Husky Description

In order to facilitate editing structures, payloads, and edit other features of the Husky, we use the following environment variables. All of the definitions below are of the default values for each variable.

Namespace

When dealing with multiple Husky robots it is necessary to set a namespace for each

export ROBOT_NAMESPACE='/'

File Paths

The following variables are used to set the paths of extra configuration files.

# Extend URDF with custom file
export HUSKY_URDF_EXTRAS='empty.urdf'
export CPR_URDF_EXTRAS='empty.urdf'

Bumpers

The front and rear bumpers can be toggled on/off and extended using the following variables. The front bumper can be swapped for one with wibotic wireless charging.

export HUSKY_FRONT_BUMPER=1
export HUSKY_REAR_BUMPER=1
export HUSKY_FRONT_BUMPER_EXTEND=0
export HUSKY_REAR_BUMPER_EXTEND=0
export HUSKY_WIBOTIC_BUMPER=0

Top Plate

By default, the standard plate is added atop the user rail. This top plate can be swapped for a larger top plate.

Standard Plate:

export HUSKY_TOP_PLATE_ENABLED=1
export HUSKY_LARGE_TOP_PLATE=0
export HUSKY_USER_RAIL_ENABLED=1

Large Top Plate:

export HUSKY_TOP_PLATE_ENABLED=1
export HUSKY_LARGE_TOP_PLATE=1
export HUSKY_USER_RAIL_ENABLED=0

PACS

The PACS system overwrites the previous top plate and user rail with a custom top plate with preset locations. There are 56 standard locations organized in a grid, from A01 to G08 (where A through G define the columns, while 1 through 8 define the rows. The middle value is the height level. Additional levels can be added using risers).

# Enable to use swap to PACS top plate
export HUSKY_PACS_ENABLED=1

Risers

There are two types of risers that can be added to the robot.
Full risers span the entire top plate (i.e. it is like adding a second plate atop the default one). Only one can be added.
Partial risers span a row of the plate. Multiple can be added.
To add multiple, enter a list of LEVELS and ROWS. These lists must be of the same length. The LEVELS list defines the height of each riser; while, the ROWS list defines the row of each riser. \

export HUSKY_FULL_RISER_LEVEL=1 # 10cm increment
export HUSKY_PARTIAL_RISER_LEVELS="1 5" # List of levels, 10cm and 50cm
export HUSKY_PARTIAL_RISER_ROWS="1 8" # List of rows, first row (at 10 cm), second row (at 50 cm)

Brackets

Once you have enabled PACS (and any risers), you have a three dimensional grid atop of which you can add brackets. There are three types of brackets:

• horizontal: standard bracket, a 10cm x 10cm plate.
• horizontal_large: larger 13cm x 13cm plate.
• vertical: base is same size as standard plate, but has a vertical wall where mounting link is added.

These brackets can be added to any hardpoint (i.e. A01 through G08). In the following environment variables ‘A01’ is used as an example but it can be swapped for any hardpoint (including those on risers).

export HUSKY_A01_BRACKET_ENABLED=1
export HUSKY_A01_BRACKET_TYPE='horizontal' # or 'horizontal_large' or 'vertical'
export HUSKY_A01_BRACKET_XYZ='0 0 0'
export HUSKY_A01_BRACKET_RPY='0 0 0'
export HUSKY_A01_BRACKET_EXTENSION='0' # distance from surface of plate/riser to surface of bracket in milimeters

Sensor Arch

The standard sensor arch can be added using the following environment variables.

export HUSKY_SENSOR_ARCH=1
export HUSKY_SENSOR_ARCH_HEIGHT='510' # or 300
export HUSKY_SENSOR_ARCH_OFFSET='0 0 0'
export HUSKY_SENSOR_ARCH_RPY='0 0 0'

Husky Payloads

The following environment variable provide a system to add standard sensors to the Husky URDF.
Every sensor has three types of environment variables:

1. Enable: these will add the sensor to the URDF and start the launch file.
2. Launch: these correspond to parameters exclusively in the launch file.
3. Description: these correspond to parameters excluvesively in the URDF.

SICK LMS1XX Laser

Primary

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Changelog for package husky_description

0.6.10 (2024-03-18)

• Add simplified collision geometry to the URDF
• Contributors: Chris Iverach-Brereton

0.6.9 (2023-05-19)

• change envvars to use a configuraiton string
• fix alphabtical order of dependencies
• add onav description dependency
• modified envvar and args to match format of file
• added urdf for outdoornav
• Contributors: José Mastrangelo

0.6.8 (2023-05-04)

• Only Included Realsense if Enabled
• Contributors: Luis Camero

0.6.7 (2023-03-10)

• Fixed Realsense URDF
• Update README.md
• Cleared up launch from description variables
• Changed 'true' and '1' to 1
• Switched all enables to true
• Contributors: luis-camero

0.6.6 (2023-01-16)

0.6.5 (2022-11-25)

• Removed old bracket
• Updated brackets
• Change the reference heading of the GPS plugin to be east so the coordinate system is ENU
• Rename DATUM_* to GAZEBO_WORLD_*. We're separating the datum from the world's origin, and this keeps envars from clobbering each other
• LMS1XX Tower EnvVar (#250)
  • Added second velodyne description
  • Added environment variable to remove the LMS1XX mount
  • Removed console output
• Use DATUM_LAT and DATUM_LON envars to override the default reference lat/lon for the Gazebo GPS plugin. This addresses a compatibility issue with outdoor nav simulations
• Contributors: Chris Iverach-Brereton, Luis Camero, luis-camero

0.6.4 (2022-06-16)

• Fixes for velodyne prefix
• PACS Brackets (#238)
  • Added STL models for brackets
  • Added brackets to URDF
  • Added bracket environment variables
• Fixed issues with find
• Added README with all Environment Variables
• Duplicate URDF for every standard sensor
• Added fath pivot mount as dependency
• Added URDF of Blackfly on top of fath_pivot_mount
• Added prefix to name parameter to differentiate between primary and secondary
• Changed ENABLE to ENABLED
• Changed HUSKY_FULL_RISER to HUSKY_FULL_RISER_LEVEL
• Added PACS top plate and mounts to decorations
• Added PACS urdf definitions
• Added PACS meshes
• Contributors: Luis Camero, luis-camero

0.6.3 (2022-05-16)

• Added Blackfly
• Added blackfly description dependancy
• Realsense will no longer add the Sensor Arch (#220)
  • Add parent link env-var to imu
  • Sensor Arch is only enabled by HUSKY_SENSOR_ARCH, changed default realsense mount frame to
• Contributors: Luis Camero, luis-camero

0.6.2 (2022-02-15)

• Added Wibotic mesh and STL
• Bump CMake version to avoid CMP0048 warning.
• Contributors: Luis Camero, Tony Baltovski

0.6.1 (2022-01-18)

• Fixed error in URDF
• Added Hokuyo
• Check launch file only if testing When building husky_control, husky_description, husky_navigation or husky_viz without tests, CMake fails as it does not find [catkin_run_tests_target]{.title-ref} command. This patch adds conditions to fix this problem.
• Revert changes to mount_base_link to preserve use of origin argument; instead, simply created an additional plate link that sits

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