Package Summary

Tags No category tags.
Version 0.2.7
License BSD
Build type CATKIN

Repository Summary

Checkout URI
VCS Type git
VCS Version indigo-devel
Last Updated 2018-04-12
CI status Continuous Integration
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Clearpath Husky installation and integration package

Additional Links


  • Paul Bovbel


  • Mike Purvis
  • Paul Bovbel
  • Devon Ash
No README found. See repository README.

Changelog for package husky_bringup

0.2.7 (2018-04-11)

  • Fixes for single-ur5 husky platform so that it works in production
  • Contributors: Devon Ash

0.2.6 (2016-10-03)

  • Adding support for the UM7 IMU.
  • Added new ur_modern_driver
  • Added param for laser frame_id.
  • Contributors: TheDash, Tony Baltovski

0.2.5 (2015-12-31)

0.2.4 (2015-07-08)

  • Fix laser path
  • Contributors: Paul Bovbel

0.2.3 (2015-04-08)

  • Integrate husky_customization workflow
  • Contributors: Paul Bovbel

0.2.2 (2015-03-23)

  • Fix package urls
  • Contributors: Paul Bovbel

0.2.1 (2015-03-23)

0.2.0 (2015-03-23)

  • Add UR5 bringup
  • Contributors: Paul Bovbel, Devon Ash

0.1.2 (2015-02-12)

  • Namespace fixes
  • Contributors: Paul Bovbel

0.1.1 (2015-01-30)

  • Update website and authors
  • Add transform to transfer IMU data to base_link frame
  • Make ROBOT_NETWORK optional
  • Switch to robot_upstart python API
  • Switch to debhelper install method for udeb rules
  • Switch to env-hook for file storage
  • Switch to new calibration method for um6; switch to imu_filter_magwick
  • Contributors: Paul Bovbel

0.1.0 (2015-01-13)

  • Port to robot_localization, gyro only pending um6 fixes
  • changed the launch file to match parameter namespace changes in the imu_compass node
  • ported kingfisher compass calibration to husky
  • Added Microstrain device condition - Looks for an attached Microstrain device and installs the necessary launch files from the microstrain_config directory.
  • Update sick.launch - Fixed binary name
  • Change default IP for LIDAR to
  • Add launcher for sick LIDAR.
  • Added Microstrain launch file and udev rule.
  • Contributors: Jeff Schmidt, Mike Purvis, Paul Bovbel, Prasenjit Mukherjee

0.0.6 (2013-10-12)

  • Restore leading slash in checking the joystick path. This was removed by mistake in an earlier commit.

0.0.5 (2013-10-05)

  • Acknowledge the ROBOT_SETUP env variable in the install script.

0.0.4 (2013-10-03)

  • Remove the other launchfile check until we get a chance to fix the config location issue.
  • adding installation of ekf yaml file to install script
  • better parameters for husky compass calibration based on standard husky configurations
  • combining both ekf launchers into one and relying on a config file to to pick whether we want an outdoor or indoor ekf to start
  • allowing the user to scale the gps data if desired
  • adding parameter to lock the altitude at 0
  • set invalid covariance value for enu to really high, instead of -1

0.0.3 (2013-10-01)

  • Add sicktoolbox_wrapper in advance of a config for standard LIDARs.
  • Parameterize from environment variables the IMU and GPS ports, and network interface to launch from.

0.0.2 (2013-09-23)

  • Compass startup and inertial ekf
  • adding magnetometer configuration file to husky_bringup
  • added static transform to um6 launcher
  • Set namespace to navsat, baud rate to 9600.
  • Depend on robot_upstart.
  • Add automatic launchfile checks.

0.0.1 (2013-09-13)

  • Catkinize package.
  • First cut of a new install script.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/navsat_config/navsat.launch
  • launch/lms1xx_config/lms1xx.launch
      • lms1xx_enabled [default: $(optenv HUSKY_LMS1XX_ENABLED false)]
  • launch/um6_config/um6.launch
  • launch/um7_config/um7.launch
  • launch/ur5_arm_config/ur5.launch
    • Software License Agreement (BSD) \file ur5.launch \authors Devon Ash \copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR- RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN- DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
      • ur5_enabled [default: $(optenv HUSKY_UR5_ENABLED false)]
      • robot_ip [default: $(env HUSKY_UR5_IP)]
      • reverse_port [default: 50001]
      • min_payload [default: 0.0]
      • max_payload [default: 10.0]
      • prefix [default: ur5_arm_]
      • max_velocity [default: 10.0]
  • launch/microstrain_config/microstrain.launch


No message files found.


No service files found


No plugins found.

Recent questions tagged husky_bringup at Robotics Stack Exchange