No version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.
|
husky_description package from husky repohusky_control husky_description husky_desktop husky_gazebo husky_msgs husky_navigation husky_simulator husky_viz |
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Package Summary
| Tags | No category tags. |
| Version | 0.6.10 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/husky/husky.git |
| VCS Type | git |
| VCS Version | noetic-devel |
| Last Updated | 2024-03-18 |
| Dev Status | MAINTAINED |
| CI status |
|
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Clearpath Husky URDF description
Additional Links
Maintainers
- Tony Baltovski
Authors
- Ryan Gariepy
- Prasenjit Mukherjee
- Mike Purvis
- Paul Bovbel
- Devon Ash
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_MOUNT_ENABLED=1
export HUSKY_A01_MOUNT_TYPE='horizontal' # or 'horizontal_large' or 'vertical'
export HUSKY_A01_MOUNT_XYZ='0 0 0'
export HUSKY_A01_MOUNT_RPY='0 0 0'
export HUSKY_A01_MOUNT_EXTENSION='0' # distance from surface of plate/riser to surface of bracket
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
export HUSKY_LMS1XX_ENABLED=1
Launch
export HUSKY_LMS1XX_TOPIC='front/scan'
export HUSKY_LMS1XX_IP='192.168.131.20'
Description
export HUSKY_LMS1XX_PREFIX='front'
export HUSKY_LMS1XX_PARENT='top_plate_link'
export HUSKY_LMS1XX_XYZ='0.2206 0.0 0.00635' # standard offset when parent is 'top_plate_link'
export HUSKY_LMS1XX_RPY='0.0 0.0 0.0' # standard orientation when parent is 'top_plate_link'
Secondary
export HUSKY_LMS1XX_SECONDARY_ENABLED=1
Launch
export HUSKY_LMS1XX_SECONDARY_TOPIC='rear/scan'
export HUSKy_LMS1XX_SECONDARY_IP='192.168.131.21'
Description
export HUSKY_LMS1XX_SECONDARY_PREFIX='rear'
export HUSKY_LMS1XX_SECONDARY_PARENT='top_plate_link'
export HUSKY_LMS1XX_SECONDARY_XYZ='-0.2206 0.0 0.00635' # standard offset when parent is 'top_plate_link'
export HUSKY_LMS1XX_SECONDARY_RPY='0.0 0.0 3.14159' # standard orientation when parent is 'top_plate_link'
Hokuyo UST10
Front
export HUSKY_UST10_ENABLED=1
Launch
export HUSKY_UST10_TOPIC='front/scan'
export HUSKY_UST10_IP='192.168.131.20'
Description
export HUSKY_UST10_PREFIX='front'
export HUSKY_UST10_PARENT='top_plate_link'
export HUSKY_UST10_XYZ='0.2206 0.0 0.00635' # standard offset when parent is 'top_plate_link'
export HUSKY_UST10_RPY='0 0 0'
Rear
export HUSKY_UST10_SECONDARY_ENABLED=1
Launch
export HUSKY_UST10_SECONDARY_TOPIC='rear/scan'
export HUSKY_UST10_SECONDARY_IP='192.168.131.21'
Description
export HUSKY_UST10_SECONDARY_PREFIX='rear'
export HUSKY_UST10_SECONDARY_PARENT='top_plate_link'
export HUSKY_UST10_SECONDARY_XYZ='-0.2206 0.0 0.00635' # standard offset when parent is 'top_plate_link'
export HUSKY_UST10_SECONDARY_RPY='0 0 3.14159' # standard orientation when parent is 'top_plate_link'
Velodyne VLP16
Primary
export HUSKY_LASER_3D_ENABLED=1
Launch
export HUSKY_LASER_3D_TOPIC='points'
export HUSKY_LASER_3D_HOST='192.168.131.20'
Description
export HUSKY_LASER_3D_TOWER=1
export HUSKY_LASER_3D_PREFIX=''
export HUSKY_LASER_3D_PARENT='top_plate_link'
export HUSKY_LASER_3D_XYZ='0 0 0'
export HUSKY_LASER_3D_RPY='0 0 0'
Secondary
export HUSKY_LASER_3D_SECONDARY_ENABLED=1
Launch
export HUSKY_LASER_3D_SECONDARY_HOST='192.168.131.21'
export HUSKY_LASER_3D_SECONDARY_TOPIC='secondary_points'
Description
export HUSKY_LASER_3D_SECONDARY_TOWER=1
export HUSKY_LASER_3D_SECONDARY_PREFIX='secondary_'
export HUSKY_LASER_3D_SECONDARY_PARENT='top_plate_link'
export HUSKY_LASER_3D_SECONDARY_XYZ='0 0 0'
export HUSKY_LASER_3D_SECONDARY_RPY='0 0 -3.1415' # standard orientation to face backwards
Intel Realsense
Primary
export HUSKY_REALSENSE_ENABLED=1
Launch
export HUSKY_REALSENSE_SERIAL='0'
export HUSKY_REALSENSE_TOPIC='realsense'
export HUSKY_REALSENSE_POINTCLOUD_ENABLED=1
export HUSKY_REALSENSE_DEPTH_ENABLED=1
export HUSKY_REALSENSE_DEPTH_FRAMERATE='30'
export HUSKY_REALSENSE_DEPTH_HEIGHT='480'
export HUSKY_REALSENSE_DEPTH_WIDTH='640'
export HUSKY_REALSENSE_COLOR_ENABLED=1
export HUSKY_REALSENSE_COLOR_FRAMERATE='30'
export HUSKY_REALSENSE_COLOR_HEIGHT='480'
export HUSKY_REALSENSE_COLOR_WIDTH='640'
export HUSKY_REALSENSE_PREFIX=camera
Description
export HUSKY_REALSENSE_PREFIX='camera'
export HUSKY_REALSENSE_PARENT='top_plate_link'
export HUSKY_REALSENSE_XYZ='0 0 0'
export HUSKY_REALSENSE_RPY='0 0 0'
Secondary
export HUSKY_REALSENSE_SECONDARY_ENABLED=1
Launch
export HUSKY_REALSENSE_SECONDARY_SERIAL='0'
export HUSKY_REALSENSE_SECONDARY_TOPIC='realsense_secondary'
export HUSKY_REALSENSE_SECONDARY_POINTCLOUD_ENABLED=1
export HUSKY_REALSENSE_DEPTH_ENABLED=1
export HUSKY_REALSENSE_DEPTH_FRAMERATE='30'
export HUSKY_REALSENSE_DEPTH_HEIGHT='480'
export HUSKY_REALSENSE_DEPTH_WIDTH='640'
export HUSKY_REALSENSE_COLOR_ENABLED=1
export HUSKY_REALSENSE_COLOR_FRAMERATE='30'
export HUSKY_REALSENSE_COLOR_HEIGHT='480'
export HUSKY_REALSENSE_COLOR_WIDTH='640'
export HUSKY_REALSENSE_SECONDARY_PREFIX='secondary_camera'
Description
export HUSKY_REALSENSE_SECONDARY_PREFIX='camera_secondary'
export HUSKY_REALSENSE_SECONDARY_PARENT='top_plate_link'
export HUSKY_REALSENSE_SECONDARY_XYZ='0 0 0'
export HUSKY_REALSENSE_SECONDARY_RPY='0 0 0'
Flir Blackfly S
Primary
export HUSKY_BLACKFLY=1
Launch
export HUSKY_BLACKFLY_SERIAL='0'
export HUSKY_BLACKFLY_DEVICE='USB3'
export HUSKY_BLACKFLY_ENCODING='BayerRG8'
export HUSKY_BLACKFLY_FRAMERATE='30'
Description
export HUSKY_BLACKFLY_MOUNT_ENABLED=1
export HUSKY_BLACKFLY_MOUNT_ANGLE='0'
export HUSKY_BLACKFLY_PREFIX='blackfly'
export HUSKY_BLACKFLY_PARENT='top_plate_link'
export HUSKY_BLACKFLY_XYZ='0 0 0'
export HUSKY_BLACKFLY_RPY='0 0 0'
Secondary
export HUSKY_BLACKFLY_SECONDARY=1
Launch
export HUSKY_BLACKFLY_SECONDARY_SERIAL='0'
export HUSKY_BLACKFLY_SECONDARY_DEVICE='USB3'
export HUSKY_BLACKFLY_SECONDARY_ENCODING='BayerRG8'
export HUSKY_BLACKFLY_SECONDARY_FRAMERATE='30'
Description
export HUSKY_BLACKFLY_SECONDARY_MOUNT_ENABLED=1
export HUSKY_BLACKFLY_SECONDARY_MOUNT_ANGLE='0'
export HUSKY_BLACKFLY_SECONDARY_PREFIX='blackfly_secondary'
export HUSKY_BLACKFLY_SECONDARY_PARENT='top_plate_link'
export HUSKY_BLACKFLY_SECONDARY_XYZ='0 0 0'
export HUSKY_BLACKFLY_SECONDARY_RPY='0 0 0'
IMU
These could be either Microstrain, UM7, or UM6
export HUSKY_IMU_XYZ='0.19 0 0.149'
export HUSKY_IMU_RPY='0 -1.5708 3.1416'
export HUSKY_IMU_PARENT='base_link'
export HUSKY_IMU_PORT='/dev/microstrain ' # or '/dev/clearpath/um7' or '/dev/clearpath/um6'
# for UM6 and UM7 only
export HUSKY_MAG_CONFIG="$(catkin_find 'husky_bringup' --first-only)/config/mag_config_default.yaml"
Navsat
export HUSKY_NAVSAT_PORT=/dev/clearpath/gps
export HUSKY_NAVSAT_BAUD=19200
CHANGELOG
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: Jos
Wiki Tutorials
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | roslaunch | |
| 1 | catkin | |
| 1 | cpr_onav_description | |
| 2 | fath_pivot_mount_description | |
| 1 | flir_camera_description | |
| 2 | lms1xx | |
| 1 | realsense2_description | |
| 3 | urdf | |
| 1 | velodyne_description | |
| 1 | xacro |
System Dependencies
No direct system dependencies.
Dependant Packages
Launch files
- launch/description.launch
-
Software License Agreement (BSD)
\file description.launch
\authors Paul Bovbel
-
- robot_namespace [default: /]
-
Software License Agreement (BSD)
\file description.launch
\authors Paul Bovbel
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged husky_description at Robotics Stack Exchange
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
|
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husky_description package from husky repohusky_base husky_bringup husky_control husky_description husky_desktop husky_gazebo husky_msgs husky_navigation husky_robot husky_simulator husky_viz |
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Package Summary
| Tags | No category tags. |
| Version | 1.0.9 |
| License | BSD |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/husky/husky.git |
| VCS Type | git |
| VCS Version | foxy-devel |
| Last Updated | 2023-04-18 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Clearpath Husky URDF description
Additional Links
Maintainers
- Tony Baltovski
Authors
- Ryan Gariepy
- Prasenjit Mukherjee
- Mike Purvis
- Paul Bovbel
- Devon Ash
README
No README found.
See repository README.
CHANGELOG
Changelog for package husky_description
1.0.9 (2023-04-18)
- [husky_description] Made serial_port an arg and reduced polling time.
- Added realsense accessory, updated velodyne accessories.
- Contributors: Tony Baltovski
1.0.8 (2022-05-19)
1.0.7 (2022-05-19)
- Renamed all launch files to *.launch.py.
- Contributors: Tony Baltovski
1.0.6 (2022-05-18)
1.0.5 (2022-05-05)
- Switched to gazebo_plugins for IMU and GPS.
- [husky_description] Fixed malformed stl.
- Initial accessories launch file.
- Contributors: Tony Baltovski
1.0.4 (2022-03-15)
- Update Python launch files suffix from .launch.py to _launch.py to follow standard
- Merge pull request #191 from StoglRobotics-forks/gazebo-sim-integration-fixes Gazebo sim integration fixes
- Contributors: Tony Baltovski, jyang-cpr
1.0.3 (2021-11-30)
1.0.2 (2021-11-16)
- Removed unused parameters.
- Contributors: Tony Baltovski
1.0.1 (2021-11-12)
- [husky_description] Removed testing.
- Contributors: Tony Baltovski
1.0.0 (2021-11-07)
- Initial Gazebo Classic changes.
- [husky_description] Updated serial port.
- Updates to use ros2_control.
- Initial attempt at ros2_control.
- Update husky.urdf.xacro (#169) Fix Failed to build tree: child link [base_laser_mount] of joint [laser_mount_joint] not found error. As found on https://answers.ros.org/question/354219/failed-to-build-tree-child-link-base_laser_mount-of-joint-laser_mount_joint-not-found/
- Contributors: Guido Sanchez, Tony Baltovski
0.4.4 (2020-08-13)
- Remove support for the Kinect for Xbox 360. We\'ve had the deprecation warning around for a while, so let\'s finally do it. Realsense support is in-place as a drop-in replacement that gets added to the top rollbar, just like the old Kinect would have.
- Changed intertial to inertial fixed a minor typo
- Removed Paul Bovbel as maintainer.
- Fix the warnings the ROS buildfarm was giving for Melodic
- Add support for some environment variables to override realsense defaults
- Use the STL from realsense2_description, rotated as necessary. Add realsense2_description to the dependencies
- Refactor so that the sensor bar only gets added once if either the realsense OR the kinect is enabled. Adding both will still cause issues because they\'ll mount to the same point on the bracket, but at least the URDF won\'t fail.
- Finish adding the simulated realsense to the topbar, add support for the physical realsense. Tidy up some parameters that were copied in last night but not yet configured.
- Mark the Kinect for Xbox 360 as deprecated, start adding support for the Intel Realsense D400 series as a replacement
- Contributors: Cedric Martens, Chris I-B, Chris Iverach-Brereton, Tony Baltovski
0.4.3 (2020-04-20)
- Fixed GazeboRosControlPlugin missing error
- Contributors: lerolynn
0.4.2 (2019-12-11)
0.4.1 (2019-09-30)
0.4.0 (2019-08-01)
0.3.4 (2019-08-01)
0.3.3 (2019-04-18)
- Fixed bumper extensions, cleaned up collision meshes
- Contributors: Dave Niewinski
0.3.2 (2019-03-25)
- Added some additional frames on the top plates and an environment variable for diabling the user rails
- Added env var to allow a 7cm forward bumper extension
(#92)
- Added env var to allow for extendable front bumper
- Fix weird spacing
- Uploaded bumper extension meshes
- Allowed for different lengths of bumper extensions
- Contributors: Dave Niewinski, Guy Stoppi
0.3.1 (2018-08-02)
- Removed unnecessary dae objects and duplicate vertices
- Contributors: Dave Niewinski
0.3.0 (2018-04-11)
- Updated all package versions to 0.2.6.
- Added a large top plate (used for waterproofing upgrade and UR5 upgrade) and an environment variable for controlling it HUSKY_LARGE_TOP_PLATE
- changed Husky wheel radius, a Husky outdoor tire is 13 inchs (0.3302m)
- [husky_description] Updated inertial parameters.
- [husky_description] Fixed depreciated syntax.
- Remove defunct email address
- Updated maintainers.
- Changes for xacro updates in kinetic.
- Add interface definitions
- Purge more UR; Implement urdf_extras
- Update URDF for multirobot
- Move packages into monorepo for kinetic; strip out ur packages
- wheel.urdf.xacro: swap iyy, izz inertias Fixes #34.
- Contributors: Dave Niewinski, Martin Cote, Paul Bovbel, Steven Peters, Tony Baltovski
0.2.7 (2015-12-31)
- Fixed indent.
- Added Sick LMS1XX URDF.
- Contributors: Tony Baltovski
0.2.6 (2015-07-08)
- Adjust Kinect angle so it doesn\'t hit top plate
- Contributors: Paul Bovbel
0.2.5 (2015-04-16)
- Add standard mount for lms1xx
- Contributors: Paul Bovbel
0.2.4 (2015-04-13)
- Add argument to enable/disable top plate
- Fix sensor arch name
- Fix conflict with underlay When using -z check, underlayed instances of husky_gazebo would override overlays.
- Update top plate model
- Contributors: Paul Bovbel
0.2.3 (2015-04-08)
- Integrate husky_customization workflow
- Disable all accessories by default
- Contributors: Paul Bovbel
0.2.2 (2015-03-23)
- Fix package urls
- Contributors: Paul Bovbel
0.2.1 (2015-03-23)
- Port stl to dae format, removing material/gazebo colours
- Make base_footprint a child of base_link
- Contributors: Paul Bovbel
0.2.0 (2015-03-23)
- Add Kinect, UR5 peripherals
- Contributors: Paul Bovbel, Devon Ash
0.1.2 (2015-01-30)
- Update maintainers and description
- Get rid of chassis_link, switch to base_footprint and base_link
- Switch to NED orientation for UM6 standard package
- Contributors: Paul Bovbel
0.1.1 (2015-01-14)
- Remove multirobot changes, experiment later
- Contributors: Paul Bovbel
0.1.0 (2015-01-13)
- Major refactor for indigo release:
- base_link is now located on the ground plane, while chassis_link
- refactored joint names for consistency with Jackal and Grizzly for ros_control
- moved plugins requiring gazebo dependencies to husky_gazebo (imu, gps, lidar, ros_control)
- initial prefixing for multirobot
- Contributors: Alex Bencz, James Servos, Mike Purvis, Paul Bovbel, Prasenjit Mukherjee, y22ma
0.0.2 (2013-09-30)
- Renamed /models folder to /meshes to follow the convention of other gazebo simulation packages.
- Changed the base.urdf.xacro to use base_footprint as the parent frame. For some reason, the new Gazebo paints all parts the same color as base_link when base_link is the parent.
0.0.1 (2013-09-11)
- Move to model-only launchfile.
- Catkinize package, add install targets.
- husky_description moved up to repository root.
Wiki Tutorials
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | ament_cmake | |
| 1 | realsense2_description | |
| 3 | urdf |
System Dependencies
No direct system dependencies.
Dependant Packages
Launch files
- launch/description.launch
-
Software License Agreement (BSD)
\file description.launch
\authors Paul Bovbel
-
- robot_namespace [default: /]
- laser_enabled [default: $(optenv HUSKY_LMS1XX_ENABLED false)]
- realsense_enabled [default: $(optenv HUSKY_REALSENSE_ENABLED false)]
- urdf_extras [default: $(optenv HUSKY_URDF_EXTRAS)]
-
Software License Agreement (BSD)
\file description.launch
\authors Paul Bovbel
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged husky_description at Robotics Stack Exchange
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
|
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husky_description package from husky repohusky_control husky_description husky_msgs husky_navigation husky_ur5_moveit_config |
|
|
Package Summary
| Tags | No category tags. |
| Version | 0.2.8 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/husky/husky.git |
| VCS Type | git |
| VCS Version | indigo-devel |
| Last Updated | 2018-04-12 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Clearpath Husky URDF description
Additional Links
Maintainers
- Paul Bovbel
Authors
- Ryan Gariepy
- Prasenjit Mukherjee
- Mike Purvis
- Paul Bovbel
- Devon Ash
README
No README found.
See repository README.
CHANGELOG
Changelog for package husky_description
0.2.8 (2018-04-11)
- Added a large top plate (used for waterproofing upgrade and UR5 upgrade) and an environment variable for controlling it HUSKY_LARGE_TOP_PLATE
- Moved URDF_EXTRAS into the macro where it belongs
- Added environment variables to enabled or disabled the bumpers and the user rail
- Added urdf_extras so husky is consistent to our other platforms
- Changed the wheel radius to reflect 13 inch outdoor Husky tire
- [husky_description] Updated intertial parameters.
- wheel.urdf.xacro: swap iyy, izz inertias Fixes #34.
- Contributors: Dave Niewinski, Martin Cote, Steven Peters, Tony Baltovski
0.2.7 (2015-12-31)
- Fixed indent.
- Added Sick LMS1XX URDF.
- Contributors: Tony Baltovski
0.2.6 (2015-07-08)
- Adjust Kinect angle so it doesn\'t hit top plate
- Contributors: Paul Bovbel
0.2.5 (2015-04-16)
- Add standard mount for lms1xx
- Contributors: Paul Bovbel
0.2.4 (2015-04-13)
- Add argument to enable/disable top plate
- Fix sensor arch name
- Fix conflict with underlay When using -z check, underlayed instances of husky_gazebo would override overlays.
- Update top plate model
- Contributors: Paul Bovbel
0.2.3 (2015-04-08)
- Integrate husky_customization workflow
- Disable all accessories by default
- Contributors: Paul Bovbel
0.2.2 (2015-03-23)
- Fix package urls
- Contributors: Paul Bovbel
0.2.1 (2015-03-23)
- Port .stl to.dae format, removing material/gazebo colours
- Make base_footprint a child of base_link
- Contributors: Paul Bovbel
0.2.0 (2015-03-23)
- Add Kinect, UR5 peripherals
- Contributors: Paul Bovbel, Devon Ash
0.1.2 (2015-01-30)
- Update maintainers and description
- Get rid of chassis_link, switch to base_footprint and base_link
- Switch to NED orientation for UM6 standard package
- Contributors: Paul Bovbel
0.1.1 (2015-01-14)
- Remove multirobot changes, experiment later
- Contributors: Paul Bovbel
0.1.0 (2015-01-13)
- Major refactor for indigo release:
- base_link is now located on the ground plane, while chassis_link
- refactored joint names for consistency with Jackal and Grizzly for ros_control
- moved plugins requiring gazebo dependencies to husky_gazebo (imu, gps, lidar, ros_control)
- initial prefixing for multirobot
- Contributors: Alex Bencz, James Servos, Mike Purvis, Paul Bovbel, Prasenjit Mukherjee, y22ma
0.0.2 (2013-09-30)
- Renamed /models folder to /meshes to follow the convention of other gazebo simulation packages.
- Changed the base.urdf.xacro to use base_footprint as the parent frame. For some reason, the new Gazebo paints all parts the same color as base_link when base_link is the parent.
0.0.1 (2013-09-11)
- Move to model-only launchfile.
- Catkinize package, add install targets.
- husky_description moved up to repository root.
Wiki Tutorials
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Dependant Packages
Launch files
- launch/description.launch
-
Software License Agreement (BSD)
\file description.launch
\authors Paul Bovbel
-
- laser_enabled [default: $(optenv HUSKY_LMS1XX_ENABLED false)]
- ur5_enabled [default: $(optenv HUSKY_UR5_ENABLED false)]
- kinect_enabled [default: false]
-
Software License Agreement (BSD)
\file description.launch
\authors Paul Bovbel
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged husky_description at Robotics Stack Exchange
|
|
husky_description package from husky_description repohusky_description |
|
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.2 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/husky/husky_description.git |
| VCS Type | git |
| VCS Version | hydro-devel |
| Last Updated | 2014-03-20 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
URDF description for Husky
Additional Links
No additional links.
Maintainers
- Mike Purvis
Authors
- Ryan Gariepy
husky_description
Viewer launchfile is in husky_viz package:
roslaunch husky_viz view_model.launch
CHANGELOG
Changelog for package husky_description
0.0.2 (2013-09-30)
- Renamed /models folder to /meshes to follow the convention of other gazebo simulation packages.
- Changed the base.urdf.xacro to use base_footprint as the parent frame. For some reason, the new Gazebo paints all parts the same color as base_link when base_link is the parent.
0.0.1 (2013-09-11)
- Move to model-only launchfile.
- Catkinize package, add install targets.
- husky_description moved up to repository root.
Wiki Tutorials
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Dependant Packages
Launch files
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged husky_description at Robotics Stack Exchange
|
|
husky_description package from husky repohusky_base husky_bringup husky_control husky_description husky_desktop husky_gazebo husky_msgs husky_navigation husky_robot husky_simulator husky_viz |
|
|
Package Summary
| Tags | No category tags. |
| Version | 0.3.8 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/husky/husky.git |
| VCS Type | git |
| VCS Version | kinetic-devel |
| Last Updated | 2022-03-17 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Clearpath Husky URDF description
Additional Links
Maintainers
- Paul Bovbel
- Tony Baltovski
Authors
- Ryan Gariepy
- Prasenjit Mukherjee
- Mike Purvis
- Paul Bovbel
- Devon Ash
README
No README found.
See repository README.
CHANGELOG
Changelog for package husky_description
0.3.8 (2020-10-01)
- Remove the Kinect 360 support; the deprecation warning is being treated as an error, and it\'s about time to remove it anyway
- Contributors: Chris Iverach-Brereton
0.3.7 (2020-08-13)
- Add a comment explaining why things are ugly in Kinetic
- Add support for some environment variables to override realsense defaults
- Use the STL from realsense2_description, rotated as necessary. Add realsense2_description to the dependencies
- Refactor so that the sensor bar only gets added once if either the realsense OR the kinect is enabled. Adding both will still cause issues because they\'ll mount to the same point on the bracket, but at least the URDF won\'t fail.
- Finish adding the simulated realsense to the topbar, add support for the physical realsense. Tidy up some parameters that were copied in last night but not yet configured.
- Mark the Kinect for Xbox 360 as deprecated, start adding support for the Intel Realsense D400 series as a replacement
- Contributors: Chris I-B
0.3.6 (2020-04-20)
- Fixed GazeboRosControlPlugin missing error
- Contributors: lerolynn
0.3.5 (2019-12-11)
0.3.4 (2019-08-01)
0.3.3 (2019-04-18)
- Fixed bumper extensions, cleaned up collision meshes
- Contributors: Dave Niewinski
0.3.2 (2019-03-25)
- Added some additional frames on the top plates and an environment variable for diabling the user rails
- Added env var to allow a 7cm forward bumper extension
(#92)
- Added env var to allow for extendable front bumper
- Fix weird spacing
- Uploaded bumper extension meshes
- Allowed for different lengths of bumper extensions
- Contributors: Dave Niewinski, Guy Stoppi
0.3.1 (2018-08-02)
- Removed unnecessary dae objects and duplicate vertices
- Contributors: Dave Niewinski
0.3.0 (2018-04-11)
- Updated all package versions to 0.2.6.
- Added a large top plate (used for waterproofing upgrade and UR5 upgrade) and an environment variable for controlling it HUSKY_LARGE_TOP_PLATE
- changed Husky wheel radius, a Husky outdoor tire is 13 inchs (0.3302m)
- [husky_description] Updated inertial parameters.
- [husky_description] Fixed depreciated syntax.
- Remove defunct email address
- Updated maintainers.
- Changes for xacro updates in kinetic.
- Add interface definitions
- Purge more UR; Implement urdf_extras
- Update URDF for multirobot
- Move packages into monorepo for kinetic; strip out ur packages
- wheel.urdf.xacro: swap iyy, izz inertias Fixes #34.
- Contributors: Dave Niewinski, Martin Cote, Paul Bovbel, Steven Peters, Tony Baltovski
0.2.7 (2015-12-31)
- Fixed indent.
- Added Sick LMS1XX URDF.
- Contributors: Tony Baltovski
0.2.6 (2015-07-08)
- Adjust Kinect angle so it doesn\'t hit top plate
- Contributors: Paul Bovbel
0.2.5 (2015-04-16)
- Add standard mount for lms1xx
- Contributors: Paul Bovbel
0.2.4 (2015-04-13)
- Add argument to enable/disable top plate
- Fix sensor arch name
- Fix conflict with underlay When using -z check, underlayed instances of husky_gazebo would override overlays.
- Update top plate model
- Contributors: Paul Bovbel
0.2.3 (2015-04-08)
- Integrate husky_customization workflow
- Disable all accessories by default
- Contributors: Paul Bovbel
0.2.2 (2015-03-23)
- Fix package urls
- Contributors: Paul Bovbel
0.2.1 (2015-03-23)
- Port stl to dae format, removing material/gazebo colours
- Make base_footprint a child of base_link
- Contributors: Paul Bovbel
0.2.0 (2015-03-23)
- Add Kinect, UR5 peripherals
- Contributors: Paul Bovbel, Devon Ash
0.1.2 (2015-01-30)
- Update maintainers and description
- Get rid of chassis_link, switch to base_footprint and base_link
- Switch to NED orientation for UM6 standard package
- Contributors: Paul Bovbel
0.1.1 (2015-01-14)
- Remove multirobot changes, experiment later
- Contributors: Paul Bovbel
0.1.0 (2015-01-13)
- Major refactor for indigo release:
- base_link is now located on the ground plane, while chassis_link
- refactored joint names for consistency with Jackal and Grizzly for ros_control
- moved plugins requiring gazebo dependencies to husky_gazebo (imu, gps, lidar, ros_control)
- initial prefixing for multirobot
- Contributors: Alex Bencz, James Servos, Mike Purvis, Paul Bovbel, Prasenjit Mukherjee, y22ma
0.0.2 (2013-09-30)
- Renamed /models folder to /meshes to follow the convention of other gazebo simulation packages.
- Changed the base.urdf.xacro to use base_footprint as the parent frame. For some reason, the new Gazebo paints all parts the same color as base_link when base_link is the parent.
0.0.1 (2013-09-11)
- Move to model-only launchfile.
- Catkinize package, add install targets.
- husky_description moved up to repository root.
Wiki Tutorials
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Dependant Packages
Launch files
- launch/description.launch
-
Software License Agreement (BSD)
\file description.launch
\authors Paul Bovbel
-
- robot_namespace [default: /]
- laser_enabled [default: $(optenv HUSKY_LMS1XX_ENABLED false)]
- realsense_enabled [default: $(optenv HUSKY_REALSENSE_ENABLED false)]
- urdf_extras [default: $(optenv HUSKY_URDF_EXTRAS)]
-
Software License Agreement (BSD)
\file description.launch
\authors Paul Bovbel
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged husky_description at Robotics Stack Exchange
|
|
husky_description package from husky repohusky_base husky_bringup husky_control husky_description husky_desktop husky_gazebo husky_msgs husky_navigation husky_robot husky_simulator husky_viz |
|
|
Package Summary
| Tags | No category tags. |
| Version | 0.4.13 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/husky/husky.git |
| VCS Type | git |
| VCS Version | melodic-devel |
| Last Updated | 2022-11-25 |
| Dev Status | MAINTAINED |
| CI status |
|
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Clearpath Husky URDF description
Additional Links
Maintainers
- Tony Baltovski
Authors
- Ryan Gariepy
- Prasenjit Mukherjee
- Mike Purvis
- Paul Bovbel
- Devon Ash
README
No README found.
See repository README.
CHANGELOG
Changelog for package husky_description
0.4.13 (2022-11-25)
- Added Wibotic mesh and STL
- Contributors: Luis Camero
0.4.12 (2022-01-17)
0.4.11 (2022-01-14)
- Added UST10 mesh
- Added Hokuyo UST10.
- [husky_description] Fixed malformed STL warning for top_plate.stl.
- Contributors: Luis Camero, Tony Baltovski
0.4.10 (2021-07-18)
- cpr urdf extras
- Contributors: Ebrahim Shahrivar
0.4.9 (2021-07-15)
- Remove the need to explicitly specify the laser_enabled, realsense_enabled, and urdf_extras arguments; use the envars to make it easier to simulate customized robots & use the moveit setup assistant.
- Update intel_realsense.urdf.xacro modify image format in sim to avoid log warn spam
- Contributors: Chris Iverach-Brereton, vamshi konduri
0.4.8 (2021-04-01)
0.4.7 (2021-03-16)
- Add HUSKY_{FRONT|REAR}_BUMPER envars we can use to completely turn off the front & rear bumpers. This is requested to make integration of the wireless charging docks easier
- Contributors: Chris Iverach-Brereton
0.4.6 (2021-03-09)
- Add VLP16, secondary LMS1xx support
(#164)
- Minimal refactor to add VLP16 + secondary LMS1xx support. Update defaults for the laser_enabled and realsense_enabled args to refer to the underlying envars to improve consistency when launching simulations. Modify the sensor bar to allow it to be positioned in the center by default, but with configurable xyz and rpy offsets
- Add the new run dependencies
- Remove the prefix\'s trailing underscore in the vlp16 mount to make it consistent. Fix an inconsistent envar for the sensor arch, add an arg to explicitly enable it, to stay internally consistent with the rest of Husky.
- Fix the envars; its just HUSKY_LMS1XX, not HUSKY_LASER_LMS1XX
- Revert to enabling the main laser by default in the simulations, add the velodyne_gazebo_plugins dependency
- Add the ability to add the sensor bar with an envar without adding the realsense. Add the sensor bar height as another arg + envar, fix the URDF when the 300mm sensorbar is enabled.
- Contributors: Chris I-B, Chris Iverach-Brereton
0.4.5 (2020-10-01)
0.4.4 (2020-08-13)
- Remove support for the Kinect for Xbox 360. We\'ve had the deprecation warning around for a while, so let\'s finally do it. Realsense support is in-place as a drop-in replacement that gets added to the top rollbar, just like the old Kinect would have.
- Changed intertial to inertial fixed a minor typo
- Removed Paul Bovbel as maintainer.
- Fix the warnings the ROS buildfarm was giving for Melodic
- Add support for some environment variables to override realsense defaults
- Use the STL from realsense2_description, rotated as necessary. Add realsense2_description to the dependencies
- Refactor so that the sensor bar only gets added once if either the realsense OR the kinect is enabled. Adding both will still cause issues because they\'ll mount to the same point on the bracket, but at least the URDF won\'t fail.
- Finish adding the simulated realsense to the topbar, add support for the physical realsense. Tidy up some parameters that were copied in last night but not yet configured.
- Mark the Kinect for Xbox 360 as deprecated, start adding support for the Intel Realsense D400 series as a replacement
- Contributors: Cedric Martens, Chris I-B, Chris Iverach-Brereton, Tony Baltovski
0.4.3 (2020-04-20)
- Fixed GazeboRosControlPlugin missing error
- Contributors: lerolynn
0.4.2 (2019-12-11)
0.4.1 (2019-09-30)
0.4.0 (2019-08-01)
0.3.4 (2019-08-01)
0.3.3 (2019-04-18)
- Fixed bumper extensions, cleaned up collision meshes
- Contributors: Dave Niewinski
0.3.2 (2019-03-25)
- Added some additional frames on the top plates and an environment variable for diabling the user rails
- Added env var to allow a 7cm forward bumper extension
(#92)
- Added env var to allow for extendable front bumper
- Fix weird spacing
- Uploaded bumper extension meshes
- Allowed for different lengths of bumper extensions
- Contributors: Dave Niewinski, Guy Stoppi
0.3.1 (2018-08-02)
- Removed unnecessary dae objects and duplicate vertices
- Contributors: Dave Niewinski
0.3.0 (2018-04-11)
- Updated all package versions to 0.2.6.
- Added a large top plate (used for waterproofing upgrade and UR5 upgrade) and an environment variable for controlling it HUSKY_LARGE_TOP_PLATE
- changed Husky wheel radius, a Husky outdoor tire is 13 inchs (0.3302m)
- [husky_description] Updated inertial parameters.
- [husky_description] Fixed depreciated syntax.
- Remove defunct email address
- Updated maintainers.
- Changes for xacro updates in kinetic.
- Add interface definitions
- Purge more UR; Implement urdf_extras
- Update URDF for multirobot
- Move packages into monorepo for kinetic; strip out ur packages
- wheel.urdf.xacro: swap iyy, izz inertias Fixes #34.
- Contributors: Dave Niewinski, Martin Cote, Paul Bovbel, Steven Peters, Tony Baltovski
0.2.7 (2015-12-31)
- Fixed indent.
- Added Sick LMS1XX URDF.
- Contributors: Tony Baltovski
0.2.6 (2015-07-08)
- Adjust Kinect angle so it doesn\'t hit top plate
- Contributors: Paul Bovbel
0.2.5 (2015-04-16)
- Add standard mount for lms1xx
- Contributors: Paul Bovbel
0.2.4 (2015-04-13)
- Add argument to enable/disable top plate
- Fix sensor arch name
- Fix conflict with underlay When using -z check, underlayed instances of husky_gazebo would override overlays.
- Update top plate model
- Contributors: Paul Bovbel
0.2.3 (2015-04-08)
- Integrate husky_customization workflow
- Disable all accessories by default
- Contributors: Paul Bovbel
0.2.2 (2015-03-23)
- Fix package urls
- Contributors: Paul Bovbel
0.2.1 (2015-03-23)
- Port stl to dae format, removing material/gazebo colours
- Make base_footprint a child of base_link
- Contributors: Paul Bovbel
0.2.0 (2015-03-23)
- Add Kinect, UR5 peripherals
- Contributors: Paul Bovbel, Devon Ash
0.1.2 (2015-01-30)
- Update maintainers and description
- Get rid of chassis_link, switch to base_footprint and base_link
- Switch to NED orientation for UM6 standard package
- Contributors: Paul Bovbel
0.1.1 (2015-01-14)
- Remove multirobot changes, experiment later
- Contributors: Paul Bovbel
0.1.0 (2015-01-13)
- Major refactor for indigo release:
- base_link is now located on the ground plane, while chassis_link
- refactored joint names for consistency with Jackal and Grizzly for ros_control
- moved plugins requiring gazebo dependencies to husky_gazebo (imu, gps, lidar, ros_control)
- initial prefixing for multirobot
- Contributors: Alex Bencz, James Servos, Mike Purvis, Paul Bovbel, Prasenjit Mukherjee, y22ma
0.0.2 (2013-09-30)
- Renamed /models folder to /meshes to follow the convention of other gazebo simulation packages.
- Changed the base.urdf.xacro to use base_footprint as the parent frame. For some reason, the new Gazebo paints all parts the same color as base_link when base_link is the parent.
0.0.1 (2013-09-11)
- Move to model-only launchfile.
- Catkinize package, add install targets.
- husky_description moved up to repository root.
Wiki Tutorials
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Dependant Packages
Launch files
- launch/description.launch
-
Software License Agreement (BSD)
\file description.launch
\authors Paul Bovbel
-
- robot_namespace [default: /]
-
Software License Agreement (BSD)
\file description.launch
\authors Paul Bovbel
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.