motor controllers.
  • system_status [husarion_ugv_msgs/SystemStatus]: Built-in computer system status, includes the most important computation-related parameters.

Service Clients (for Default Trees)

  • ~/hardware/aux_power_enable [std_srvs/SetBool]: Enables Aux Power output.
  • ~/hardware/e_stop_trigger [std_srvs/Trigger]: Triggers E-stop.
  • ~/hardware/fan_enable [std_srvs/SetBool]: Enables fan.

Parameters

  • battery.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Battery.
  • bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.
  • cpu.temp.fan_off [float, default: 60.0]: Temperature in [°C] of the Built-in Computer’s CPU, below which the fan is turned off.
  • cpu.temp.fan_on [float, default: 70.0]: Temperature in [°C] of the Built-in Computer’s CPU, above which the fan is turned on.
  • cpu.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Built-in Computer’s CPU.
  • driver.temp.fan_off [float, default: 35.0]: Temperature in [°C] of any drivers below which the fan is turned off.
  • driver.temp.fan_on [float, default: 45.0]: Temperature in [°C] of any drivers above which the fan is turned on.
  • driver.temp.window_len [int, default: 6]: Moving average window length used to smooth out the temperature readings of each driver.
  • fan_turn_off_timeout [float, default: 60.0]: Minimal time in [s], after which the fan may be turned off.
  • plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.
  • ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.
  • ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.
  • ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.
  • shutdown_hosts_path [string, default: None]: Path to a YAML file containing a list of hosts to request shutdown. To correctly format the YAML file, include a hosts field consisting of a list with the following fields:
    • ip [string, default: None]: IP of a host to shutdown using HTTP request.
    • port [string, default: 3003]: HTTP communication port.
    • secret [string, default: husarion]: Secret to sign HTTP request with.
    • timeout [string, default: 5.0]: Time in [s] to wait for the host to shutdown. The Built-in Computer will turn off after all computers are shutdown or reached timeout. Keep in mind that hardware will cut power off after a given time after pressing the power button. Refer to the hardware manual for more information.
  • timer_frequency [float, default: 10.0]: Frequency [Hz] at which safety tree will be ticked.
CHANGELOG

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_manager \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

  • Merge pull request #512 from husarion/ros2-fix-intergration-tests
  • fix paths
  • Fix missing overheating error animation (#501)
  • Merge pull request #493 from husarion/ros2-shutdown-request
  • 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
  • update docs
  • fix lights bt tests
  • update lights bt
  • update animations
  • add time conversion test
  • fix time
  • clean up
  • update tree
  • clean up
  • do an "implementation back flip"
  • ping host to check if it is still available
  • check server return code
  • add shutdown_remote_host_node
  • add CommandHandlerInterface
  • read command output
  • use fork to call commands
  • Contributors: Dawid Kmak, Stefan, kmakd

2.2.0 (2025-03-13)

  • update docs and battery timeout (#500)
  • Merge pull request #499 from husarion/docs_fix
  • release fixes (#497)
  • ROS 2 fix manager ports (#495)
  • Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
  • Merge pull request #496 from husarion/repo-rename
  • Merge pull request #484 from husarion/lights-new
  • ROS 2 lights new review (#494)
  • update links
  • Merge branch 'ros2-devel' into lights-new
  • reverted header fix
  • added autoremap to btcpp subtrees
  • manager review changes
  • Merge pull request #490 from husarion/ros2-fix-bild-warnings
  • decreased charging animation step
  • better animations visibility
  • updated LEDAnimation message
  • animation renaming
  • addedd position mirroring
  • hotfix
  • new animations
  • added drive state to lights blackboard
  • fix build warnings
  • Ros2 unit test workflow (#471)
  • Add log level argument to launch files (#473)
  • Ros2 expot test directory (#483)
  • Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
  • Merge pull request #480 from husarion/ros2-cmake-export
  • Suggestions
  • Add ament_index_cpp dependency
  • Add exports to cmake
  • Parameters reorganisation (#472)
  • ROS2 docking utils (#462)
  • Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
  • Merge pull request #466 from husarion/ros2-add-msgs

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged husarion_ugv_manager at Robotics Stack Exchange

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

husarion_ugv_manager package from husarion_ugv_ros repo

husarion_ugv husarion_ugv_battery husarion_ugv_bringup husarion_ugv_controller husarion_ugv_description husarion_ugv_diagnostics husarion_ugv_gazebo husarion_ugv_hardware_interfaces husarion_ugv_lights husarion_ugv_localization husarion_ugv_manager husarion_ugv_msgs husarion_ugv_utils

ROS Distro
humble

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.2.1
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/husarion/husarion_ugv_ros.git
VCS Type git
VCS Version humble
Last Updated 2025-04-04
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Set of nodes used for high level management of Husarion UGV

Additional Links

Maintainers

  • Husarion

Authors

  • Jakub Delicat
  • Dawid Kmak
husarion_ugv_manager/README.md

husarion_ugv_manager

A package containing nodes responsible for high-level control of Husarion UGV.

Launch Files

This package contains:

  • manager.launch.py: Responsible for launching behavior trees responsible for safety and LED animations scheduling.

Configuration Files

ROS Nodes

lights_manager_node

Node responsible for managing Bumper Lights animation scheduling.

Subscribers

  • battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.
  • hardware/e_stop [std_msgs/Bool]: State of emergency stop.

Service Clients (for Default Trees)

  • ~/lights/set_animation [husarion_ugv_msgs/SetLEDAnimation]: Allows setting animation on Bumper Lights based on animation ID.

Parameters

  • battery.anim_period.critical [float, default: 15.0]: Time in [s] to wait before repeating animation, indicating a critical Battery state.
  • battery.anim_period.low [float, default: 30.0]: Time in [s] to wait before repeating the animation, indicating a low Battery state.
  • battery.charging_anim_step [float, default: 0.1]: This parameter defines the minimum change in battery percentage required to trigger an update in the battery charging animation.
  • battery.percent.threshold.critical [float, default: 0.1]: If the Battery percentage drops below this value, an animation indicating a critical Battery state will start being displayed.
  • battery.percent.threshold.low [float, default: 0.4]: If the Battery percentage drops below this value, the animation indicating a low Battery state will start being displayed.
  • battery.percent.window_len [int, default: 6]: Moving average window length used to smooth out Battery percentage readings.
  • bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.
  • plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.
  • ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.
  • ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.
  • ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.
  • timer_frequency [float, default: 10.0]: Frequency [Hz] at which lights tree will be ticked.

safety_manager_node

Node responsible for managing safety features, and software shutdown of components.

Subscribers

  • battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.
  • hardware/e_stop [std_msgs/Bool]: State of emergency stop.
  • hardware/io_state [husarion_ugv_msgs/IOState]: State of IO pins.
  • hardware/robot_driver_state [husarion_ugv_msgs/RobotDriverState]: State of motor controllers.
  • system_status [husarion_ugv_msgs/SystemStatus]: Built-in computer system status, includes the most important computation-related parameters.

Service Clients (for Default Trees)

  • ~/hardware/aux_power_enable [std_srvs/SetBool]: Enables Aux Power output.
  • ~/hardware/e_stop_trigger [std_srvs/Trigger]: Triggers E-stop.
  • ~/hardware/fan_enable [std_srvs/SetBool]: Enables fan.

Parameters

  • battery.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Battery.
  • bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.
  • cpu.temp.fan_off [float, default: 60.0]: Temperature in [°C] of the Built-in Computer’s CPU, below which the fan is turned off.
  • cpu.temp.fan_on [float, default: 70.0]: Temperature in [°C] of the Built-in Computer’s CPU, above which the fan is turned on.
  • cpu.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Built-in Computer’s CPU.
  • driver.temp.fan_off [float, default: 35.0]: Temperature in [°C] of any drivers below which the fan is turned off.
  • driver.temp.fan_on [float, default: 45.0]: Temperature in [°C] of any drivers above which the fan is turned on.
  • driver.temp.window_len [int, default: 6]: Moving average window length used to smooth out the temperature readings of each driver.
  • fan_turn_off_timeout [float, default: 60.0]: Minimal time in [s], after which the fan may be turned off.
  • plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.
  • ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.
  • ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.
  • ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.
  • shutdown_hosts_path [string, default: None]: Path to a YAML file containing a list of hosts to request shutdown. To correctly format the YAML file, include a hosts field consisting of a list with the following fields:
    • ip [string, default: None]: IP of a host to shutdown using HTTP request.
    • port [string, default: 3003]: HTTP communication port.
    • secret [string, default: husarion]: Secret to sign HTTP request with.
    • timeout [string, default: 5.0]: Time in [s] to wait for the host to shutdown. The Built-in Computer will turn off after all computers are shutdown or reached timeout. Keep in mind that hardware will cut power off after a given time after pressing the power button. Refer to the hardware manual for more information.
  • timer_frequency [float, default: 10.0]: Frequency [Hz] at which safety tree will be ticked.
CHANGELOG

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_manager \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

  • Merge pull request #512 from husarion/ros2-fix-intergration-tests
  • fix paths
  • Fix missing overheating error animation (#501)
  • Merge pull request #493 from husarion/ros2-shutdown-request
  • 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
  • update docs
  • fix lights bt tests
  • update lights bt
  • update animations
  • add time conversion test
  • fix time
  • clean up
  • update tree
  • clean up
  • do an "implementation back flip"
  • ping host to check if it is still available
  • check server return code
  • add shutdown_remote_host_node
  • add CommandHandlerInterface
  • read command output
  • use fork to call commands
  • Contributors: Dawid Kmak, Stefan, kmakd

2.2.0 (2025-03-13)

  • update docs and battery timeout (#500)
  • Merge pull request #499 from husarion/docs_fix
  • release fixes (#497)
  • ROS 2 fix manager ports (#495)
  • Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
  • Merge pull request #496 from husarion/repo-rename
  • Merge pull request #484 from husarion/lights-new
  • ROS 2 lights new review (#494)
  • update links
  • Merge branch 'ros2-devel' into lights-new
  • reverted header fix
  • added autoremap to btcpp subtrees
  • manager review changes
  • Merge pull request #490 from husarion/ros2-fix-bild-warnings
  • decreased charging animation step
  • better animations visibility
  • updated LEDAnimation message
  • animation renaming
  • addedd position mirroring
  • hotfix
  • new animations
  • added drive state to lights blackboard
  • fix build warnings
  • Ros2 unit test workflow (#471)
  • Add log level argument to launch files (#473)
  • Ros2 expot test directory (#483)
  • Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
  • Merge pull request #480 from husarion/ros2-cmake-export
  • Suggestions
  • Add ament_index_cpp dependency
  • Add exports to cmake
  • Parameters reorganisation (#472)
  • ROS2 docking utils (#462)
  • Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
  • Merge pull request #466 from husarion/ros2-add-msgs

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged husarion_ugv_manager at Robotics Stack Exchange

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

husarion_ugv_manager package from husarion_ugv_ros repo

husarion_ugv husarion_ugv_battery husarion_ugv_bringup husarion_ugv_controller husarion_ugv_description husarion_ugv_diagnostics husarion_ugv_gazebo husarion_ugv_hardware_interfaces husarion_ugv_lights husarion_ugv_localization husarion_ugv_manager husarion_ugv_msgs husarion_ugv_utils

ROS Distro
humble

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.2.1
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/husarion/husarion_ugv_ros.git
VCS Type git
VCS Version humble
Last Updated 2025-04-04
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Set of nodes used for high level management of Husarion UGV

Additional Links

Maintainers

  • Husarion

Authors

  • Jakub Delicat
  • Dawid Kmak
husarion_ugv_manager/README.md

husarion_ugv_manager

A package containing nodes responsible for high-level control of Husarion UGV.

Launch Files

This package contains:

  • manager.launch.py: Responsible for launching behavior trees responsible for safety and LED animations scheduling.

Configuration Files

ROS Nodes

lights_manager_node

Node responsible for managing Bumper Lights animation scheduling.

Subscribers

  • battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.
  • hardware/e_stop [std_msgs/Bool]: State of emergency stop.

Service Clients (for Default Trees)

  • ~/lights/set_animation [husarion_ugv_msgs/SetLEDAnimation]: Allows setting animation on Bumper Lights based on animation ID.

Parameters

  • battery.anim_period.critical [float, default: 15.0]: Time in [s] to wait before repeating animation, indicating a critical Battery state.
  • battery.anim_period.low [float, default: 30.0]: Time in [s] to wait before repeating the animation, indicating a low Battery state.
  • battery.charging_anim_step [float, default: 0.1]: This parameter defines the minimum change in battery percentage required to trigger an update in the battery charging animation.
  • battery.percent.threshold.critical [float, default: 0.1]: If the Battery percentage drops below this value, an animation indicating a critical Battery state will start being displayed.
  • battery.percent.threshold.low [float, default: 0.4]: If the Battery percentage drops below this value, the animation indicating a low Battery state will start being displayed.
  • battery.percent.window_len [int, default: 6]: Moving average window length used to smooth out Battery percentage readings.
  • bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.
  • plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.
  • ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.
  • ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.
  • ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.
  • timer_frequency [float, default: 10.0]: Frequency [Hz] at which lights tree will be ticked.

safety_manager_node

Node responsible for managing safety features, and software shutdown of components.

Subscribers

  • battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.
  • hardware/e_stop [std_msgs/Bool]: State of emergency stop.
  • hardware/io_state [husarion_ugv_msgs/IOState]: State of IO pins.
  • hardware/robot_driver_state [husarion_ugv_msgs/RobotDriverState]: State of motor controllers.
  • system_status [husarion_ugv_msgs/SystemStatus]: Built-in computer system status, includes the most important computation-related parameters.

Service Clients (for Default Trees)

  • ~/hardware/aux_power_enable [std_srvs/SetBool]: Enables Aux Power output.
  • ~/hardware/e_stop_trigger [std_srvs/Trigger]: Triggers E-stop.
  • ~/hardware/fan_enable [std_srvs/SetBool]: Enables fan.

Parameters

  • battery.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Battery.
  • bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.
  • cpu.temp.fan_off [float, default: 60.0]: Temperature in [°C] of the Built-in Computer’s CPU, below which the fan is turned off.
  • cpu.temp.fan_on [float, default: 70.0]: Temperature in [°C] of the Built-in Computer’s CPU, above which the fan is turned on.
  • cpu.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Built-in Computer’s CPU.
  • driver.temp.fan_off [float, default: 35.0]: Temperature in [°C] of any drivers below which the fan is turned off.
  • driver.temp.fan_on [float, default: 45.0]: Temperature in [°C] of any drivers above which the fan is turned on.
  • driver.temp.window_len [int, default: 6]: Moving average window length used to smooth out the temperature readings of each driver.
  • fan_turn_off_timeout [float, default: 60.0]: Minimal time in [s], after which the fan may be turned off.
  • plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.
  • ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.
  • ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.
  • ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.
  • shutdown_hosts_path [string, default: None]: Path to a YAML file containing a list of hosts to request shutdown. To correctly format the YAML file, include a hosts field consisting of a list with the following fields:
    • ip [string, default: None]: IP of a host to shutdown using HTTP request.
    • port [string, default: 3003]: HTTP communication port.
    • secret [string, default: husarion]: Secret to sign HTTP request with.
    • timeout [string, default: 5.0]: Time in [s] to wait for the host to shutdown. The Built-in Computer will turn off after all computers are shutdown or reached timeout. Keep in mind that hardware will cut power off after a given time after pressing the power button. Refer to the hardware manual for more information.
  • timer_frequency [float, default: 10.0]: Frequency [Hz] at which safety tree will be ticked.
CHANGELOG

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_manager \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

  • Merge pull request #512 from husarion/ros2-fix-intergration-tests
  • fix paths
  • Fix missing overheating error animation (#501)
  • Merge pull request #493 from husarion/ros2-shutdown-request
  • 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
  • update docs
  • fix lights bt tests
  • update lights bt
  • update animations
  • add time conversion test
  • fix time
  • clean up
  • update tree
  • clean up
  • do an "implementation back flip"
  • ping host to check if it is still available
  • check server return code
  • add shutdown_remote_host_node
  • add CommandHandlerInterface
  • read command output
  • use fork to call commands
  • Contributors: Dawid Kmak, Stefan, kmakd

2.2.0 (2025-03-13)

  • update docs and battery timeout (#500)
  • Merge pull request #499 from husarion/docs_fix
  • release fixes (#497)
  • ROS 2 fix manager ports (#495)
  • Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
  • Merge pull request #496 from husarion/repo-rename
  • Merge pull request #484 from husarion/lights-new
  • ROS 2 lights new review (#494)
  • update links
  • Merge branch 'ros2-devel' into lights-new
  • reverted header fix
  • added autoremap to btcpp subtrees
  • manager review changes
  • Merge pull request #490 from husarion/ros2-fix-bild-warnings
  • decreased charging animation step
  • better animations visibility
  • updated LEDAnimation message
  • animation renaming
  • addedd position mirroring
  • hotfix
  • new animations
  • added drive state to lights blackboard
  • fix build warnings
  • Ros2 unit test workflow (#471)
  • Add log level argument to launch files (#473)
  • Ros2 expot test directory (#483)
  • Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
  • Merge pull request #480 from husarion/ros2-cmake-export
  • Suggestions
  • Add ament_index_cpp dependency
  • Add exports to cmake
  • Parameters reorganisation (#472)
  • ROS2 docking utils (#462)
  • Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
  • Merge pull request #466 from husarion/ros2-add-msgs

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged husarion_ugv_manager at Robotics Stack Exchange

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

husarion_ugv_manager package from husarion_ugv_ros repo

husarion_ugv husarion_ugv_battery husarion_ugv_bringup husarion_ugv_controller husarion_ugv_description husarion_ugv_diagnostics husarion_ugv_gazebo husarion_ugv_hardware_interfaces husarion_ugv_lights husarion_ugv_localization husarion_ugv_manager husarion_ugv_msgs husarion_ugv_utils

ROS Distro
humble

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.2.1
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/husarion/husarion_ugv_ros.git
VCS Type git
VCS Version humble
Last Updated 2025-04-04
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Set of nodes used for high level management of Husarion UGV

Additional Links

Maintainers

  • Husarion

Authors

  • Jakub Delicat
  • Dawid Kmak
husarion_ugv_manager/README.md

husarion_ugv_manager

A package containing nodes responsible for high-level control of Husarion UGV.

Launch Files

This package contains:

  • manager.launch.py: Responsible for launching behavior trees responsible for safety and LED animations scheduling.

Configuration Files

ROS Nodes

lights_manager_node

Node responsible for managing Bumper Lights animation scheduling.

Subscribers

  • battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.
  • hardware/e_stop [std_msgs/Bool]: State of emergency stop.

Service Clients (for Default Trees)

  • ~/lights/set_animation [husarion_ugv_msgs/SetLEDAnimation]: Allows setting animation on Bumper Lights based on animation ID.

Parameters

  • battery.anim_period.critical [float, default: 15.0]: Time in [s] to wait before repeating animation, indicating a critical Battery state.
  • battery.anim_period.low [float, default: 30.0]: Time in [s] to wait before repeating the animation, indicating a low Battery state.
  • battery.charging_anim_step [float, default: 0.1]: This parameter defines the minimum change in battery percentage required to trigger an update in the battery charging animation.
  • battery.percent.threshold.critical [float, default: 0.1]: If the Battery percentage drops below this value, an animation indicating a critical Battery state will start being displayed.
  • battery.percent.threshold.low [float, default: 0.4]: If the Battery percentage drops below this value, the animation indicating a low Battery state will start being displayed.
  • battery.percent.window_len [int, default: 6]: Moving average window length used to smooth out Battery percentage readings.
  • bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.
  • plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.
  • ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.
  • ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.
  • ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.
  • timer_frequency [float, default: 10.0]: Frequency [Hz] at which lights tree will be ticked.

safety_manager_node

Node responsible for managing safety features, and software shutdown of components.

Subscribers

  • battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.
  • hardware/e_stop [std_msgs/Bool]: State of emergency stop.
  • hardware/io_state [husarion_ugv_msgs/IOState]: State of IO pins.
  • hardware/robot_driver_state [husarion_ugv_msgs/RobotDriverState]: State of motor controllers.
  • system_status [husarion_ugv_msgs/SystemStatus]: Built-in computer system status, includes the most important computation-related parameters.

Service Clients (for Default Trees)

  • ~/hardware/aux_power_enable [std_srvs/SetBool]: Enables Aux Power output.
  • ~/hardware/e_stop_trigger [std_srvs/Trigger]: Triggers E-stop.
  • ~/hardware/fan_enable [std_srvs/SetBool]: Enables fan.

Parameters

  • battery.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Battery.
  • bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.
  • cpu.temp.fan_off [float, default: 60.0]: Temperature in [°C] of the Built-in Computer’s CPU, below which the fan is turned off.
  • cpu.temp.fan_on [float, default: 70.0]: Temperature in [°C] of the Built-in Computer’s CPU, above which the fan is turned on.
  • cpu.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Built-in Computer’s CPU.
  • driver.temp.fan_off [float, default: 35.0]: Temperature in [°C] of any drivers below which the fan is turned off.
  • driver.temp.fan_on [float, default: 45.0]: Temperature in [°C] of any drivers above which the fan is turned on.
  • driver.temp.window_len [int, default: 6]: Moving average window length used to smooth out the temperature readings of each driver.
  • fan_turn_off_timeout [float, default: 60.0]: Minimal time in [s], after which the fan may be turned off.
  • plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.
  • ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.
  • ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.
  • ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.
  • shutdown_hosts_path [string, default: None]: Path to a YAML file containing a list of hosts to request shutdown. To correctly format the YAML file, include a hosts field consisting of a list with the following fields:
    • ip [string, default: None]: IP of a host to shutdown using HTTP request.
    • port [string, default: 3003]: HTTP communication port.
    • secret [string, default: husarion]: Secret to sign HTTP request with.
    • timeout [string, default: 5.0]: Time in [s] to wait for the host to shutdown. The Built-in Computer will turn off after all computers are shutdown or reached timeout. Keep in mind that hardware will cut power off after a given time after pressing the power button. Refer to the hardware manual for more information.
  • timer_frequency [float, default: 10.0]: Frequency [Hz] at which safety tree will be ticked.
CHANGELOG

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_manager \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

  • Merge pull request #512 from husarion/ros2-fix-intergration-tests
  • fix paths
  • Fix missing overheating error animation (#501)
  • Merge pull request #493 from husarion/ros2-shutdown-request
  • 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
  • update docs
  • fix lights bt tests
  • update lights bt
  • update animations
  • add time conversion test
  • fix time
  • clean up
  • update tree
  • clean up
  • do an "implementation back flip"
  • ping host to check if it is still available
  • check server return code
  • add shutdown_remote_host_node
  • add CommandHandlerInterface
  • read command output
  • use fork to call commands
  • Contributors: Dawid Kmak, Stefan, kmakd

2.2.0 (2025-03-13)

  • update docs and battery timeout (#500)
  • Merge pull request #499 from husarion/docs_fix
  • release fixes (#497)
  • ROS 2 fix manager ports (#495)
  • Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
  • Merge pull request #496 from husarion/repo-rename
  • Merge pull request #484 from husarion/lights-new
  • ROS 2 lights new review (#494)
  • update links
  • Merge branch 'ros2-devel' into lights-new
  • reverted header fix
  • added autoremap to btcpp subtrees
  • manager review changes
  • Merge pull request #490 from husarion/ros2-fix-bild-warnings
  • decreased charging animation step
  • better animations visibility
  • updated LEDAnimation message
  • animation renaming
  • addedd position mirroring
  • hotfix
  • new animations
  • added drive state to lights blackboard
  • fix build warnings
  • Ros2 unit test workflow (#471)
  • Add log level argument to launch files (#473)
  • Ros2 expot test directory (#483)
  • Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
  • Merge pull request #480 from husarion/ros2-cmake-export
  • Suggestions
  • Add ament_index_cpp dependency
  • Add exports to cmake
  • Parameters reorganisation (#472)
  • ROS2 docking utils (#462)
  • Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
  • Merge pull request #466 from husarion/ros2-add-msgs

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged husarion_ugv_manager at Robotics Stack Exchange

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

husarion_ugv_manager package from husarion_ugv_ros repo

husarion_ugv husarion_ugv_battery husarion_ugv_bringup husarion_ugv_controller husarion_ugv_description husarion_ugv_diagnostics husarion_ugv_gazebo husarion_ugv_hardware_interfaces husarion_ugv_lights husarion_ugv_localization husarion_ugv_manager husarion_ugv_msgs husarion_ugv_utils

ROS Distro
humble

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.2.1
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/husarion/husarion_ugv_ros.git
VCS Type git
VCS Version humble
Last Updated 2025-04-04
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Set of nodes used for high level management of Husarion UGV

Additional Links

Maintainers

  • Husarion

Authors

  • Jakub Delicat
  • Dawid Kmak
husarion_ugv_manager/README.md

husarion_ugv_manager

A package containing nodes responsible for high-level control of Husarion UGV.

Launch Files

This package contains:

  • manager.launch.py: Responsible for launching behavior trees responsible for safety and LED animations scheduling.

Configuration Files

ROS Nodes

lights_manager_node

Node responsible for managing Bumper Lights animation scheduling.

Subscribers

  • battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.
  • hardware/e_stop [std_msgs/Bool]: State of emergency stop.

Service Clients (for Default Trees)

  • ~/lights/set_animation [husarion_ugv_msgs/SetLEDAnimation]: Allows setting animation on Bumper Lights based on animation ID.

Parameters

  • battery.anim_period.critical [float, default: 15.0]: Time in [s] to wait before repeating animation, indicating a critical Battery state.
  • battery.anim_period.low [float, default: 30.0]: Time in [s] to wait before repeating the animation, indicating a low Battery state.
  • battery.charging_anim_step [float, default: 0.1]: This parameter defines the minimum change in battery percentage required to trigger an update in the battery charging animation.
  • battery.percent.threshold.critical [float, default: 0.1]: If the Battery percentage drops below this value, an animation indicating a critical Battery state will start being displayed.
  • battery.percent.threshold.low [float, default: 0.4]: If the Battery percentage drops below this value, the animation indicating a low Battery state will start being displayed.
  • battery.percent.window_len [int, default: 6]: Moving average window length used to smooth out Battery percentage readings.
  • bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.
  • plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.
  • ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.
  • ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.
  • ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.
  • timer_frequency [float, default: 10.0]: Frequency [Hz] at which lights tree will be ticked.

safety_manager_node

Node responsible for managing safety features, and software shutdown of components.

Subscribers

  • battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.
  • hardware/e_stop [std_msgs/Bool]: State of emergency stop.
  • hardware/io_state [husarion_ugv_msgs/IOState]: State of IO pins.
  • hardware/robot_driver_state [husarion_ugv_msgs/RobotDriverState]: State of motor controllers.
  • system_status [husarion_ugv_msgs/SystemStatus]: Built-in computer system status, includes the most important computation-related parameters.

Service Clients (for Default Trees)

  • ~/hardware/aux_power_enable [std_srvs/SetBool]: Enables Aux Power output.
  • ~/hardware/e_stop_trigger [std_srvs/Trigger]: Triggers E-stop.
  • ~/hardware/fan_enable [std_srvs/SetBool]: Enables fan.

Parameters

  • battery.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Battery.
  • bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.
  • cpu.temp.fan_off [float, default: 60.0]: Temperature in [°C] of the Built-in Computer’s CPU, below which the fan is turned off.
  • cpu.temp.fan_on [float, default: 70.0]: Temperature in [°C] of the Built-in Computer’s CPU, above which the fan is turned on.
  • cpu.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Built-in Computer’s CPU.
  • driver.temp.fan_off [float, default: 35.0]: Temperature in [°C] of any drivers below which the fan is turned off.
  • driver.temp.fan_on [float, default: 45.0]: Temperature in [°C] of any drivers above which the fan is turned on.
  • driver.temp.window_len [int, default: 6]: Moving average window length used to smooth out the temperature readings of each driver.
  • fan_turn_off_timeout [float, default: 60.0]: Minimal time in [s], after which the fan may be turned off.
  • plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.
  • ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.
  • ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.
  • ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.
  • shutdown_hosts_path [string, default: None]: Path to a YAML file containing a list of hosts to request shutdown. To correctly format the YAML file, include a hosts field consisting of a list with the following fields:
    • ip [string, default: None]: IP of a host to shutdown using HTTP request.
    • port [string, default: 3003]: HTTP communication port.
    • secret [string, default: husarion]: Secret to sign HTTP request with.
    • timeout [string, default: 5.0]: Time in [s] to wait for the host to shutdown. The Built-in Computer will turn off after all computers are shutdown or reached timeout. Keep in mind that hardware will cut power off after a given time after pressing the power button. Refer to the hardware manual for more information.
  • timer_frequency [float, default: 10.0]: Frequency [Hz] at which safety tree will be ticked.
CHANGELOG

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_manager \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

  • Merge pull request #512 from husarion/ros2-fix-intergration-tests
  • fix paths
  • Fix missing overheating error animation (#501)
  • Merge pull request #493 from husarion/ros2-shutdown-request
  • 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
  • update docs
  • fix lights bt tests
  • update lights bt
  • update animations
  • add time conversion test
  • fix time
  • clean up
  • update tree
  • clean up
  • do an "implementation back flip"
  • ping host to check if it is still available
  • check server return code
  • add shutdown_remote_host_node
  • add CommandHandlerInterface
  • read command output
  • use fork to call commands
  • Contributors: Dawid Kmak, Stefan, kmakd

2.2.0 (2025-03-13)

  • update docs and battery timeout (#500)
  • Merge pull request #499 from husarion/docs_fix
  • release fixes (#497)
  • ROS 2 fix manager ports (#495)
  • Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
  • Merge pull request #496 from husarion/repo-rename
  • Merge pull request #484 from husarion/lights-new
  • ROS 2 lights new review (#494)
  • update links
  • Merge branch 'ros2-devel' into lights-new
  • reverted header fix
  • added autoremap to btcpp subtrees
  • manager review changes
  • Merge pull request #490 from husarion/ros2-fix-bild-warnings
  • decreased charging animation step
  • better animations visibility
  • updated LEDAnimation message
  • animation renaming
  • addedd position mirroring
  • hotfix
  • new animations
  • added drive state to lights blackboard
  • fix build warnings
  • Ros2 unit test workflow (#471)
  • Add log level argument to launch files (#473)
  • Ros2 expot test directory (#483)
  • Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
  • Merge pull request #480 from husarion/ros2-cmake-export
  • Suggestions
  • Add ament_index_cpp dependency
  • Add exports to cmake
  • Parameters reorganisation (#472)
  • ROS2 docking utils (#462)
  • Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
  • Merge pull request #466 from husarion/ros2-add-msgs

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged husarion_ugv_manager at Robotics Stack Exchange

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

husarion_ugv_manager package from husarion_ugv_ros repo

husarion_ugv husarion_ugv_battery husarion_ugv_bringup husarion_ugv_controller husarion_ugv_description husarion_ugv_diagnostics husarion_ugv_gazebo husarion_ugv_hardware_interfaces husarion_ugv_lights husarion_ugv_localization husarion_ugv_manager husarion_ugv_msgs husarion_ugv_utils

ROS Distro
humble

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.2.1
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/husarion/husarion_ugv_ros.git
VCS Type git
VCS Version humble
Last Updated 2025-04-04
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Set of nodes used for high level management of Husarion UGV

Additional Links

Maintainers

  • Husarion

Authors

  • Jakub Delicat
  • Dawid Kmak
husarion_ugv_manager/README.md

husarion_ugv_manager

A package containing nodes responsible for high-level control of Husarion UGV.

Launch Files

This package contains:

  • manager.launch.py: Responsible for launching behavior trees responsible for safety and LED animations scheduling.

Configuration Files

ROS Nodes

lights_manager_node

Node responsible for managing Bumper Lights animation scheduling.

Subscribers

  • battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.
  • hardware/e_stop [std_msgs/Bool]: State of emergency stop.

Service Clients (for Default Trees)

  • ~/lights/set_animation [husarion_ugv_msgs/SetLEDAnimation]: Allows setting animation on Bumper Lights based on animation ID.

Parameters

  • battery.anim_period.critical [float, default: 15.0]: Time in [s] to wait before repeating animation, indicating a critical Battery state.
  • battery.anim_period.low [float, default: 30.0]: Time in [s] to wait before repeating the animation, indicating a low Battery state.
  • battery.charging_anim_step [float, default: 0.1]: This parameter defines the minimum change in battery percentage required to trigger an update in the battery charging animation.
  • battery.percent.threshold.critical [float, default: 0.1]: If the Battery percentage drops below this value, an animation indicating a critical Battery state will start being displayed.
  • battery.percent.threshold.low [float, default: 0.4]: If the Battery percentage drops below this value, the animation indicating a low Battery state will start being displayed.
  • battery.percent.window_len [int, default: 6]: Moving average window length used to smooth out Battery percentage readings.
  • bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.
  • plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.
  • ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.
  • ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.
  • ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.
  • timer_frequency [float, default: 10.0]: Frequency [Hz] at which lights tree will be ticked.

safety_manager_node

Node responsible for managing safety features, and software shutdown of components.

Subscribers

  • battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.
  • hardware/e_stop [std_msgs/Bool]: State of emergency stop.
  • hardware/io_state [husarion_ugv_msgs/IOState]: State of IO pins.
  • hardware/robot_driver_state [husarion_ugv_msgs/RobotDriverState]: State of motor controllers.
  • system_status [husarion_ugv_msgs/SystemStatus]: Built-in computer system status, includes the most important computation-related parameters.

Service Clients (for Default Trees)

  • ~/hardware/aux_power_enable [std_srvs/SetBool]: Enables Aux Power output.
  • ~/hardware/e_stop_trigger [std_srvs/Trigger]: Triggers E-stop.
  • ~/hardware/fan_enable [std_srvs/SetBool]: Enables fan.

Parameters

  • battery.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Battery.
  • bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.
  • cpu.temp.fan_off [float, default: 60.0]: Temperature in [°C] of the Built-in Computer’s CPU, below which the fan is turned off.
  • cpu.temp.fan_on [float, default: 70.0]: Temperature in [°C] of the Built-in Computer’s CPU, above which the fan is turned on.
  • cpu.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Built-in Computer’s CPU.
  • driver.temp.fan_off [float, default: 35.0]: Temperature in [°C] of any drivers below which the fan is turned off.
  • driver.temp.fan_on [float, default: 45.0]: Temperature in [°C] of any drivers above which the fan is turned on.
  • driver.temp.window_len [int, default: 6]: Moving average window length used to smooth out the temperature readings of each driver.
  • fan_turn_off_timeout [float, default: 60.0]: Minimal time in [s], after which the fan may be turned off.
  • plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.
  • ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.
  • ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.
  • ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.
  • shutdown_hosts_path [string, default: None]: Path to a YAML file containing a list of hosts to request shutdown. To correctly format the YAML file, include a hosts field consisting of a list with the following fields:
    • ip [string, default: None]: IP of a host to shutdown using HTTP request.
    • port [string, default: 3003]: HTTP communication port.
    • secret [string, default: husarion]: Secret to sign HTTP request with.
    • timeout [string, default: 5.0]: Time in [s] to wait for the host to shutdown. The Built-in Computer will turn off after all computers are shutdown or reached timeout. Keep in mind that hardware will cut power off after a given time after pressing the power button. Refer to the hardware manual for more information.
  • timer_frequency [float, default: 10.0]: Frequency [Hz] at which safety tree will be ticked.
CHANGELOG

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_manager \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

  • Merge pull request #512 from husarion/ros2-fix-intergration-tests
  • fix paths
  • Fix missing overheating error animation (#501)
  • Merge pull request #493 from husarion/ros2-shutdown-request
  • 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
  • update docs
  • fix lights bt tests
  • update lights bt
  • update animations
  • add time conversion test
  • fix time
  • clean up
  • update tree
  • clean up
  • do an "implementation back flip"
  • ping host to check if it is still available
  • check server return code
  • add shutdown_remote_host_node
  • add CommandHandlerInterface
  • read command output
  • use fork to call commands
  • Contributors: Dawid Kmak, Stefan, kmakd

2.2.0 (2025-03-13)

  • update docs and battery timeout (#500)
  • Merge pull request #499 from husarion/docs_fix
  • release fixes (#497)
  • ROS 2 fix manager ports (#495)
  • Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
  • Merge pull request #496 from husarion/repo-rename
  • Merge pull request #484 from husarion/lights-new
  • ROS 2 lights new review (#494)
  • update links
  • Merge branch 'ros2-devel' into lights-new
  • reverted header fix
  • added autoremap to btcpp subtrees
  • manager review changes
  • Merge pull request #490 from husarion/ros2-fix-bild-warnings
  • decreased charging animation step
  • better animations visibility
  • updated LEDAnimation message
  • animation renaming
  • addedd position mirroring
  • hotfix
  • new animations
  • added drive state to lights blackboard
  • fix build warnings
  • Ros2 unit test workflow (#471)
  • Add log level argument to launch files (#473)
  • Ros2 expot test directory (#483)
  • Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
  • Merge pull request #480 from husarion/ros2-cmake-export
  • Suggestions
  • Add ament_index_cpp dependency
  • Add exports to cmake
  • Parameters reorganisation (#472)
  • ROS2 docking utils (#462)
  • Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
  • Merge pull request #466 from husarion/ros2-add-msgs

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged husarion_ugv_manager at Robotics Stack Exchange

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

husarion_ugv_manager package from husarion_ugv_ros repo

husarion_ugv husarion_ugv_battery husarion_ugv_bringup husarion_ugv_controller husarion_ugv_description husarion_ugv_diagnostics husarion_ugv_gazebo husarion_ugv_hardware_interfaces husarion_ugv_lights husarion_ugv_localization husarion_ugv_manager husarion_ugv_msgs husarion_ugv_utils

ROS Distro
humble

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.2.1
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/husarion/husarion_ugv_ros.git
VCS Type git
VCS Version humble
Last Updated 2025-04-04
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Set of nodes used for high level management of Husarion UGV

Additional Links

Maintainers

  • Husarion

Authors

  • Jakub Delicat
  • Dawid Kmak
husarion_ugv_manager/README.md

husarion_ugv_manager

A package containing nodes responsible for high-level control of Husarion UGV.

Launch Files

This package contains:

  • manager.launch.py: Responsible for launching behavior trees responsible for safety and LED animations scheduling.

Configuration Files

ROS Nodes

lights_manager_node

Node responsible for managing Bumper Lights animation scheduling.

Subscribers

  • battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.
  • hardware/e_stop [std_msgs/Bool]: State of emergency stop.

Service Clients (for Default Trees)

  • ~/lights/set_animation [husarion_ugv_msgs/SetLEDAnimation]: Allows setting animation on Bumper Lights based on animation ID.

Parameters

  • battery.anim_period.critical [float, default: 15.0]: Time in [s] to wait before repeating animation, indicating a critical Battery state.
  • battery.anim_period.low [float, default: 30.0]: Time in [s] to wait before repeating the animation, indicating a low Battery state.
  • battery.charging_anim_step [float, default: 0.1]: This parameter defines the minimum change in battery percentage required to trigger an update in the battery charging animation.
  • battery.percent.threshold.critical [float, default: 0.1]: If the Battery percentage drops below this value, an animation indicating a critical Battery state will start being displayed.
  • battery.percent.threshold.low [float, default: 0.4]: If the Battery percentage drops below this value, the animation indicating a low Battery state will start being displayed.
  • battery.percent.window_len [int, default: 6]: Moving average window length used to smooth out Battery percentage readings.
  • bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.
  • plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.
  • ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.
  • ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.
  • ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.
  • timer_frequency [float, default: 10.0]: Frequency [Hz] at which lights tree will be ticked.

safety_manager_node

Node responsible for managing safety features, and software shutdown of components.

Subscribers

  • battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.
  • hardware/e_stop [std_msgs/Bool]: State of emergency stop.
  • hardware/io_state [husarion_ugv_msgs/IOState]: State of IO pins.
  • hardware/robot_driver_state [husarion_ugv_msgs/RobotDriverState]: State of motor controllers.
  • system_status [husarion_ugv_msgs/SystemStatus]: Built-in computer system status, includes the most important computation-related parameters.

Service Clients (for Default Trees)

  • ~/hardware/aux_power_enable [std_srvs/SetBool]: Enables Aux Power output.
  • ~/hardware/e_stop_trigger [std_srvs/Trigger]: Triggers E-stop.
  • ~/hardware/fan_enable [std_srvs/SetBool]: Enables fan.

Parameters

  • battery.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Battery.
  • bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.
  • cpu.temp.fan_off [float, default: 60.0]: Temperature in [°C] of the Built-in Computer’s CPU, below which the fan is turned off.
  • cpu.temp.fan_on [float, default: 70.0]: Temperature in [°C] of the Built-in Computer’s CPU, above which the fan is turned on.
  • cpu.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Built-in Computer’s CPU.
  • driver.temp.fan_off [float, default: 35.0]: Temperature in [°C] of any drivers below which the fan is turned off.
  • driver.temp.fan_on [float, default: 45.0]: Temperature in [°C] of any drivers above which the fan is turned on.
  • driver.temp.window_len [int, default: 6]: Moving average window length used to smooth out the temperature readings of each driver.
  • fan_turn_off_timeout [float, default: 60.0]: Minimal time in [s], after which the fan may be turned off.
  • plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.
  • ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.
  • ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.
  • ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.
  • shutdown_hosts_path [string, default: None]: Path to a YAML file containing a list of hosts to request shutdown. To correctly format the YAML file, include a hosts field consisting of a list with the following fields:
    • ip [string, default: None]: IP of a host to shutdown using HTTP request.
    • port [string, default: 3003]: HTTP communication port.
    • secret [string, default: husarion]: Secret to sign HTTP request with.
    • timeout [string, default: 5.0]: Time in [s] to wait for the host to shutdown. The Built-in Computer will turn off after all computers are shutdown or reached timeout. Keep in mind that hardware will cut power off after a given time after pressing the power button. Refer to the hardware manual for more information.
  • timer_frequency [float, default: 10.0]: Frequency [Hz] at which safety tree will be ticked.
CHANGELOG

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_manager \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

  • Merge pull request #512 from husarion/ros2-fix-intergration-tests
  • fix paths
  • Fix missing overheating error animation (#501)
  • Merge pull request #493 from husarion/ros2-shutdown-request
  • 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
  • update docs
  • fix lights bt tests
  • update lights bt
  • update animations
  • add time conversion test
  • fix time
  • clean up
  • update tree
  • clean up
  • do an "implementation back flip"
  • ping host to check if it is still available
  • check server return code
  • add shutdown_remote_host_node
  • add CommandHandlerInterface
  • read command output
  • use fork to call commands
  • Contributors: Dawid Kmak, Stefan, kmakd

2.2.0 (2025-03-13)

  • update docs and battery timeout (#500)
  • Merge pull request #499 from husarion/docs_fix
  • release fixes (#497)
  • ROS 2 fix manager ports (#495)
  • Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
  • Merge pull request #496 from husarion/repo-rename
  • Merge pull request #484 from husarion/lights-new
  • ROS 2 lights new review (#494)
  • update links
  • Merge branch 'ros2-devel' into lights-new
  • reverted header fix
  • added autoremap to btcpp subtrees
  • manager review changes
  • Merge pull request #490 from husarion/ros2-fix-bild-warnings
  • decreased charging animation step
  • better animations visibility
  • updated LEDAnimation message
  • animation renaming
  • addedd position mirroring
  • hotfix
  • new animations
  • added drive state to lights blackboard
  • fix build warnings
  • Ros2 unit test workflow (#471)
  • Add log level argument to launch files (#473)
  • Ros2 expot test directory (#483)
  • Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
  • Merge pull request #480 from husarion/ros2-cmake-export
  • Suggestions
  • Add ament_index_cpp dependency
  • Add exports to cmake
  • Parameters reorganisation (#472)
  • ROS2 docking utils (#462)
  • Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
  • Merge pull request #466 from husarion/ros2-add-msgs

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged husarion_ugv_manager at Robotics Stack Exchange

No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

husarion_ugv_manager package from husarion_ugv_ros repo

husarion_ugv husarion_ugv_battery husarion_ugv_bringup husarion_ugv_controller husarion_ugv_description husarion_ugv_diagnostics husarion_ugv_gazebo husarion_ugv_hardware_interfaces husarion_ugv_lights husarion_ugv_localization husarion_ugv_manager husarion_ugv_msgs husarion_ugv_utils

ROS Distro
humble

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.2.1
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/husarion/husarion_ugv_ros.git
VCS Type git
VCS Version humble
Last Updated 2025-04-04
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Set of nodes used for high level management of Husarion UGV

Additional Links

Maintainers

  • Husarion

Authors

  • Jakub Delicat
  • Dawid Kmak
husarion_ugv_manager/README.md

husarion_ugv_manager

A package containing nodes responsible for high-level control of Husarion UGV.

Launch Files

This package contains:

  • manager.launch.py: Responsible for launching behavior trees responsible for safety and LED animations scheduling.

Configuration Files

ROS Nodes

lights_manager_node

Node responsible for managing Bumper Lights animation scheduling.

Subscribers

  • battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.
  • hardware/e_stop [std_msgs/Bool]: State of emergency stop.

Service Clients (for Default Trees)

  • ~/lights/set_animation [husarion_ugv_msgs/SetLEDAnimation]: Allows setting animation on Bumper Lights based on animation ID.

Parameters

  • battery.anim_period.critical [float, default: 15.0]: Time in [s] to wait before repeating animation, indicating a critical Battery state.
  • battery.anim_period.low [float, default: 30.0]: Time in [s] to wait before repeating the animation, indicating a low Battery state.
  • battery.charging_anim_step [float, default: 0.1]: This parameter defines the minimum change in battery percentage required to trigger an update in the battery charging animation.
  • battery.percent.threshold.critical [float, default: 0.1]: If the Battery percentage drops below this value, an animation indicating a critical Battery state will start being displayed.
  • battery.percent.threshold.low [float, default: 0.4]: If the Battery percentage drops below this value, the animation indicating a low Battery state will start being displayed.
  • battery.percent.window_len [int, default: 6]: Moving average window length used to smooth out Battery percentage readings.
  • bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.
  • plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.
  • ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.
  • ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.
  • ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.
  • timer_frequency [float, default: 10.0]: Frequency [Hz] at which lights tree will be ticked.

safety_manager_node

Node responsible for managing safety features, and software shutdown of components.

Subscribers

  • battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.
  • hardware/e_stop [std_msgs/Bool]: State of emergency stop.
  • hardware/io_state [husarion_ugv_msgs/IOState]: State of IO pins.
  • hardware/robot_driver_state [husarion_ugv_msgs/RobotDriverState]: State of motor controllers.
  • system_status [husarion_ugv_msgs/SystemStatus]: Built-in computer system status, includes the most important computation-related parameters.

Service Clients (for Default Trees)

  • ~/hardware/aux_power_enable [std_srvs/SetBool]: Enables Aux Power output.
  • ~/hardware/e_stop_trigger [std_srvs/Trigger]: Triggers E-stop.
  • ~/hardware/fan_enable [std_srvs/SetBool]: Enables fan.

Parameters

  • battery.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Battery.
  • bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.
  • cpu.temp.fan_off [float, default: 60.0]: Temperature in [°C] of the Built-in Computer’s CPU, below which the fan is turned off.
  • cpu.temp.fan_on [float, default: 70.0]: Temperature in [°C] of the Built-in Computer’s CPU, above which the fan is turned on.
  • cpu.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Built-in Computer’s CPU.
  • driver.temp.fan_off [float, default: 35.0]: Temperature in [°C] of any drivers below which the fan is turned off.
  • driver.temp.fan_on [float, default: 45.0]: Temperature in [°C] of any drivers above which the fan is turned on.
  • driver.temp.window_len [int, default: 6]: Moving average window length used to smooth out the temperature readings of each driver.
  • fan_turn_off_timeout [float, default: 60.0]: Minimal time in [s], after which the fan may be turned off.
  • plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.
  • ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.
  • ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.
  • ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.
  • shutdown_hosts_path [string, default: None]: Path to a YAML file containing a list of hosts to request shutdown. To correctly format the YAML file, include a hosts field consisting of a list with the following fields:
    • ip [string, default: None]: IP of a host to shutdown using HTTP request.
    • port [string, default: 3003]: HTTP communication port.
    • secret [string, default: husarion]: Secret to sign HTTP request with.
    • timeout [string, default: 5.0]: Time in [s] to wait for the host to shutdown. The Built-in Computer will turn off after all computers are shutdown or reached timeout. Keep in mind that hardware will cut power off after a given time after pressing the power button. Refer to the hardware manual for more information.
  • timer_frequency [float, default: 10.0]: Frequency [Hz] at which safety tree will be ticked.
CHANGELOG

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_manager \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

  • Merge pull request #512 from husarion/ros2-fix-intergration-tests
  • fix paths
  • Fix missing overheating error animation (#501)
  • Merge pull request #493 from husarion/ros2-shutdown-request
  • 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
  • update docs
  • fix lights bt tests
  • update lights bt
  • update animations
  • add time conversion test
  • fix time
  • clean up
  • update tree
  • clean up
  • do an "implementation back flip"
  • ping host to check if it is still available
  • check server return code
  • add shutdown_remote_host_node
  • add CommandHandlerInterface
  • read command output
  • use fork to call commands
  • Contributors: Dawid Kmak, Stefan, kmakd

2.2.0 (2025-03-13)

  • update docs and battery timeout (#500)
  • Merge pull request #499 from husarion/docs_fix
  • release fixes (#497)
  • ROS 2 fix manager ports (#495)
  • Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
  • Merge pull request #496 from husarion/repo-rename
  • Merge pull request #484 from husarion/lights-new
  • ROS 2 lights new review (#494)
  • update links
  • Merge branch 'ros2-devel' into lights-new
  • reverted header fix
  • added autoremap to btcpp subtrees
  • manager review changes
  • Merge pull request #490 from husarion/ros2-fix-bild-warnings
  • decreased charging animation step
  • better animations visibility
  • updated LEDAnimation message
  • animation renaming
  • addedd position mirroring
  • hotfix
  • new animations
  • added drive state to lights blackboard
  • fix build warnings
  • Ros2 unit test workflow (#471)
  • Add log level argument to launch files (#473)
  • Ros2 expot test directory (#483)
  • Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
  • Merge pull request #480 from husarion/ros2-cmake-export
  • Suggestions
  • Add ament_index_cpp dependency
  • Add exports to cmake
  • Parameters reorganisation (#472)
  • ROS2 docking utils (#462)
  • Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
  • Merge pull request #466 from husarion/ros2-add-msgs

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged husarion_ugv_manager at Robotics Stack Exchange

No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

husarion_ugv_manager package from husarion_ugv_ros repo

husarion_ugv husarion_ugv_battery husarion_ugv_bringup husarion_ugv_controller husarion_ugv_description husarion_ugv_diagnostics husarion_ugv_gazebo husarion_ugv_hardware_interfaces husarion_ugv_lights husarion_ugv_localization husarion_ugv_manager husarion_ugv_msgs husarion_ugv_utils

ROS Distro
humble

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.2.1
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/husarion/husarion_ugv_ros.git
VCS Type git
VCS Version humble
Last Updated 2025-04-04
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Set of nodes used for high level management of Husarion UGV

Additional Links

Maintainers

  • Husarion

Authors

  • Jakub Delicat
  • Dawid Kmak
husarion_ugv_manager/README.md

husarion_ugv_manager

A package containing nodes responsible for high-level control of Husarion UGV.

Launch Files

This package contains:

  • manager.launch.py: Responsible for launching behavior trees responsible for safety and LED animations scheduling.

Configuration Files

ROS Nodes

lights_manager_node

Node responsible for managing Bumper Lights animation scheduling.

Subscribers

  • battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.
  • hardware/e_stop [std_msgs/Bool]: State of emergency stop.

Service Clients (for Default Trees)

  • ~/lights/set_animation [husarion_ugv_msgs/SetLEDAnimation]: Allows setting animation on Bumper Lights based on animation ID.

Parameters

  • battery.anim_period.critical [float, default: 15.0]: Time in [s] to wait before repeating animation, indicating a critical Battery state.
  • battery.anim_period.low [float, default: 30.0]: Time in [s] to wait before repeating the animation, indicating a low Battery state.
  • battery.charging_anim_step [float, default: 0.1]: This parameter defines the minimum change in battery percentage required to trigger an update in the battery charging animation.
  • battery.percent.threshold.critical [float, default: 0.1]: If the Battery percentage drops below this value, an animation indicating a critical Battery state will start being displayed.
  • battery.percent.threshold.low [float, default: 0.4]: If the Battery percentage drops below this value, the animation indicating a low Battery state will start being displayed.
  • battery.percent.window_len [int, default: 6]: Moving average window length used to smooth out Battery percentage readings.
  • bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.
  • plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.
  • ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.
  • ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.
  • ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.
  • timer_frequency [float, default: 10.0]: Frequency [Hz] at which lights tree will be ticked.

safety_manager_node

Node responsible for managing safety features, and software shutdown of components.

Subscribers

  • battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.
  • hardware/e_stop [std_msgs/Bool]: State of emergency stop.
  • hardware/io_state [husarion_ugv_msgs/IOState]: State of IO pins.
  • hardware/robot_driver_state [husarion_ugv_msgs/RobotDriverState]: State of motor controllers.
  • system_status [husarion_ugv_msgs/SystemStatus]: Built-in computer system status, includes the most important computation-related parameters.

Service Clients (for Default Trees)

  • ~/hardware/aux_power_enable [std_srvs/SetBool]: Enables Aux Power output.
  • ~/hardware/e_stop_trigger [std_srvs/Trigger]: Triggers E-stop.
  • ~/hardware/fan_enable [std_srvs/SetBool]: Enables fan.

Parameters

  • battery.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Battery.
  • bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.
  • cpu.temp.fan_off [float, default: 60.0]: Temperature in [°C] of the Built-in Computer’s CPU, below which the fan is turned off.
  • cpu.temp.fan_on [float, default: 70.0]: Temperature in [°C] of the Built-in Computer’s CPU, above which the fan is turned on.
  • cpu.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Built-in Computer’s CPU.
  • driver.temp.fan_off [float, default: 35.0]: Temperature in [°C] of any drivers below which the fan is turned off.
  • driver.temp.fan_on [float, default: 45.0]: Temperature in [°C] of any drivers above which the fan is turned on.
  • driver.temp.window_len [int, default: 6]: Moving average window length used to smooth out the temperature readings of each driver.
  • fan_turn_off_timeout [float, default: 60.0]: Minimal time in [s], after which the fan may be turned off.
  • plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.
  • ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.
  • ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.
  • ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.
  • shutdown_hosts_path [string, default: None]: Path to a YAML file containing a list of hosts to request shutdown. To correctly format the YAML file, include a hosts field consisting of a list with the following fields:
    • ip [string, default: None]: IP of a host to shutdown using HTTP request.
    • port [string, default: 3003]: HTTP communication port.
    • secret [string, default: husarion]: Secret to sign HTTP request with.
    • timeout [string, default: 5.0]: Time in [s] to wait for the host to shutdown. The Built-in Computer will turn off after all computers are shutdown or reached timeout. Keep in mind that hardware will cut power off after a given time after pressing the power button. Refer to the hardware manual for more information.
  • timer_frequency [float, default: 10.0]: Frequency [Hz] at which safety tree will be ticked.
CHANGELOG

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_manager \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

  • Merge pull request #512 from husarion/ros2-fix-intergration-tests
  • fix paths
  • Fix missing overheating error animation (#501)
  • Merge pull request #493 from husarion/ros2-shutdown-request
  • 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
  • update docs
  • fix lights bt tests
  • update lights bt
  • update animations
  • add time conversion test
  • fix time
  • clean up
  • update tree
  • clean up
  • do an "implementation back flip"
  • ping host to check if it is still available
  • check server return code
  • add shutdown_remote_host_node
  • add CommandHandlerInterface
  • read command output
  • use fork to call commands
  • Contributors: Dawid Kmak, Stefan, kmakd

2.2.0 (2025-03-13)

  • update docs and battery timeout (#500)
  • Merge pull request #499 from husarion/docs_fix
  • release fixes (#497)
  • ROS 2 fix manager ports (#495)
  • Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
  • Merge pull request #496 from husarion/repo-rename
  • Merge pull request #484 from husarion/lights-new
  • ROS 2 lights new review (#494)
  • update links
  • Merge branch 'ros2-devel' into lights-new
  • reverted header fix
  • added autoremap to btcpp subtrees
  • manager review changes
  • Merge pull request #490 from husarion/ros2-fix-bild-warnings
  • decreased charging animation step
  • better animations visibility
  • updated LEDAnimation message
  • animation renaming
  • addedd position mirroring
  • hotfix
  • new animations
  • added drive state to lights blackboard
  • fix build warnings
  • Ros2 unit test workflow (#471)
  • Add log level argument to launch files (#473)
  • Ros2 expot test directory (#483)
  • Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
  • Merge pull request #480 from husarion/ros2-cmake-export
  • Suggestions
  • Add ament_index_cpp dependency
  • Add exports to cmake
  • Parameters reorganisation (#472)
  • ROS2 docking utils (#462)
  • Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
  • Merge pull request #466 from husarion/ros2-add-msgs

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged husarion_ugv_manager at Robotics Stack Exchange

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

husarion_ugv_manager package from husarion_ugv_ros repo

husarion_ugv husarion_ugv_battery husarion_ugv_bringup husarion_ugv_controller husarion_ugv_description husarion_ugv_diagnostics husarion_ugv_gazebo husarion_ugv_hardware_interfaces husarion_ugv_lights husarion_ugv_localization husarion_ugv_manager husarion_ugv_msgs husarion_ugv_utils

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 2.2.1
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/husarion/husarion_ugv_ros.git
VCS Type git
VCS Version humble
Last Updated 2025-04-04
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Set of nodes used for high level management of Husarion UGV

Additional Links

Maintainers

  • Husarion

Authors

  • Jakub Delicat
  • Dawid Kmak
husarion_ugv_manager/README.md

husarion_ugv_manager

A package containing nodes responsible for high-level control of Husarion UGV.

Launch Files

This package contains:

  • manager.launch.py: Responsible for launching behavior trees responsible for safety and LED animations scheduling.

Configuration Files

ROS Nodes

lights_manager_node

Node responsible for managing Bumper Lights animation scheduling.

Subscribers

  • battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.
  • hardware/e_stop [std_msgs/Bool]: State of emergency stop.

Service Clients (for Default Trees)

  • ~/lights/set_animation [husarion_ugv_msgs/SetLEDAnimation]: Allows setting animation on Bumper Lights based on animation ID.

Parameters

  • battery.anim_period.critical [float, default: 15.0]: Time in [s] to wait before repeating animation, indicating a critical Battery state.
  • battery.anim_period.low [float, default: 30.0]: Time in [s] to wait before repeating the animation, indicating a low Battery state.
  • battery.charging_anim_step [float, default: 0.1]: This parameter defines the minimum change in battery percentage required to trigger an update in the battery charging animation.
  • battery.percent.threshold.critical [float, default: 0.1]: If the Battery percentage drops below this value, an animation indicating a critical Battery state will start being displayed.
  • battery.percent.threshold.low [float, default: 0.4]: If the Battery percentage drops below this value, the animation indicating a low Battery state will start being displayed.
  • battery.percent.window_len [int, default: 6]: Moving average window length used to smooth out Battery percentage readings.
  • bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.
  • plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.
  • ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.
  • ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.
  • ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.
  • timer_frequency [float, default: 10.0]: Frequency [Hz] at which lights tree will be ticked.

safety_manager_node

Node responsible for managing safety features, and software shutdown of components.

Subscribers

  • battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.
  • hardware/e_stop [std_msgs/Bool]: State of emergency stop.
  • hardware/io_state [husarion_ugv_msgs/IOState]: State of IO pins.
  • hardware/robot_driver_state [husarion_ugv_msgs/RobotDriverState]: State of motor controllers.
  • system_status [husarion_ugv_msgs/SystemStatus]: Built-in computer system status, includes the most important computation-related parameters.

Service Clients (for Default Trees)

  • ~/hardware/aux_power_enable [std_srvs/SetBool]: Enables Aux Power output.
  • ~/hardware/e_stop_trigger [std_srvs/Trigger]: Triggers E-stop.
  • ~/hardware/fan_enable [std_srvs/SetBool]: Enables fan.

Parameters

  • battery.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Battery.
  • bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.
  • cpu.temp.fan_off [float, default: 60.0]: Temperature in [°C] of the Built-in Computer’s CPU, below which the fan is turned off.
  • cpu.temp.fan_on [float, default: 70.0]: Temperature in [°C] of the Built-in Computer’s CPU, above which the fan is turned on.
  • cpu.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Built-in Computer’s CPU.
  • driver.temp.fan_off [float, default: 35.0]: Temperature in [°C] of any drivers below which the fan is turned off.
  • driver.temp.fan_on [float, default: 45.0]: Temperature in [°C] of any drivers above which the fan is turned on.
  • driver.temp.window_len [int, default: 6]: Moving average window length used to smooth out the temperature readings of each driver.
  • fan_turn_off_timeout [float, default: 60.0]: Minimal time in [s], after which the fan may be turned off.
  • plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.
  • ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.
  • ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.
  • ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.
  • shutdown_hosts_path [string, default: None]: Path to a YAML file containing a list of hosts to request shutdown. To correctly format the YAML file, include a hosts field consisting of a list with the following fields:
    • ip [string, default: None]: IP of a host to shutdown using HTTP request.
    • port [string, default: 3003]: HTTP communication port.
    • secret [string, default: husarion]: Secret to sign HTTP request with.
    • timeout [string, default: 5.0]: Time in [s] to wait for the host to shutdown. The Built-in Computer will turn off after all computers are shutdown or reached timeout. Keep in mind that hardware will cut power off after a given time after pressing the power button. Refer to the hardware manual for more information.
  • timer_frequency [float, default: 10.0]: Frequency [Hz] at which safety tree will be ticked.
CHANGELOG

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_manager \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

  • Merge pull request #512 from husarion/ros2-fix-intergration-tests
  • fix paths
  • Fix missing overheating error animation (#501)
  • Merge pull request #493 from husarion/ros2-shutdown-request
  • 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
  • update docs
  • fix lights bt tests
  • update lights bt
  • update animations
  • add time conversion test
  • fix time
  • clean up
  • update tree
  • clean up
  • do an "implementation back flip"
  • ping host to check if it is still available
  • check server return code
  • add shutdown_remote_host_node
  • add CommandHandlerInterface
  • read command output
  • use fork to call commands
  • Contributors: Dawid Kmak, Stefan, kmakd

2.2.0 (2025-03-13)

  • update docs and battery timeout (#500)
  • Merge pull request #499 from husarion/docs_fix
  • release fixes (#497)
  • ROS 2 fix manager ports (#495)
  • Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
  • Merge pull request #496 from husarion/repo-rename
  • Merge pull request #484 from husarion/lights-new
  • ROS 2 lights new review (#494)
  • update links
  • Merge branch 'ros2-devel' into lights-new
  • reverted header fix
  • added autoremap to btcpp subtrees
  • manager review changes
  • Merge pull request #490 from husarion/ros2-fix-bild-warnings
  • decreased charging animation step
  • better animations visibility
  • updated LEDAnimation message
  • animation renaming
  • addedd position mirroring
  • hotfix
  • new animations
  • added drive state to lights blackboard
  • fix build warnings
  • Ros2 unit test workflow (#471)
  • Add log level argument to launch files (#473)
  • Ros2 expot test directory (#483)
  • Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
  • Merge pull request #480 from husarion/ros2-cmake-export
  • Suggestions
  • Add ament_index_cpp dependency
  • Add exports to cmake
  • Parameters reorganisation (#472)
  • ROS2 docking utils (#462)
  • Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
  • Merge pull request #466 from husarion/ros2-add-msgs

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged husarion_ugv_manager at Robotics Stack Exchange

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

husarion_ugv_manager package from husarion_ugv_ros repo

husarion_ugv husarion_ugv_battery husarion_ugv_bringup husarion_ugv_controller husarion_ugv_description husarion_ugv_diagnostics husarion_ugv_gazebo husarion_ugv_hardware_interfaces husarion_ugv_lights husarion_ugv_localization husarion_ugv_manager husarion_ugv_msgs husarion_ugv_utils

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 2.2.1
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/husarion/husarion_ugv_ros.git
VCS Type git
VCS Version humble
Last Updated 2025-04-04
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Set of nodes used for high level management of Husarion UGV

Additional Links

Maintainers

  • Husarion

Authors

  • Jakub Delicat
  • Dawid Kmak
husarion_ugv_manager/README.md

husarion_ugv_manager

A package containing nodes responsible for high-level control of Husarion UGV.

Launch Files

This package contains:

  • manager.launch.py: Responsible for launching behavior trees responsible for safety and LED animations scheduling.

Configuration Files

ROS Nodes

lights_manager_node

Node responsible for managing Bumper Lights animation scheduling.

Subscribers

  • battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.
  • hardware/e_stop [std_msgs/Bool]: State of emergency stop.

Service Clients (for Default Trees)

  • ~/lights/set_animation [husarion_ugv_msgs/SetLEDAnimation]: Allows setting animation on Bumper Lights based on animation ID.

Parameters

  • battery.anim_period.critical [float, default: 15.0]: Time in [s] to wait before repeating animation, indicating a critical Battery state.
  • battery.anim_period.low [float, default: 30.0]: Time in [s] to wait before repeating the animation, indicating a low Battery state.
  • battery.charging_anim_step [float, default: 0.1]: This parameter defines the minimum change in battery percentage required to trigger an update in the battery charging animation.
  • battery.percent.threshold.critical [float, default: 0.1]: If the Battery percentage drops below this value, an animation indicating a critical Battery state will start being displayed.
  • battery.percent.threshold.low [float, default: 0.4]: If the Battery percentage drops below this value, the animation indicating a low Battery state will start being displayed.
  • battery.percent.window_len [int, default: 6]: Moving average window length used to smooth out Battery percentage readings.
  • bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.
  • plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.
  • ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.
  • ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.
  • ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.
  • timer_frequency [float, default: 10.0]: Frequency [Hz] at which lights tree will be ticked.

safety_manager_node

Node responsible for managing safety features, and software shutdown of components.

Subscribers

  • battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.
  • hardware/e_stop [std_msgs/Bool]: State of emergency stop.
  • hardware/io_state [husarion_ugv_msgs/IOState]: State of IO pins.
  • hardware/robot_driver_state [husarion_ugv_msgs/RobotDriverState]: State of motor controllers.
  • system_status [husarion_ugv_msgs/SystemStatus]: Built-in computer system status, includes the most important computation-related parameters.

Service Clients (for Default Trees)

  • ~/hardware/aux_power_enable [std_srvs/SetBool]: Enables Aux Power output.
  • ~/hardware/e_stop_trigger [std_srvs/Trigger]: Triggers E-stop.
  • ~/hardware/fan_enable [std_srvs/SetBool]: Enables fan.

Parameters

  • battery.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Battery.
  • bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.
  • cpu.temp.fan_off [float, default: 60.0]: Temperature in [°C] of the Built-in Computer’s CPU, below which the fan is turned off.
  • cpu.temp.fan_on [float, default: 70.0]: Temperature in [°C] of the Built-in Computer’s CPU, above which the fan is turned on.
  • cpu.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Built-in Computer’s CPU.
  • driver.temp.fan_off [float, default: 35.0]: Temperature in [°C] of any drivers below which the fan is turned off.
  • driver.temp.fan_on [float, default: 45.0]: Temperature in [°C] of any drivers above which the fan is turned on.
  • driver.temp.window_len [int, default: 6]: Moving average window length used to smooth out the temperature readings of each driver.
  • fan_turn_off_timeout [float, default: 60.0]: Minimal time in [s], after which the fan may be turned off.
  • plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.
  • ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.
  • ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.
  • ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.
  • shutdown_hosts_path [string, default: None]: Path to a YAML file containing a list of hosts to request shutdown. To correctly format the YAML file, include a hosts field consisting of a list with the following fields:
    • ip [string, default: None]: IP of a host to shutdown using HTTP request.
    • port [string, default: 3003]: HTTP communication port.
    • secret [string, default: husarion]: Secret to sign HTTP request with.
    • timeout [string, default: 5.0]: Time in [s] to wait for the host to shutdown. The Built-in Computer will turn off after all computers are shutdown or reached timeout. Keep in mind that hardware will cut power off after a given time after pressing the power button. Refer to the hardware manual for more information.
  • timer_frequency [float, default: 10.0]: Frequency [Hz] at which safety tree will be ticked.
CHANGELOG

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_manager \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

  • Merge pull request #512 from husarion/ros2-fix-intergration-tests
  • fix paths
  • Fix missing overheating error animation (#501)
  • Merge pull request #493 from husarion/ros2-shutdown-request
  • 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
  • update docs
  • fix lights bt tests
  • update lights bt
  • update animations
  • add time conversion test
  • fix time
  • clean up
  • update tree
  • clean up
  • do an "implementation back flip"
  • ping host to check if it is still available
  • check server return code
  • add shutdown_remote_host_node
  • add CommandHandlerInterface
  • read command output
  • use fork to call commands
  • Contributors: Dawid Kmak, Stefan, kmakd

2.2.0 (2025-03-13)

  • update docs and battery timeout (#500)
  • Merge pull request #499 from husarion/docs_fix
  • release fixes (#497)
  • ROS 2 fix manager ports (#495)
  • Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
  • Merge pull request #496 from husarion/repo-rename
  • Merge pull request #484 from husarion/lights-new
  • ROS 2 lights new review (#494)
  • update links
  • Merge branch 'ros2-devel' into lights-new
  • reverted header fix
  • added autoremap to btcpp subtrees
  • manager review changes
  • Merge pull request #490 from husarion/ros2-fix-bild-warnings
  • decreased charging animation step
  • better animations visibility
  • updated LEDAnimation message
  • animation renaming
  • addedd position mirroring
  • hotfix
  • new animations
  • added drive state to lights blackboard
  • fix build warnings
  • Ros2 unit test workflow (#471)
  • Add log level argument to launch files (#473)
  • Ros2 expot test directory (#483)
  • Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
  • Merge pull request #480 from husarion/ros2-cmake-export
  • Suggestions
  • Add ament_index_cpp dependency
  • Add exports to cmake
  • Parameters reorganisation (#472)
  • ROS2 docking utils (#462)
  • Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
  • Merge pull request #466 from husarion/ros2-add-msgs

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged husarion_ugv_manager at Robotics Stack Exchange

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

husarion_ugv_manager package from husarion_ugv_ros repo

husarion_ugv husarion_ugv_battery husarion_ugv_bringup husarion_ugv_controller husarion_ugv_description husarion_ugv_diagnostics husarion_ugv_gazebo husarion_ugv_hardware_interfaces husarion_ugv_lights husarion_ugv_localization husarion_ugv_manager husarion_ugv_msgs husarion_ugv_utils

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 2.2.1
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/husarion/husarion_ugv_ros.git
VCS Type git
VCS Version humble
Last Updated 2025-04-04
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Set of nodes used for high level management of Husarion UGV

Additional Links

Maintainers

  • Husarion

Authors

  • Jakub Delicat
  • Dawid Kmak
husarion_ugv_manager/README.md

husarion_ugv_manager

A package containing nodes responsible for high-level control of Husarion UGV.

Launch Files

This package contains:

  • manager.launch.py: Responsible for launching behavior trees responsible for safety and LED animations scheduling.

Configuration Files

ROS Nodes

lights_manager_node

Node responsible for managing Bumper Lights animation scheduling.

Subscribers

  • battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.
  • hardware/e_stop [std_msgs/Bool]: State of emergency stop.

Service Clients (for Default Trees)

  • ~/lights/set_animation [husarion_ugv_msgs/SetLEDAnimation]: Allows setting animation on Bumper Lights based on animation ID.

Parameters

  • battery.anim_period.critical [float, default: 15.0]: Time in [s] to wait before repeating animation, indicating a critical Battery state.
  • battery.anim_period.low [float, default: 30.0]: Time in [s] to wait before repeating the animation, indicating a low Battery state.
  • battery.charging_anim_step [float, default: 0.1]: This parameter defines the minimum change in battery percentage required to trigger an update in the battery charging animation.
  • battery.percent.threshold.critical [float, default: 0.1]: If the Battery percentage drops below this value, an animation indicating a critical Battery state will start being displayed.
  • battery.percent.threshold.low [float, default: 0.4]: If the Battery percentage drops below this value, the animation indicating a low Battery state will start being displayed.
  • battery.percent.window_len [int, default: 6]: Moving average window length used to smooth out Battery percentage readings.
  • bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.
  • plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.
  • ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.
  • ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.
  • ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.
  • timer_frequency [float, default: 10.0]: Frequency [Hz] at which lights tree will be ticked.

safety_manager_node

Node responsible for managing safety features, and software shutdown of components.

Subscribers

  • battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.
  • hardware/e_stop [std_msgs/Bool]: State of emergency stop.
  • hardware/io_state [husarion_ugv_msgs/IOState]: State of IO pins.
  • hardware/robot_driver_state [husarion_ugv_msgs/RobotDriverState]: State of motor controllers.
  • system_status [husarion_ugv_msgs/SystemStatus]: Built-in computer system status, includes the most important computation-related parameters.

Service Clients (for Default Trees)

  • ~/hardware/aux_power_enable [std_srvs/SetBool]: Enables Aux Power output.
  • ~/hardware/e_stop_trigger [std_srvs/Trigger]: Triggers E-stop.
  • ~/hardware/fan_enable [std_srvs/SetBool]: Enables fan.

Parameters

  • battery.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Battery.
  • bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.
  • cpu.temp.fan_off [float, default: 60.0]: Temperature in [°C] of the Built-in Computer’s CPU, below which the fan is turned off.
  • cpu.temp.fan_on [float, default: 70.0]: Temperature in [°C] of the Built-in Computer’s CPU, above which the fan is turned on.
  • cpu.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Built-in Computer’s CPU.
  • driver.temp.fan_off [float, default: 35.0]: Temperature in [°C] of any drivers below which the fan is turned off.
  • driver.temp.fan_on [float, default: 45.0]: Temperature in [°C] of any drivers above which the fan is turned on.
  • driver.temp.window_len [int, default: 6]: Moving average window length used to smooth out the temperature readings of each driver.
  • fan_turn_off_timeout [float, default: 60.0]: Minimal time in [s], after which the fan may be turned off.
  • plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.
  • ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.
  • ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.
  • ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.
  • shutdown_hosts_path [string, default: None]: Path to a YAML file containing a list of hosts to request shutdown. To correctly format the YAML file, include a hosts field consisting of a list with the following fields:
    • ip [string, default: None]: IP of a host to shutdown using HTTP request.
    • port [string, default: 3003]: HTTP communication port.
    • secret [string, default: husarion]: Secret to sign HTTP request with.
    • timeout [string, default: 5.0]: Time in [s] to wait for the host to shutdown. The Built-in Computer will turn off after all computers are shutdown or reached timeout. Keep in mind that hardware will cut power off after a given time after pressing the power button. Refer to the hardware manual for more information.
  • timer_frequency [float, default: 10.0]: Frequency [Hz] at which safety tree will be ticked.
CHANGELOG

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_manager \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

  • Merge pull request #512 from husarion/ros2-fix-intergration-tests
  • fix paths
  • Fix missing overheating error animation (#501)
  • Merge pull request #493 from husarion/ros2-shutdown-request
  • 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
  • update docs
  • fix lights bt tests
  • update lights bt
  • update animations
  • add time conversion test
  • fix time
  • clean up
  • update tree
  • clean up
  • do an "implementation back flip"
  • ping host to check if it is still available
  • check server return code
  • add shutdown_remote_host_node
  • add CommandHandlerInterface
  • read command output
  • use fork to call commands
  • Contributors: Dawid Kmak, Stefan, kmakd

2.2.0 (2025-03-13)

  • update docs and battery timeout (#500)
  • Merge pull request #499 from husarion/docs_fix
  • release fixes (#497)
  • ROS 2 fix manager ports (#495)
  • Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
  • Merge pull request #496 from husarion/repo-rename
  • Merge pull request #484 from husarion/lights-new
  • ROS 2 lights new review (#494)
  • update links
  • Merge branch 'ros2-devel' into lights-new
  • reverted header fix
  • added autoremap to btcpp subtrees
  • manager review changes
  • Merge pull request #490 from husarion/ros2-fix-bild-warnings
  • decreased charging animation step
  • better animations visibility
  • updated LEDAnimation message
  • animation renaming
  • addedd position mirroring
  • hotfix
  • new animations
  • added drive state to lights blackboard
  • fix build warnings
  • Ros2 unit test workflow (#471)
  • Add log level argument to launch files (#473)
  • Ros2 expot test directory (#483)
  • Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
  • Merge pull request #480 from husarion/ros2-cmake-export
  • Suggestions
  • Add ament_index_cpp dependency
  • Add exports to cmake
  • Parameters reorganisation (#472)
  • ROS2 docking utils (#462)
  • Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
  • Merge pull request #466 from husarion/ros2-add-msgs

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged husarion_ugv_manager at Robotics Stack Exchange

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

husarion_ugv_manager package from husarion_ugv_ros repo

husarion_ugv husarion_ugv_battery husarion_ugv_bringup husarion_ugv_controller husarion_ugv_description husarion_ugv_diagnostics husarion_ugv_gazebo husarion_ugv_hardware_interfaces husarion_ugv_lights husarion_ugv_localization husarion_ugv_manager husarion_ugv_msgs husarion_ugv_utils

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 2.2.1
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/husarion/husarion_ugv_ros.git
VCS Type git
VCS Version humble
Last Updated 2025-04-04
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Set of nodes used for high level management of Husarion UGV

Additional Links

Maintainers

  • Husarion

Authors

  • Jakub Delicat
  • Dawid Kmak
husarion_ugv_manager/README.md

husarion_ugv_manager

A package containing nodes responsible for high-level control of Husarion UGV.

Launch Files

This package contains:

  • manager.launch.py: Responsible for launching behavior trees responsible for safety and LED animations scheduling.

Configuration Files

ROS Nodes

lights_manager_node

Node responsible for managing Bumper Lights animation scheduling.

Subscribers

  • battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.
  • hardware/e_stop [std_msgs/Bool]: State of emergency stop.

Service Clients (for Default Trees)

  • ~/lights/set_animation [husarion_ugv_msgs/SetLEDAnimation]: Allows setting animation on Bumper Lights based on animation ID.

Parameters

  • battery.anim_period.critical [float, default: 15.0]: Time in [s] to wait before repeating animation, indicating a critical Battery state.
  • battery.anim_period.low [float, default: 30.0]: Time in [s] to wait before repeating the animation, indicating a low Battery state.
  • battery.charging_anim_step [float, default: 0.1]: This parameter defines the minimum change in battery percentage required to trigger an update in the battery charging animation.
  • battery.percent.threshold.critical [float, default: 0.1]: If the Battery percentage drops below this value, an animation indicating a critical Battery state will start being displayed.
  • battery.percent.threshold.low [float, default: 0.4]: If the Battery percentage drops below this value, the animation indicating a low Battery state will start being displayed.
  • battery.percent.window_len [int, default: 6]: Moving average window length used to smooth out Battery percentage readings.
  • bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.
  • plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.
  • ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.
  • ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.
  • ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.
  • timer_frequency [float, default: 10.0]: Frequency [Hz] at which lights tree will be ticked.

safety_manager_node

Node responsible for managing safety features, and software shutdown of components.

Subscribers

  • battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.
  • hardware/e_stop [std_msgs/Bool]: State of emergency stop.
  • hardware/io_state [husarion_ugv_msgs/IOState]: State of IO pins.
  • hardware/robot_driver_state [husarion_ugv_msgs/RobotDriverState]: State of motor controllers.
  • system_status [husarion_ugv_msgs/SystemStatus]: Built-in computer system status, includes the most important computation-related parameters.

Service Clients (for Default Trees)

  • ~/hardware/aux_power_enable [std_srvs/SetBool]: Enables Aux Power output.
  • ~/hardware/e_stop_trigger [std_srvs/Trigger]: Triggers E-stop.
  • ~/hardware/fan_enable [std_srvs/SetBool]: Enables fan.

Parameters

  • battery.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Battery.
  • bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.
  • cpu.temp.fan_off [float, default: 60.0]: Temperature in [°C] of the Built-in Computer’s CPU, below which the fan is turned off.
  • cpu.temp.fan_on [float, default: 70.0]: Temperature in [°C] of the Built-in Computer’s CPU, above which the fan is turned on.
  • cpu.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Built-in Computer’s CPU.
  • driver.temp.fan_off [float, default: 35.0]: Temperature in [°C] of any drivers below which the fan is turned off.
  • driver.temp.fan_on [float, default: 45.0]: Temperature in [°C] of any drivers above which the fan is turned on.
  • driver.temp.window_len [int, default: 6]: Moving average window length used to smooth out the temperature readings of each driver.
  • fan_turn_off_timeout [float, default: 60.0]: Minimal time in [s], after which the fan may be turned off.
  • plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.
  • ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.
  • ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.
  • ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.
  • shutdown_hosts_path [string, default: None]: Path to a YAML file containing a list of hosts to request shutdown. To correctly format the YAML file, include a hosts field consisting of a list with the following fields:
    • ip [string, default: None]: IP of a host to shutdown using HTTP request.
    • port [string, default: 3003]: HTTP communication port.
    • secret [string, default: husarion]: Secret to sign HTTP request with.
    • timeout [string, default: 5.0]: Time in [s] to wait for the host to shutdown. The Built-in Computer will turn off after all computers are shutdown or reached timeout. Keep in mind that hardware will cut power off after a given time after pressing the power button. Refer to the hardware manual for more information.
  • timer_frequency [float, default: 10.0]: Frequency [Hz] at which safety tree will be ticked.
CHANGELOG

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_manager \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

  • Merge pull request #512 from husarion/ros2-fix-intergration-tests
  • fix paths
  • Fix missing overheating error animation (#501)
  • Merge pull request #493 from husarion/ros2-shutdown-request
  • 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
  • update docs
  • fix lights bt tests
  • update lights bt
  • update animations
  • add time conversion test
  • fix time
  • clean up
  • update tree
  • clean up
  • do an "implementation back flip"
  • ping host to check if it is still available
  • check server return code
  • add shutdown_remote_host_node
  • add CommandHandlerInterface
  • read command output
  • use fork to call commands
  • Contributors: Dawid Kmak, Stefan, kmakd

2.2.0 (2025-03-13)

  • update docs and battery timeout (#500)
  • Merge pull request #499 from husarion/docs_fix
  • release fixes (#497)
  • ROS 2 fix manager ports (#495)
  • Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
  • Merge pull request #496 from husarion/repo-rename
  • Merge pull request #484 from husarion/lights-new
  • ROS 2 lights new review (#494)
  • update links
  • Merge branch 'ros2-devel' into lights-new
  • reverted header fix
  • added autoremap to btcpp subtrees
  • manager review changes
  • Merge pull request #490 from husarion/ros2-fix-bild-warnings
  • decreased charging animation step
  • better animations visibility
  • updated LEDAnimation message
  • animation renaming
  • addedd position mirroring
  • hotfix
  • new animations
  • added drive state to lights blackboard
  • fix build warnings
  • Ros2 unit test workflow (#471)
  • Add log level argument to launch files (#473)
  • Ros2 expot test directory (#483)
  • Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
  • Merge pull request #480 from husarion/ros2-cmake-export
  • Suggestions
  • Add ament_index_cpp dependency
  • Add exports to cmake
  • Parameters reorganisation (#472)
  • ROS2 docking utils (#462)
  • Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
  • Merge pull request #466 from husarion/ros2-add-msgs

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged husarion_ugv_manager at Robotics Stack Exchange

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

husarion_ugv_manager package from husarion_ugv_ros repo

husarion_ugv husarion_ugv_battery husarion_ugv_bringup husarion_ugv_controller husarion_ugv_description husarion_ugv_diagnostics husarion_ugv_gazebo husarion_ugv_hardware_interfaces husarion_ugv_lights husarion_ugv_localization husarion_ugv_manager husarion_ugv_msgs husarion_ugv_utils

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 2.2.1
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/husarion/husarion_ugv_ros.git
VCS Type git
VCS Version humble
Last Updated 2025-04-04
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Set of nodes used for high level management of Husarion UGV

Additional Links

Maintainers

  • Husarion

Authors

  • Jakub Delicat
  • Dawid Kmak
husarion_ugv_manager/README.md

husarion_ugv_manager

A package containing nodes responsible for high-level control of Husarion UGV.

Launch Files

This package contains:

  • manager.launch.py: Responsible for launching behavior trees responsible for safety and LED animations scheduling.

Configuration Files

ROS Nodes

lights_manager_node

Node responsible for managing Bumper Lights animation scheduling.

Subscribers

  • battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.
  • hardware/e_stop [std_msgs/Bool]: State of emergency stop.

Service Clients (for Default Trees)

  • ~/lights/set_animation [husarion_ugv_msgs/SetLEDAnimation]: Allows setting animation on Bumper Lights based on animation ID.

Parameters

  • battery.anim_period.critical [float, default: 15.0]: Time in [s] to wait before repeating animation, indicating a critical Battery state.
  • battery.anim_period.low [float, default: 30.0]: Time in [s] to wait before repeating the animation, indicating a low Battery state.
  • battery.charging_anim_step [float, default: 0.1]: This parameter defines the minimum change in battery percentage required to trigger an update in the battery charging animation.
  • battery.percent.threshold.critical [float, default: 0.1]: If the Battery percentage drops below this value, an animation indicating a critical Battery state will start being displayed.
  • battery.percent.threshold.low [float, default: 0.4]: If the Battery percentage drops below this value, the animation indicating a low Battery state will start being displayed.
  • battery.percent.window_len [int, default: 6]: Moving average window length used to smooth out Battery percentage readings.
  • bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.
  • plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.
  • ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.
  • ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.
  • ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.
  • timer_frequency [float, default: 10.0]: Frequency [Hz] at which lights tree will be ticked.

safety_manager_node

Node responsible for managing safety features, and software shutdown of components.

Subscribers

  • battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.
  • hardware/e_stop [std_msgs/Bool]: State of emergency stop.
  • hardware/io_state [husarion_ugv_msgs/IOState]: State of IO pins.
  • hardware/robot_driver_state [husarion_ugv_msgs/RobotDriverState]: State of motor controllers.
  • system_status [husarion_ugv_msgs/SystemStatus]: Built-in computer system status, includes the most important computation-related parameters.

Service Clients (for Default Trees)

  • ~/hardware/aux_power_enable [std_srvs/SetBool]: Enables Aux Power output.
  • ~/hardware/e_stop_trigger [std_srvs/Trigger]: Triggers E-stop.
  • ~/hardware/fan_enable [std_srvs/SetBool]: Enables fan.

Parameters

  • battery.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Battery.
  • bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.
  • cpu.temp.fan_off [float, default: 60.0]: Temperature in [°C] of the Built-in Computer’s CPU, below which the fan is turned off.
  • cpu.temp.fan_on [float, default: 70.0]: Temperature in [°C] of the Built-in Computer’s CPU, above which the fan is turned on.
  • cpu.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Built-in Computer’s CPU.
  • driver.temp.fan_off [float, default: 35.0]: Temperature in [°C] of any drivers below which the fan is turned off.
  • driver.temp.fan_on [float, default: 45.0]: Temperature in [°C] of any drivers above which the fan is turned on.
  • driver.temp.window_len [int, default: 6]: Moving average window length used to smooth out the temperature readings of each driver.
  • fan_turn_off_timeout [float, default: 60.0]: Minimal time in [s], after which the fan may be turned off.
  • plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.
  • ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.
  • ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.
  • ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.
  • shutdown_hosts_path [string, default: None]: Path to a YAML file containing a list of hosts to request shutdown. To correctly format the YAML file, include a hosts field consisting of a list with the following fields:
    • ip [string, default: None]: IP of a host to shutdown using HTTP request.
    • port [string, default: 3003]: HTTP communication port.
    • secret [string, default: husarion]: Secret to sign HTTP request with.
    • timeout [string, default: 5.0]: Time in [s] to wait for the host to shutdown. The Built-in Computer will turn off after all computers are shutdown or reached timeout. Keep in mind that hardware will cut power off after a given time after pressing the power button. Refer to the hardware manual for more information.
  • timer_frequency [float, default: 10.0]: Frequency [Hz] at which safety tree will be ticked.
CHANGELOG

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_manager \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

  • Merge pull request #512 from husarion/ros2-fix-intergration-tests
  • fix paths
  • Fix missing overheating error animation (#501)
  • Merge pull request #493 from husarion/ros2-shutdown-request
  • 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
  • update docs
  • fix lights bt tests
  • update lights bt
  • update animations
  • add time conversion test
  • fix time
  • clean up
  • update tree
  • clean up
  • do an "implementation back flip"
  • ping host to check if it is still available
  • check server return code
  • add shutdown_remote_host_node
  • add CommandHandlerInterface
  • read command output
  • use fork to call commands
  • Contributors: Dawid Kmak, Stefan, kmakd

2.2.0 (2025-03-13)

  • update docs and battery timeout (#500)
  • Merge pull request #499 from husarion/docs_fix
  • release fixes (#497)
  • ROS 2 fix manager ports (#495)
  • Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
  • Merge pull request #496 from husarion/repo-rename
  • Merge pull request #484 from husarion/lights-new
  • ROS 2 lights new review (#494)
  • update links
  • Merge branch 'ros2-devel' into lights-new
  • reverted header fix
  • added autoremap to btcpp subtrees
  • manager review changes
  • Merge pull request #490 from husarion/ros2-fix-bild-warnings
  • decreased charging animation step
  • better animations visibility
  • updated LEDAnimation message
  • animation renaming
  • addedd position mirroring
  • hotfix
  • new animations
  • added drive state to lights blackboard
  • fix build warnings
  • Ros2 unit test workflow (#471)
  • Add log level argument to launch files (#473)
  • Ros2 expot test directory (#483)
  • Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
  • Merge pull request #480 from husarion/ros2-cmake-export
  • Suggestions
  • Add ament_index_cpp dependency
  • Add exports to cmake
  • Parameters reorganisation (#472)
  • ROS2 docking utils (#462)
  • Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
  • Merge pull request #466 from husarion/ros2-add-msgs

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged husarion_ugv_manager at Robotics Stack Exchange

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

husarion_ugv_manager package from husarion_ugv_ros repo

husarion_ugv husarion_ugv_battery husarion_ugv_bringup husarion_ugv_controller husarion_ugv_description husarion_ugv_diagnostics husarion_ugv_gazebo husarion_ugv_hardware_interfaces husarion_ugv_lights husarion_ugv_localization husarion_ugv_manager husarion_ugv_msgs husarion_ugv_utils

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 2.2.1
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/husarion/husarion_ugv_ros.git
VCS Type git
VCS Version humble
Last Updated 2025-04-04
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Set of nodes used for high level management of Husarion UGV

Additional Links

Maintainers

  • Husarion

Authors

  • Jakub Delicat
  • Dawid Kmak
husarion_ugv_manager/README.md

husarion_ugv_manager

A package containing nodes responsible for high-level control of Husarion UGV.

Launch Files

This package contains:

  • manager.launch.py: Responsible for launching behavior trees responsible for safety and LED animations scheduling.

Configuration Files

ROS Nodes

lights_manager_node

Node responsible for managing Bumper Lights animation scheduling.

Subscribers

  • battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.
  • hardware/e_stop [std_msgs/Bool]: State of emergency stop.

Service Clients (for Default Trees)

  • ~/lights/set_animation [husarion_ugv_msgs/SetLEDAnimation]: Allows setting animation on Bumper Lights based on animation ID.

Parameters

  • battery.anim_period.critical [float, default: 15.0]: Time in [s] to wait before repeating animation, indicating a critical Battery state.
  • battery.anim_period.low [float, default: 30.0]: Time in [s] to wait before repeating the animation, indicating a low Battery state.
  • battery.charging_anim_step [float, default: 0.1]: This parameter defines the minimum change in battery percentage required to trigger an update in the battery charging animation.
  • battery.percent.threshold.critical [float, default: 0.1]: If the Battery percentage drops below this value, an animation indicating a critical Battery state will start being displayed.
  • battery.percent.threshold.low [float, default: 0.4]: If the Battery percentage drops below this value, the animation indicating a low Battery state will start being displayed.
  • battery.percent.window_len [int, default: 6]: Moving average window length used to smooth out Battery percentage readings.
  • bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.
  • plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.
  • ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.
  • ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.
  • ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.
  • timer_frequency [float, default: 10.0]: Frequency [Hz] at which lights tree will be ticked.

safety_manager_node

Node responsible for managing safety features, and software shutdown of components.

Subscribers

  • battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.
  • hardware/e_stop [std_msgs/Bool]: State of emergency stop.
  • hardware/io_state [husarion_ugv_msgs/IOState]: State of IO pins.
  • hardware/robot_driver_state [husarion_ugv_msgs/RobotDriverState]: State of motor controllers.
  • system_status [husarion_ugv_msgs/SystemStatus]: Built-in computer system status, includes the most important computation-related parameters.

Service Clients (for Default Trees)

  • ~/hardware/aux_power_enable [std_srvs/SetBool]: Enables Aux Power output.
  • ~/hardware/e_stop_trigger [std_srvs/Trigger]: Triggers E-stop.
  • ~/hardware/fan_enable [std_srvs/SetBool]: Enables fan.

Parameters

  • battery.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Battery.
  • bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.
  • cpu.temp.fan_off [float, default: 60.0]: Temperature in [°C] of the Built-in Computer’s CPU, below which the fan is turned off.
  • cpu.temp.fan_on [float, default: 70.0]: Temperature in [°C] of the Built-in Computer’s CPU, above which the fan is turned on.
  • cpu.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Built-in Computer’s CPU.
  • driver.temp.fan_off [float, default: 35.0]: Temperature in [°C] of any drivers below which the fan is turned off.
  • driver.temp.fan_on [float, default: 45.0]: Temperature in [°C] of any drivers above which the fan is turned on.
  • driver.temp.window_len [int, default: 6]: Moving average window length used to smooth out the temperature readings of each driver.
  • fan_turn_off_timeout [float, default: 60.0]: Minimal time in [s], after which the fan may be turned off.
  • plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.
  • ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.
  • ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.
  • ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.
  • shutdown_hosts_path [string, default: None]: Path to a YAML file containing a list of hosts to request shutdown. To correctly format the YAML file, include a hosts field consisting of a list with the following fields:
    • ip [string, default: None]: IP of a host to shutdown using HTTP request.
    • port [string, default: 3003]: HTTP communication port.
    • secret [string, default: husarion]: Secret to sign HTTP request with.
    • timeout [string, default: 5.0]: Time in [s] to wait for the host to shutdown. The Built-in Computer will turn off after all computers are shutdown or reached timeout. Keep in mind that hardware will cut power off after a given time after pressing the power button. Refer to the hardware manual for more information.
  • timer_frequency [float, default: 10.0]: Frequency [Hz] at which safety tree will be ticked.
CHANGELOG

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_manager \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

  • Merge pull request #512 from husarion/ros2-fix-intergration-tests
  • fix paths
  • Fix missing overheating error animation (#501)
  • Merge pull request #493 from husarion/ros2-shutdown-request
  • 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
  • update docs
  • fix lights bt tests
  • update lights bt
  • update animations
  • add time conversion test
  • fix time
  • clean up
  • update tree
  • clean up
  • do an "implementation back flip"
  • ping host to check if it is still available
  • check server return code
  • add shutdown_remote_host_node
  • add CommandHandlerInterface
  • read command output
  • use fork to call commands
  • Contributors: Dawid Kmak, Stefan, kmakd

2.2.0 (2025-03-13)

  • update docs and battery timeout (#500)
  • Merge pull request #499 from husarion/docs_fix
  • release fixes (#497)
  • ROS 2 fix manager ports (#495)
  • Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
  • Merge pull request #496 from husarion/repo-rename
  • Merge pull request #484 from husarion/lights-new
  • ROS 2 lights new review (#494)
  • update links
  • Merge branch 'ros2-devel' into lights-new
  • reverted header fix
  • added autoremap to btcpp subtrees
  • manager review changes
  • Merge pull request #490 from husarion/ros2-fix-bild-warnings
  • decreased charging animation step
  • better animations visibility
  • updated LEDAnimation message
  • animation renaming
  • addedd position mirroring
  • hotfix
  • new animations
  • added drive state to lights blackboard
  • fix build warnings
  • Ros2 unit test workflow (#471)
  • Add log level argument to launch files (#473)
  • Ros2 expot test directory (#483)
  • Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
  • Merge pull request #480 from husarion/ros2-cmake-export
  • Suggestions
  • Add ament_index_cpp dependency
  • Add exports to cmake
  • Parameters reorganisation (#472)
  • ROS2 docking utils (#462)
  • Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
  • Merge pull request #466 from husarion/ros2-add-msgs

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged husarion_ugv_manager at Robotics Stack Exchange

No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

husarion_ugv_manager package from husarion_ugv_ros repo

husarion_ugv husarion_ugv_battery husarion_ugv_bringup husarion_ugv_controller husarion_ugv_description husarion_ugv_diagnostics husarion_ugv_gazebo husarion_ugv_hardware_interfaces husarion_ugv_lights husarion_ugv_localization husarion_ugv_manager husarion_ugv_msgs husarion_ugv_utils

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 2.2.1
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/husarion/husarion_ugv_ros.git
VCS Type git
VCS Version humble
Last Updated 2025-04-04
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Set of nodes used for high level management of Husarion UGV

Additional Links

Maintainers

  • Husarion

Authors

  • Jakub Delicat
  • Dawid Kmak
husarion_ugv_manager/README.md

husarion_ugv_manager

A package containing nodes responsible for high-level control of Husarion UGV.

Launch Files

This package contains:

  • manager.launch.py: Responsible for launching behavior trees responsible for safety and LED animations scheduling.

Configuration Files

ROS Nodes

lights_manager_node

Node responsible for managing Bumper Lights animation scheduling.

Subscribers

  • battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.
  • hardware/e_stop [std_msgs/Bool]: State of emergency stop.

Service Clients (for Default Trees)

  • ~/lights/set_animation [husarion_ugv_msgs/SetLEDAnimation]: Allows setting animation on Bumper Lights based on animation ID.

Parameters

  • battery.anim_period.critical [float, default: 15.0]: Time in [s] to wait before repeating animation, indicating a critical Battery state.
  • battery.anim_period.low [float, default: 30.0]: Time in [s] to wait before repeating the animation, indicating a low Battery state.
  • battery.charging_anim_step [float, default: 0.1]: This parameter defines the minimum change in battery percentage required to trigger an update in the battery charging animation.
  • battery.percent.threshold.critical [float, default: 0.1]: If the Battery percentage drops below this value, an animation indicating a critical Battery state will start being displayed.
  • battery.percent.threshold.low [float, default: 0.4]: If the Battery percentage drops below this value, the animation indicating a low Battery state will start being displayed.
  • battery.percent.window_len [int, default: 6]: Moving average window length used to smooth out Battery percentage readings.
  • bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.
  • plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.
  • ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.
  • ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.
  • ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.
  • timer_frequency [float, default: 10.0]: Frequency [Hz] at which lights tree will be ticked.

safety_manager_node

Node responsible for managing safety features, and software shutdown of components.

Subscribers

  • battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.
  • hardware/e_stop [std_msgs/Bool]: State of emergency stop.
  • hardware/io_state [husarion_ugv_msgs/IOState]: State of IO pins.
  • hardware/robot_driver_state [husarion_ugv_msgs/RobotDriverState]: State of motor controllers.
  • system_status [husarion_ugv_msgs/SystemStatus]: Built-in computer system status, includes the most important computation-related parameters.

Service Clients (for Default Trees)

  • ~/hardware/aux_power_enable [std_srvs/SetBool]: Enables Aux Power output.
  • ~/hardware/e_stop_trigger [std_srvs/Trigger]: Triggers E-stop.
  • ~/hardware/fan_enable [std_srvs/SetBool]: Enables fan.

Parameters

  • battery.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Battery.
  • bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.
  • cpu.temp.fan_off [float, default: 60.0]: Temperature in [°C] of the Built-in Computer’s CPU, below which the fan is turned off.
  • cpu.temp.fan_on [float, default: 70.0]: Temperature in [°C] of the Built-in Computer’s CPU, above which the fan is turned on.
  • cpu.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Built-in Computer’s CPU.
  • driver.temp.fan_off [float, default: 35.0]: Temperature in [°C] of any drivers below which the fan is turned off.
  • driver.temp.fan_on [float, default: 45.0]: Temperature in [°C] of any drivers above which the fan is turned on.
  • driver.temp.window_len [int, default: 6]: Moving average window length used to smooth out the temperature readings of each driver.
  • fan_turn_off_timeout [float, default: 60.0]: Minimal time in [s], after which the fan may be turned off.
  • plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.
  • ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.
  • ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.
  • ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.
  • shutdown_hosts_path [string, default: None]: Path to a YAML file containing a list of hosts to request shutdown. To correctly format the YAML file, include a hosts field consisting of a list with the following fields:
    • ip [string, default: None]: IP of a host to shutdown using HTTP request.
    • port [string, default: 3003]: HTTP communication port.
    • secret [string, default: husarion]: Secret to sign HTTP request with.
    • timeout [string, default: 5.0]: Time in [s] to wait for the host to shutdown. The Built-in Computer will turn off after all computers are shutdown or reached timeout. Keep in mind that hardware will cut power off after a given time after pressing the power button. Refer to the hardware manual for more information.
  • timer_frequency [float, default: 10.0]: Frequency [Hz] at which safety tree will be ticked.
CHANGELOG

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_manager \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

  • Merge pull request #512 from husarion/ros2-fix-intergration-tests
  • fix paths
  • Fix missing overheating error animation (#501)
  • Merge pull request #493 from husarion/ros2-shutdown-request
  • 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
  • update docs
  • fix lights bt tests
  • update lights bt
  • update animations
  • add time conversion test
  • fix time
  • clean up
  • update tree
  • clean up
  • do an "implementation back flip"
  • ping host to check if it is still available
  • check server return code
  • add shutdown_remote_host_node
  • add CommandHandlerInterface
  • read command output
  • use fork to call commands
  • Contributors: Dawid Kmak, Stefan, kmakd

2.2.0 (2025-03-13)

  • update docs and battery timeout (#500)
  • Merge pull request #499 from husarion/docs_fix
  • release fixes (#497)
  • ROS 2 fix manager ports (#495)
  • Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
  • Merge pull request #496 from husarion/repo-rename
  • Merge pull request #484 from husarion/lights-new
  • ROS 2 lights new review (#494)
  • update links
  • Merge branch 'ros2-devel' into lights-new
  • reverted header fix
  • added autoremap to btcpp subtrees
  • manager review changes
  • Merge pull request #490 from husarion/ros2-fix-bild-warnings
  • decreased charging animation step
  • better animations visibility
  • updated LEDAnimation message
  • animation renaming
  • addedd position mirroring
  • hotfix
  • new animations
  • added drive state to lights blackboard
  • fix build warnings
  • Ros2 unit test workflow (#471)
  • Add log level argument to launch files (#473)
  • Ros2 expot test directory (#483)
  • Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
  • Merge pull request #480 from husarion/ros2-cmake-export
  • Suggestions
  • Add ament_index_cpp dependency
  • Add exports to cmake
  • Parameters reorganisation (#472)
  • ROS2 docking utils (#462)
  • Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
  • Merge pull request #466 from husarion/ros2-add-msgs

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Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

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