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husarion_components_description repository

husarion_components_description

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/husarion/husarion_components_description.git
VCS Type git
VCS Version ros2
Last Updated 2025-09-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
husarion_components_description 0.0.2

README

husarion_components_description

URDF models of sensors and other components offered alongside with Husarion robots

Available URDF Sensors

| Code | Device Name | | ------ | ---------------------------- | | DEV01 | Cover with Access Panel | | DEV02 | Carrying Handles | | DEV03 | Wooden Mounting Plate | | DEV04H | 370 mm High Frame | | DEV04L | 170 mm High Frame | | DEV05 | 350 mm Pillar | | DEV06 | Basket on Railings | | DEV07 | 475 mm Small Gate | | DEV07T | 350 mm Rotated Small Gate | | DEV09 | Large Gate | | ANT02 | Teltonika 003R-00253 | | CAM01 | Orbbec Astra | | CAM03 | StereoLabs ZED 2 | | CAM04 | StereoLabs ZED 2i | | CAM05 | StereoLabs ZED M | | CAM06 | StereoLabs ZED X | | CAM11 | Luxonis OAK-D-PRO | | LDR01 | RPLIDAR S1 | | LDR06 | RPLIDAR S3 | | LDR10 | Ouster OS0-32 | | LDR11 | Ouster OS0-64 | | LDR12 | Ouster OS0-128 | | LDR13 | Ouster OS1-32 | | LDR14 | Ouster OS1-64 | | LDR15 | Ouster OS1-128 | | LDR20 | Velodyne Puck | | MAN01 | Universal Robots UR3e | | MAN02 | Universal Robots UR5e | | MAN04 | 6DoF Kinova Gen3 | | MAN05 | 6DoF Kinova Gen3 + 3D vision | | MAN06 | 7DoF Kinova Gen3 | | MAN07 | 7DoF Kinova Gen3 + 3D vision | | GRP02 | Robotiq 2F-85 | | WCH01 | Wibotic receiver |

[!NOTE] The manipulators (code MAN<X>) must only be used within the simulation environment. Support for manipulators on a physical robot is implemented as separate software components. Please refer to the official documentation.

Including sensor

First build the package by running:

# create workspace folder and clone husarion_components_description
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/husarion_components_description.git src/husarion_components_description

# in case the package will be used within simulation
export HUSARION_ROS_BUILD_TYPE=simulation

rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build

To include the sensor, use the following code:

<!-- include file with definition of xacro macro of sensor -->
<xacro:include filename="$(find husarion_components_description)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />

<!-- evaluate the macro and place the sensor on robot -->
<xacro:lidar.slamtec_rplidar
  parent_link="cover_link"
  xyz="0.0 0.0 0.0"
  rpy="0.0 0.0 0.0" />

A list of parameters can be found here:

  • component_name [string, default: ’‘] local namespace allowing to distinguish two identical devices from each other. Called name in components.yaml.
  • parent_link [string, default: None] parent link to which sensor should be attached.
  • xyz [float list, default: 0.0 0.0 0.0] 3 float values defining translation between base of a sensor and parent link. Values in m.
  • rpy [float list, default: 0.0 0.0 0.0] 3 float values define rotation between parent link and base of a sensor. Values in rad.
  • robot_namespace [string, default: ’‘] global namespace common to the entire robot. Not present in components.yaml.
  • model [string, default: ’‘] model argument that appears when you want to load the appropriate model from a given manufacturer. Not present in components.yaml.

Some sensors can define their specific parameters. Refer to their definition for more info.

CONTRIBUTING

Repo symbol

husarion_components_description repository

husarion_components_description

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/husarion/husarion_components_description.git
VCS Type git
VCS Version ros2
Last Updated 2025-09-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
husarion_components_description 0.0.2

README

husarion_components_description

URDF models of sensors and other components offered alongside with Husarion robots

Available URDF Sensors

| Code | Device Name | | ------ | ---------------------------- | | DEV01 | Cover with Access Panel | | DEV02 | Carrying Handles | | DEV03 | Wooden Mounting Plate | | DEV04H | 370 mm High Frame | | DEV04L | 170 mm High Frame | | DEV05 | 350 mm Pillar | | DEV06 | Basket on Railings | | DEV07 | 475 mm Small Gate | | DEV07T | 350 mm Rotated Small Gate | | DEV09 | Large Gate | | ANT02 | Teltonika 003R-00253 | | CAM01 | Orbbec Astra | | CAM03 | StereoLabs ZED 2 | | CAM04 | StereoLabs ZED 2i | | CAM05 | StereoLabs ZED M | | CAM06 | StereoLabs ZED X | | CAM11 | Luxonis OAK-D-PRO | | LDR01 | RPLIDAR S1 | | LDR06 | RPLIDAR S3 | | LDR10 | Ouster OS0-32 | | LDR11 | Ouster OS0-64 | | LDR12 | Ouster OS0-128 | | LDR13 | Ouster OS1-32 | | LDR14 | Ouster OS1-64 | | LDR15 | Ouster OS1-128 | | LDR20 | Velodyne Puck | | MAN01 | Universal Robots UR3e | | MAN02 | Universal Robots UR5e | | MAN04 | 6DoF Kinova Gen3 | | MAN05 | 6DoF Kinova Gen3 + 3D vision | | MAN06 | 7DoF Kinova Gen3 | | MAN07 | 7DoF Kinova Gen3 + 3D vision | | GRP02 | Robotiq 2F-85 | | WCH01 | Wibotic receiver |

[!NOTE] The manipulators (code MAN<X>) must only be used within the simulation environment. Support for manipulators on a physical robot is implemented as separate software components. Please refer to the official documentation.

Including sensor

First build the package by running:

# create workspace folder and clone husarion_components_description
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/husarion_components_description.git src/husarion_components_description

# in case the package will be used within simulation
export HUSARION_ROS_BUILD_TYPE=simulation

rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build

To include the sensor, use the following code:

<!-- include file with definition of xacro macro of sensor -->
<xacro:include filename="$(find husarion_components_description)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />

<!-- evaluate the macro and place the sensor on robot -->
<xacro:lidar.slamtec_rplidar
  parent_link="cover_link"
  xyz="0.0 0.0 0.0"
  rpy="0.0 0.0 0.0" />

A list of parameters can be found here:

  • component_name [string, default: ’‘] local namespace allowing to distinguish two identical devices from each other. Called name in components.yaml.
  • parent_link [string, default: None] parent link to which sensor should be attached.
  • xyz [float list, default: 0.0 0.0 0.0] 3 float values defining translation between base of a sensor and parent link. Values in m.
  • rpy [float list, default: 0.0 0.0 0.0] 3 float values define rotation between parent link and base of a sensor. Values in rad.
  • robot_namespace [string, default: ’‘] global namespace common to the entire robot. Not present in components.yaml.
  • model [string, default: ’‘] model argument that appears when you want to load the appropriate model from a given manufacturer. Not present in components.yaml.

Some sensors can define their specific parameters. Refer to their definition for more info.

CONTRIBUTING

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

husarion_components_description repository

husarion_components_description

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/husarion/husarion_components_description.git
VCS Type git
VCS Version ros2
Last Updated 2025-09-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
husarion_components_description 0.0.2

README

husarion_components_description

URDF models of sensors and other components offered alongside with Husarion robots

Available URDF Sensors

| Code | Device Name | | ------ | ---------------------------- | | DEV01 | Cover with Access Panel | | DEV02 | Carrying Handles | | DEV03 | Wooden Mounting Plate | | DEV04H | 370 mm High Frame | | DEV04L | 170 mm High Frame | | DEV05 | 350 mm Pillar | | DEV06 | Basket on Railings | | DEV07 | 475 mm Small Gate | | DEV07T | 350 mm Rotated Small Gate | | DEV09 | Large Gate | | ANT02 | Teltonika 003R-00253 | | CAM01 | Orbbec Astra | | CAM03 | StereoLabs ZED 2 | | CAM04 | StereoLabs ZED 2i | | CAM05 | StereoLabs ZED M | | CAM06 | StereoLabs ZED X | | CAM11 | Luxonis OAK-D-PRO | | LDR01 | RPLIDAR S1 | | LDR06 | RPLIDAR S3 | | LDR10 | Ouster OS0-32 | | LDR11 | Ouster OS0-64 | | LDR12 | Ouster OS0-128 | | LDR13 | Ouster OS1-32 | | LDR14 | Ouster OS1-64 | | LDR15 | Ouster OS1-128 | | LDR20 | Velodyne Puck | | MAN01 | Universal Robots UR3e | | MAN02 | Universal Robots UR5e | | MAN04 | 6DoF Kinova Gen3 | | MAN05 | 6DoF Kinova Gen3 + 3D vision | | MAN06 | 7DoF Kinova Gen3 | | MAN07 | 7DoF Kinova Gen3 + 3D vision | | GRP02 | Robotiq 2F-85 | | WCH01 | Wibotic receiver |

[!NOTE] The manipulators (code MAN<X>) must only be used within the simulation environment. Support for manipulators on a physical robot is implemented as separate software components. Please refer to the official documentation.

Including sensor

First build the package by running:

# create workspace folder and clone husarion_components_description
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/husarion_components_description.git src/husarion_components_description

# in case the package will be used within simulation
export HUSARION_ROS_BUILD_TYPE=simulation

rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build

To include the sensor, use the following code:

<!-- include file with definition of xacro macro of sensor -->
<xacro:include filename="$(find husarion_components_description)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />

<!-- evaluate the macro and place the sensor on robot -->
<xacro:lidar.slamtec_rplidar
  parent_link="cover_link"
  xyz="0.0 0.0 0.0"
  rpy="0.0 0.0 0.0" />

A list of parameters can be found here:

  • component_name [string, default: ’‘] local namespace allowing to distinguish two identical devices from each other. Called name in components.yaml.
  • parent_link [string, default: None] parent link to which sensor should be attached.
  • xyz [float list, default: 0.0 0.0 0.0] 3 float values defining translation between base of a sensor and parent link. Values in m.
  • rpy [float list, default: 0.0 0.0 0.0] 3 float values define rotation between parent link and base of a sensor. Values in rad.
  • robot_namespace [string, default: ’‘] global namespace common to the entire robot. Not present in components.yaml.
  • model [string, default: ’‘] model argument that appears when you want to load the appropriate model from a given manufacturer. Not present in components.yaml.

Some sensors can define their specific parameters. Refer to their definition for more info.

CONTRIBUTING

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

husarion_components_description repository

husarion_components_description

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/husarion/husarion_components_description.git
VCS Type git
VCS Version ros2
Last Updated 2025-09-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
husarion_components_description 0.0.2

README

husarion_components_description

URDF models of sensors and other components offered alongside with Husarion robots

Available URDF Sensors

| Code | Device Name | | ------ | ---------------------------- | | DEV01 | Cover with Access Panel | | DEV02 | Carrying Handles | | DEV03 | Wooden Mounting Plate | | DEV04H | 370 mm High Frame | | DEV04L | 170 mm High Frame | | DEV05 | 350 mm Pillar | | DEV06 | Basket on Railings | | DEV07 | 475 mm Small Gate | | DEV07T | 350 mm Rotated Small Gate | | DEV09 | Large Gate | | ANT02 | Teltonika 003R-00253 | | CAM01 | Orbbec Astra | | CAM03 | StereoLabs ZED 2 | | CAM04 | StereoLabs ZED 2i | | CAM05 | StereoLabs ZED M | | CAM06 | StereoLabs ZED X | | CAM11 | Luxonis OAK-D-PRO | | LDR01 | RPLIDAR S1 | | LDR06 | RPLIDAR S3 | | LDR10 | Ouster OS0-32 | | LDR11 | Ouster OS0-64 | | LDR12 | Ouster OS0-128 | | LDR13 | Ouster OS1-32 | | LDR14 | Ouster OS1-64 | | LDR15 | Ouster OS1-128 | | LDR20 | Velodyne Puck | | MAN01 | Universal Robots UR3e | | MAN02 | Universal Robots UR5e | | MAN04 | 6DoF Kinova Gen3 | | MAN05 | 6DoF Kinova Gen3 + 3D vision | | MAN06 | 7DoF Kinova Gen3 | | MAN07 | 7DoF Kinova Gen3 + 3D vision | | GRP02 | Robotiq 2F-85 | | WCH01 | Wibotic receiver |

[!NOTE] The manipulators (code MAN<X>) must only be used within the simulation environment. Support for manipulators on a physical robot is implemented as separate software components. Please refer to the official documentation.

Including sensor

First build the package by running:

# create workspace folder and clone husarion_components_description
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/husarion_components_description.git src/husarion_components_description

# in case the package will be used within simulation
export HUSARION_ROS_BUILD_TYPE=simulation

rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build

To include the sensor, use the following code:

<!-- include file with definition of xacro macro of sensor -->
<xacro:include filename="$(find husarion_components_description)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />

<!-- evaluate the macro and place the sensor on robot -->
<xacro:lidar.slamtec_rplidar
  parent_link="cover_link"
  xyz="0.0 0.0 0.0"
  rpy="0.0 0.0 0.0" />

A list of parameters can be found here:

  • component_name [string, default: ’‘] local namespace allowing to distinguish two identical devices from each other. Called name in components.yaml.
  • parent_link [string, default: None] parent link to which sensor should be attached.
  • xyz [float list, default: 0.0 0.0 0.0] 3 float values defining translation between base of a sensor and parent link. Values in m.
  • rpy [float list, default: 0.0 0.0 0.0] 3 float values define rotation between parent link and base of a sensor. Values in rad.
  • robot_namespace [string, default: ’‘] global namespace common to the entire robot. Not present in components.yaml.
  • model [string, default: ’‘] model argument that appears when you want to load the appropriate model from a given manufacturer. Not present in components.yaml.

Some sensors can define their specific parameters. Refer to their definition for more info.

CONTRIBUTING

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

husarion_components_description repository

husarion_components_description

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/husarion/husarion_components_description.git
VCS Type git
VCS Version ros2
Last Updated 2025-09-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
husarion_components_description 0.0.2

README

husarion_components_description

URDF models of sensors and other components offered alongside with Husarion robots

Available URDF Sensors

| Code | Device Name | | ------ | ---------------------------- | | DEV01 | Cover with Access Panel | | DEV02 | Carrying Handles | | DEV03 | Wooden Mounting Plate | | DEV04H | 370 mm High Frame | | DEV04L | 170 mm High Frame | | DEV05 | 350 mm Pillar | | DEV06 | Basket on Railings | | DEV07 | 475 mm Small Gate | | DEV07T | 350 mm Rotated Small Gate | | DEV09 | Large Gate | | ANT02 | Teltonika 003R-00253 | | CAM01 | Orbbec Astra | | CAM03 | StereoLabs ZED 2 | | CAM04 | StereoLabs ZED 2i | | CAM05 | StereoLabs ZED M | | CAM06 | StereoLabs ZED X | | CAM11 | Luxonis OAK-D-PRO | | LDR01 | RPLIDAR S1 | | LDR06 | RPLIDAR S3 | | LDR10 | Ouster OS0-32 | | LDR11 | Ouster OS0-64 | | LDR12 | Ouster OS0-128 | | LDR13 | Ouster OS1-32 | | LDR14 | Ouster OS1-64 | | LDR15 | Ouster OS1-128 | | LDR20 | Velodyne Puck | | MAN01 | Universal Robots UR3e | | MAN02 | Universal Robots UR5e | | MAN04 | 6DoF Kinova Gen3 | | MAN05 | 6DoF Kinova Gen3 + 3D vision | | MAN06 | 7DoF Kinova Gen3 | | MAN07 | 7DoF Kinova Gen3 + 3D vision | | GRP02 | Robotiq 2F-85 | | WCH01 | Wibotic receiver |

[!NOTE] The manipulators (code MAN<X>) must only be used within the simulation environment. Support for manipulators on a physical robot is implemented as separate software components. Please refer to the official documentation.

Including sensor

First build the package by running:

# create workspace folder and clone husarion_components_description
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/husarion_components_description.git src/husarion_components_description

# in case the package will be used within simulation
export HUSARION_ROS_BUILD_TYPE=simulation

rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build

To include the sensor, use the following code:

<!-- include file with definition of xacro macro of sensor -->
<xacro:include filename="$(find husarion_components_description)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />

<!-- evaluate the macro and place the sensor on robot -->
<xacro:lidar.slamtec_rplidar
  parent_link="cover_link"
  xyz="0.0 0.0 0.0"
  rpy="0.0 0.0 0.0" />

A list of parameters can be found here:

  • component_name [string, default: ’‘] local namespace allowing to distinguish two identical devices from each other. Called name in components.yaml.
  • parent_link [string, default: None] parent link to which sensor should be attached.
  • xyz [float list, default: 0.0 0.0 0.0] 3 float values defining translation between base of a sensor and parent link. Values in m.
  • rpy [float list, default: 0.0 0.0 0.0] 3 float values define rotation between parent link and base of a sensor. Values in rad.
  • robot_namespace [string, default: ’‘] global namespace common to the entire robot. Not present in components.yaml.
  • model [string, default: ’‘] model argument that appears when you want to load the appropriate model from a given manufacturer. Not present in components.yaml.

Some sensors can define their specific parameters. Refer to their definition for more info.

CONTRIBUTING

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

husarion_components_description repository

husarion_components_description

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/husarion/husarion_components_description.git
VCS Type git
VCS Version ros2
Last Updated 2025-09-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
husarion_components_description 0.0.2

README

husarion_components_description

URDF models of sensors and other components offered alongside with Husarion robots

Available URDF Sensors

| Code | Device Name | | ------ | ---------------------------- | | DEV01 | Cover with Access Panel | | DEV02 | Carrying Handles | | DEV03 | Wooden Mounting Plate | | DEV04H | 370 mm High Frame | | DEV04L | 170 mm High Frame | | DEV05 | 350 mm Pillar | | DEV06 | Basket on Railings | | DEV07 | 475 mm Small Gate | | DEV07T | 350 mm Rotated Small Gate | | DEV09 | Large Gate | | ANT02 | Teltonika 003R-00253 | | CAM01 | Orbbec Astra | | CAM03 | StereoLabs ZED 2 | | CAM04 | StereoLabs ZED 2i | | CAM05 | StereoLabs ZED M | | CAM06 | StereoLabs ZED X | | CAM11 | Luxonis OAK-D-PRO | | LDR01 | RPLIDAR S1 | | LDR06 | RPLIDAR S3 | | LDR10 | Ouster OS0-32 | | LDR11 | Ouster OS0-64 | | LDR12 | Ouster OS0-128 | | LDR13 | Ouster OS1-32 | | LDR14 | Ouster OS1-64 | | LDR15 | Ouster OS1-128 | | LDR20 | Velodyne Puck | | MAN01 | Universal Robots UR3e | | MAN02 | Universal Robots UR5e | | MAN04 | 6DoF Kinova Gen3 | | MAN05 | 6DoF Kinova Gen3 + 3D vision | | MAN06 | 7DoF Kinova Gen3 | | MAN07 | 7DoF Kinova Gen3 + 3D vision | | GRP02 | Robotiq 2F-85 | | WCH01 | Wibotic receiver |

[!NOTE] The manipulators (code MAN<X>) must only be used within the simulation environment. Support for manipulators on a physical robot is implemented as separate software components. Please refer to the official documentation.

Including sensor

First build the package by running:

# create workspace folder and clone husarion_components_description
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/husarion_components_description.git src/husarion_components_description

# in case the package will be used within simulation
export HUSARION_ROS_BUILD_TYPE=simulation

rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build

To include the sensor, use the following code:

<!-- include file with definition of xacro macro of sensor -->
<xacro:include filename="$(find husarion_components_description)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />

<!-- evaluate the macro and place the sensor on robot -->
<xacro:lidar.slamtec_rplidar
  parent_link="cover_link"
  xyz="0.0 0.0 0.0"
  rpy="0.0 0.0 0.0" />

A list of parameters can be found here:

  • component_name [string, default: ’‘] local namespace allowing to distinguish two identical devices from each other. Called name in components.yaml.
  • parent_link [string, default: None] parent link to which sensor should be attached.
  • xyz [float list, default: 0.0 0.0 0.0] 3 float values defining translation between base of a sensor and parent link. Values in m.
  • rpy [float list, default: 0.0 0.0 0.0] 3 float values define rotation between parent link and base of a sensor. Values in rad.
  • robot_namespace [string, default: ’‘] global namespace common to the entire robot. Not present in components.yaml.
  • model [string, default: ’‘] model argument that appears when you want to load the appropriate model from a given manufacturer. Not present in components.yaml.

Some sensors can define their specific parameters. Refer to their definition for more info.

CONTRIBUTING

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

husarion_components_description repository

husarion_components_description

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/husarion/husarion_components_description.git
VCS Type git
VCS Version ros2
Last Updated 2025-09-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
husarion_components_description 0.0.2

README

husarion_components_description

URDF models of sensors and other components offered alongside with Husarion robots

Available URDF Sensors

| Code | Device Name | | ------ | ---------------------------- | | DEV01 | Cover with Access Panel | | DEV02 | Carrying Handles | | DEV03 | Wooden Mounting Plate | | DEV04H | 370 mm High Frame | | DEV04L | 170 mm High Frame | | DEV05 | 350 mm Pillar | | DEV06 | Basket on Railings | | DEV07 | 475 mm Small Gate | | DEV07T | 350 mm Rotated Small Gate | | DEV09 | Large Gate | | ANT02 | Teltonika 003R-00253 | | CAM01 | Orbbec Astra | | CAM03 | StereoLabs ZED 2 | | CAM04 | StereoLabs ZED 2i | | CAM05 | StereoLabs ZED M | | CAM06 | StereoLabs ZED X | | CAM11 | Luxonis OAK-D-PRO | | LDR01 | RPLIDAR S1 | | LDR06 | RPLIDAR S3 | | LDR10 | Ouster OS0-32 | | LDR11 | Ouster OS0-64 | | LDR12 | Ouster OS0-128 | | LDR13 | Ouster OS1-32 | | LDR14 | Ouster OS1-64 | | LDR15 | Ouster OS1-128 | | LDR20 | Velodyne Puck | | MAN01 | Universal Robots UR3e | | MAN02 | Universal Robots UR5e | | MAN04 | 6DoF Kinova Gen3 | | MAN05 | 6DoF Kinova Gen3 + 3D vision | | MAN06 | 7DoF Kinova Gen3 | | MAN07 | 7DoF Kinova Gen3 + 3D vision | | GRP02 | Robotiq 2F-85 | | WCH01 | Wibotic receiver |

[!NOTE] The manipulators (code MAN<X>) must only be used within the simulation environment. Support for manipulators on a physical robot is implemented as separate software components. Please refer to the official documentation.

Including sensor

First build the package by running:

# create workspace folder and clone husarion_components_description
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/husarion_components_description.git src/husarion_components_description

# in case the package will be used within simulation
export HUSARION_ROS_BUILD_TYPE=simulation

rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build

To include the sensor, use the following code:

<!-- include file with definition of xacro macro of sensor -->
<xacro:include filename="$(find husarion_components_description)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />

<!-- evaluate the macro and place the sensor on robot -->
<xacro:lidar.slamtec_rplidar
  parent_link="cover_link"
  xyz="0.0 0.0 0.0"
  rpy="0.0 0.0 0.0" />

A list of parameters can be found here:

  • component_name [string, default: ’‘] local namespace allowing to distinguish two identical devices from each other. Called name in components.yaml.
  • parent_link [string, default: None] parent link to which sensor should be attached.
  • xyz [float list, default: 0.0 0.0 0.0] 3 float values defining translation between base of a sensor and parent link. Values in m.
  • rpy [float list, default: 0.0 0.0 0.0] 3 float values define rotation between parent link and base of a sensor. Values in rad.
  • robot_namespace [string, default: ’‘] global namespace common to the entire robot. Not present in components.yaml.
  • model [string, default: ’‘] model argument that appears when you want to load the appropriate model from a given manufacturer. Not present in components.yaml.

Some sensors can define their specific parameters. Refer to their definition for more info.

CONTRIBUTING

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

husarion_components_description repository

husarion_components_description

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/husarion/husarion_components_description.git
VCS Type git
VCS Version ros2
Last Updated 2025-09-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
husarion_components_description 0.0.2

README

husarion_components_description

URDF models of sensors and other components offered alongside with Husarion robots

Available URDF Sensors

| Code | Device Name | | ------ | ---------------------------- | | DEV01 | Cover with Access Panel | | DEV02 | Carrying Handles | | DEV03 | Wooden Mounting Plate | | DEV04H | 370 mm High Frame | | DEV04L | 170 mm High Frame | | DEV05 | 350 mm Pillar | | DEV06 | Basket on Railings | | DEV07 | 475 mm Small Gate | | DEV07T | 350 mm Rotated Small Gate | | DEV09 | Large Gate | | ANT02 | Teltonika 003R-00253 | | CAM01 | Orbbec Astra | | CAM03 | StereoLabs ZED 2 | | CAM04 | StereoLabs ZED 2i | | CAM05 | StereoLabs ZED M | | CAM06 | StereoLabs ZED X | | CAM11 | Luxonis OAK-D-PRO | | LDR01 | RPLIDAR S1 | | LDR06 | RPLIDAR S3 | | LDR10 | Ouster OS0-32 | | LDR11 | Ouster OS0-64 | | LDR12 | Ouster OS0-128 | | LDR13 | Ouster OS1-32 | | LDR14 | Ouster OS1-64 | | LDR15 | Ouster OS1-128 | | LDR20 | Velodyne Puck | | MAN01 | Universal Robots UR3e | | MAN02 | Universal Robots UR5e | | MAN04 | 6DoF Kinova Gen3 | | MAN05 | 6DoF Kinova Gen3 + 3D vision | | MAN06 | 7DoF Kinova Gen3 | | MAN07 | 7DoF Kinova Gen3 + 3D vision | | GRP02 | Robotiq 2F-85 | | WCH01 | Wibotic receiver |

[!NOTE] The manipulators (code MAN<X>) must only be used within the simulation environment. Support for manipulators on a physical robot is implemented as separate software components. Please refer to the official documentation.

Including sensor

First build the package by running:

# create workspace folder and clone husarion_components_description
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/husarion_components_description.git src/husarion_components_description

# in case the package will be used within simulation
export HUSARION_ROS_BUILD_TYPE=simulation

rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build

To include the sensor, use the following code:

<!-- include file with definition of xacro macro of sensor -->
<xacro:include filename="$(find husarion_components_description)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />

<!-- evaluate the macro and place the sensor on robot -->
<xacro:lidar.slamtec_rplidar
  parent_link="cover_link"
  xyz="0.0 0.0 0.0"
  rpy="0.0 0.0 0.0" />

A list of parameters can be found here:

  • component_name [string, default: ’‘] local namespace allowing to distinguish two identical devices from each other. Called name in components.yaml.
  • parent_link [string, default: None] parent link to which sensor should be attached.
  • xyz [float list, default: 0.0 0.0 0.0] 3 float values defining translation between base of a sensor and parent link. Values in m.
  • rpy [float list, default: 0.0 0.0 0.0] 3 float values define rotation between parent link and base of a sensor. Values in rad.
  • robot_namespace [string, default: ’‘] global namespace common to the entire robot. Not present in components.yaml.
  • model [string, default: ’‘] model argument that appears when you want to load the appropriate model from a given manufacturer. Not present in components.yaml.

Some sensors can define their specific parameters. Refer to their definition for more info.

CONTRIBUTING

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

husarion_components_description repository

husarion_components_description

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/husarion/husarion_components_description.git
VCS Type git
VCS Version ros2
Last Updated 2025-09-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
husarion_components_description 0.0.2

README

husarion_components_description

URDF models of sensors and other components offered alongside with Husarion robots

Available URDF Sensors

| Code | Device Name | | ------ | ---------------------------- | | DEV01 | Cover with Access Panel | | DEV02 | Carrying Handles | | DEV03 | Wooden Mounting Plate | | DEV04H | 370 mm High Frame | | DEV04L | 170 mm High Frame | | DEV05 | 350 mm Pillar | | DEV06 | Basket on Railings | | DEV07 | 475 mm Small Gate | | DEV07T | 350 mm Rotated Small Gate | | DEV09 | Large Gate | | ANT02 | Teltonika 003R-00253 | | CAM01 | Orbbec Astra | | CAM03 | StereoLabs ZED 2 | | CAM04 | StereoLabs ZED 2i | | CAM05 | StereoLabs ZED M | | CAM06 | StereoLabs ZED X | | CAM11 | Luxonis OAK-D-PRO | | LDR01 | RPLIDAR S1 | | LDR06 | RPLIDAR S3 | | LDR10 | Ouster OS0-32 | | LDR11 | Ouster OS0-64 | | LDR12 | Ouster OS0-128 | | LDR13 | Ouster OS1-32 | | LDR14 | Ouster OS1-64 | | LDR15 | Ouster OS1-128 | | LDR20 | Velodyne Puck | | MAN01 | Universal Robots UR3e | | MAN02 | Universal Robots UR5e | | MAN04 | 6DoF Kinova Gen3 | | MAN05 | 6DoF Kinova Gen3 + 3D vision | | MAN06 | 7DoF Kinova Gen3 | | MAN07 | 7DoF Kinova Gen3 + 3D vision | | GRP02 | Robotiq 2F-85 | | WCH01 | Wibotic receiver |

[!NOTE] The manipulators (code MAN<X>) must only be used within the simulation environment. Support for manipulators on a physical robot is implemented as separate software components. Please refer to the official documentation.

Including sensor

First build the package by running:

# create workspace folder and clone husarion_components_description
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/husarion_components_description.git src/husarion_components_description

# in case the package will be used within simulation
export HUSARION_ROS_BUILD_TYPE=simulation

rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build

To include the sensor, use the following code:

<!-- include file with definition of xacro macro of sensor -->
<xacro:include filename="$(find husarion_components_description)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />

<!-- evaluate the macro and place the sensor on robot -->
<xacro:lidar.slamtec_rplidar
  parent_link="cover_link"
  xyz="0.0 0.0 0.0"
  rpy="0.0 0.0 0.0" />

A list of parameters can be found here:

  • component_name [string, default: ’‘] local namespace allowing to distinguish two identical devices from each other. Called name in components.yaml.
  • parent_link [string, default: None] parent link to which sensor should be attached.
  • xyz [float list, default: 0.0 0.0 0.0] 3 float values defining translation between base of a sensor and parent link. Values in m.
  • rpy [float list, default: 0.0 0.0 0.0] 3 float values define rotation between parent link and base of a sensor. Values in rad.
  • robot_namespace [string, default: ’‘] global namespace common to the entire robot. Not present in components.yaml.
  • model [string, default: ’‘] model argument that appears when you want to load the appropriate model from a given manufacturer. Not present in components.yaml.

Some sensors can define their specific parameters. Refer to their definition for more info.

CONTRIBUTING

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

husarion_components_description repository

husarion_components_description

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/husarion/husarion_components_description.git
VCS Type git
VCS Version ros2
Last Updated 2025-09-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
husarion_components_description 0.0.2

README

husarion_components_description

URDF models of sensors and other components offered alongside with Husarion robots

Available URDF Sensors

| Code | Device Name | | ------ | ---------------------------- | | DEV01 | Cover with Access Panel | | DEV02 | Carrying Handles | | DEV03 | Wooden Mounting Plate | | DEV04H | 370 mm High Frame | | DEV04L | 170 mm High Frame | | DEV05 | 350 mm Pillar | | DEV06 | Basket on Railings | | DEV07 | 475 mm Small Gate | | DEV07T | 350 mm Rotated Small Gate | | DEV09 | Large Gate | | ANT02 | Teltonika 003R-00253 | | CAM01 | Orbbec Astra | | CAM03 | StereoLabs ZED 2 | | CAM04 | StereoLabs ZED 2i | | CAM05 | StereoLabs ZED M | | CAM06 | StereoLabs ZED X | | CAM11 | Luxonis OAK-D-PRO | | LDR01 | RPLIDAR S1 | | LDR06 | RPLIDAR S3 | | LDR10 | Ouster OS0-32 | | LDR11 | Ouster OS0-64 | | LDR12 | Ouster OS0-128 | | LDR13 | Ouster OS1-32 | | LDR14 | Ouster OS1-64 | | LDR15 | Ouster OS1-128 | | LDR20 | Velodyne Puck | | MAN01 | Universal Robots UR3e | | MAN02 | Universal Robots UR5e | | MAN04 | 6DoF Kinova Gen3 | | MAN05 | 6DoF Kinova Gen3 + 3D vision | | MAN06 | 7DoF Kinova Gen3 | | MAN07 | 7DoF Kinova Gen3 + 3D vision | | GRP02 | Robotiq 2F-85 | | WCH01 | Wibotic receiver |

[!NOTE] The manipulators (code MAN<X>) must only be used within the simulation environment. Support for manipulators on a physical robot is implemented as separate software components. Please refer to the official documentation.

Including sensor

First build the package by running:

# create workspace folder and clone husarion_components_description
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/husarion_components_description.git src/husarion_components_description

# in case the package will be used within simulation
export HUSARION_ROS_BUILD_TYPE=simulation

rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build

To include the sensor, use the following code:

<!-- include file with definition of xacro macro of sensor -->
<xacro:include filename="$(find husarion_components_description)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />

<!-- evaluate the macro and place the sensor on robot -->
<xacro:lidar.slamtec_rplidar
  parent_link="cover_link"
  xyz="0.0 0.0 0.0"
  rpy="0.0 0.0 0.0" />

A list of parameters can be found here:

  • component_name [string, default: ’‘] local namespace allowing to distinguish two identical devices from each other. Called name in components.yaml.
  • parent_link [string, default: None] parent link to which sensor should be attached.
  • xyz [float list, default: 0.0 0.0 0.0] 3 float values defining translation between base of a sensor and parent link. Values in m.
  • rpy [float list, default: 0.0 0.0 0.0] 3 float values define rotation between parent link and base of a sensor. Values in rad.
  • robot_namespace [string, default: ’‘] global namespace common to the entire robot. Not present in components.yaml.
  • model [string, default: ’‘] model argument that appears when you want to load the appropriate model from a given manufacturer. Not present in components.yaml.

Some sensors can define their specific parameters. Refer to their definition for more info.

CONTRIBUTING

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

husarion_components_description repository

husarion_components_description

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/husarion/husarion_components_description.git
VCS Type git
VCS Version ros2
Last Updated 2025-09-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
husarion_components_description 0.0.2

README

husarion_components_description

URDF models of sensors and other components offered alongside with Husarion robots

Available URDF Sensors

| Code | Device Name | | ------ | ---------------------------- | | DEV01 | Cover with Access Panel | | DEV02 | Carrying Handles | | DEV03 | Wooden Mounting Plate | | DEV04H | 370 mm High Frame | | DEV04L | 170 mm High Frame | | DEV05 | 350 mm Pillar | | DEV06 | Basket on Railings | | DEV07 | 475 mm Small Gate | | DEV07T | 350 mm Rotated Small Gate | | DEV09 | Large Gate | | ANT02 | Teltonika 003R-00253 | | CAM01 | Orbbec Astra | | CAM03 | StereoLabs ZED 2 | | CAM04 | StereoLabs ZED 2i | | CAM05 | StereoLabs ZED M | | CAM06 | StereoLabs ZED X | | CAM11 | Luxonis OAK-D-PRO | | LDR01 | RPLIDAR S1 | | LDR06 | RPLIDAR S3 | | LDR10 | Ouster OS0-32 | | LDR11 | Ouster OS0-64 | | LDR12 | Ouster OS0-128 | | LDR13 | Ouster OS1-32 | | LDR14 | Ouster OS1-64 | | LDR15 | Ouster OS1-128 | | LDR20 | Velodyne Puck | | MAN01 | Universal Robots UR3e | | MAN02 | Universal Robots UR5e | | MAN04 | 6DoF Kinova Gen3 | | MAN05 | 6DoF Kinova Gen3 + 3D vision | | MAN06 | 7DoF Kinova Gen3 | | MAN07 | 7DoF Kinova Gen3 + 3D vision | | GRP02 | Robotiq 2F-85 | | WCH01 | Wibotic receiver |

[!NOTE] The manipulators (code MAN<X>) must only be used within the simulation environment. Support for manipulators on a physical robot is implemented as separate software components. Please refer to the official documentation.

Including sensor

First build the package by running:

# create workspace folder and clone husarion_components_description
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/husarion_components_description.git src/husarion_components_description

# in case the package will be used within simulation
export HUSARION_ROS_BUILD_TYPE=simulation

rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build

To include the sensor, use the following code:

<!-- include file with definition of xacro macro of sensor -->
<xacro:include filename="$(find husarion_components_description)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />

<!-- evaluate the macro and place the sensor on robot -->
<xacro:lidar.slamtec_rplidar
  parent_link="cover_link"
  xyz="0.0 0.0 0.0"
  rpy="0.0 0.0 0.0" />

A list of parameters can be found here:

  • component_name [string, default: ’‘] local namespace allowing to distinguish two identical devices from each other. Called name in components.yaml.
  • parent_link [string, default: None] parent link to which sensor should be attached.
  • xyz [float list, default: 0.0 0.0 0.0] 3 float values defining translation between base of a sensor and parent link. Values in m.
  • rpy [float list, default: 0.0 0.0 0.0] 3 float values define rotation between parent link and base of a sensor. Values in rad.
  • robot_namespace [string, default: ’‘] global namespace common to the entire robot. Not present in components.yaml.
  • model [string, default: ’‘] model argument that appears when you want to load the appropriate model from a given manufacturer. Not present in components.yaml.

Some sensors can define their specific parameters. Refer to their definition for more info.

CONTRIBUTING

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

husarion_components_description repository

husarion_components_description

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/husarion/husarion_components_description.git
VCS Type git
VCS Version ros2
Last Updated 2025-09-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
husarion_components_description 0.0.2

README

husarion_components_description

URDF models of sensors and other components offered alongside with Husarion robots

Available URDF Sensors

| Code | Device Name | | ------ | ---------------------------- | | DEV01 | Cover with Access Panel | | DEV02 | Carrying Handles | | DEV03 | Wooden Mounting Plate | | DEV04H | 370 mm High Frame | | DEV04L | 170 mm High Frame | | DEV05 | 350 mm Pillar | | DEV06 | Basket on Railings | | DEV07 | 475 mm Small Gate | | DEV07T | 350 mm Rotated Small Gate | | DEV09 | Large Gate | | ANT02 | Teltonika 003R-00253 | | CAM01 | Orbbec Astra | | CAM03 | StereoLabs ZED 2 | | CAM04 | StereoLabs ZED 2i | | CAM05 | StereoLabs ZED M | | CAM06 | StereoLabs ZED X | | CAM11 | Luxonis OAK-D-PRO | | LDR01 | RPLIDAR S1 | | LDR06 | RPLIDAR S3 | | LDR10 | Ouster OS0-32 | | LDR11 | Ouster OS0-64 | | LDR12 | Ouster OS0-128 | | LDR13 | Ouster OS1-32 | | LDR14 | Ouster OS1-64 | | LDR15 | Ouster OS1-128 | | LDR20 | Velodyne Puck | | MAN01 | Universal Robots UR3e | | MAN02 | Universal Robots UR5e | | MAN04 | 6DoF Kinova Gen3 | | MAN05 | 6DoF Kinova Gen3 + 3D vision | | MAN06 | 7DoF Kinova Gen3 | | MAN07 | 7DoF Kinova Gen3 + 3D vision | | GRP02 | Robotiq 2F-85 | | WCH01 | Wibotic receiver |

[!NOTE] The manipulators (code MAN<X>) must only be used within the simulation environment. Support for manipulators on a physical robot is implemented as separate software components. Please refer to the official documentation.

Including sensor

First build the package by running:

# create workspace folder and clone husarion_components_description
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/husarion_components_description.git src/husarion_components_description

# in case the package will be used within simulation
export HUSARION_ROS_BUILD_TYPE=simulation

rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build

To include the sensor, use the following code:

<!-- include file with definition of xacro macro of sensor -->
<xacro:include filename="$(find husarion_components_description)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />

<!-- evaluate the macro and place the sensor on robot -->
<xacro:lidar.slamtec_rplidar
  parent_link="cover_link"
  xyz="0.0 0.0 0.0"
  rpy="0.0 0.0 0.0" />

A list of parameters can be found here:

  • component_name [string, default: ’‘] local namespace allowing to distinguish two identical devices from each other. Called name in components.yaml.
  • parent_link [string, default: None] parent link to which sensor should be attached.
  • xyz [float list, default: 0.0 0.0 0.0] 3 float values defining translation between base of a sensor and parent link. Values in m.
  • rpy [float list, default: 0.0 0.0 0.0] 3 float values define rotation between parent link and base of a sensor. Values in rad.
  • robot_namespace [string, default: ’‘] global namespace common to the entire robot. Not present in components.yaml.
  • model [string, default: ’‘] model argument that appears when you want to load the appropriate model from a given manufacturer. Not present in components.yaml.

Some sensors can define their specific parameters. Refer to their definition for more info.

CONTRIBUTING

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

husarion_components_description repository

husarion_components_description

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/husarion/husarion_components_description.git
VCS Type git
VCS Version ros2
Last Updated 2025-09-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
husarion_components_description 0.0.2

README

husarion_components_description

URDF models of sensors and other components offered alongside with Husarion robots

Available URDF Sensors

| Code | Device Name | | ------ | ---------------------------- | | DEV01 | Cover with Access Panel | | DEV02 | Carrying Handles | | DEV03 | Wooden Mounting Plate | | DEV04H | 370 mm High Frame | | DEV04L | 170 mm High Frame | | DEV05 | 350 mm Pillar | | DEV06 | Basket on Railings | | DEV07 | 475 mm Small Gate | | DEV07T | 350 mm Rotated Small Gate | | DEV09 | Large Gate | | ANT02 | Teltonika 003R-00253 | | CAM01 | Orbbec Astra | | CAM03 | StereoLabs ZED 2 | | CAM04 | StereoLabs ZED 2i | | CAM05 | StereoLabs ZED M | | CAM06 | StereoLabs ZED X | | CAM11 | Luxonis OAK-D-PRO | | LDR01 | RPLIDAR S1 | | LDR06 | RPLIDAR S3 | | LDR10 | Ouster OS0-32 | | LDR11 | Ouster OS0-64 | | LDR12 | Ouster OS0-128 | | LDR13 | Ouster OS1-32 | | LDR14 | Ouster OS1-64 | | LDR15 | Ouster OS1-128 | | LDR20 | Velodyne Puck | | MAN01 | Universal Robots UR3e | | MAN02 | Universal Robots UR5e | | MAN04 | 6DoF Kinova Gen3 | | MAN05 | 6DoF Kinova Gen3 + 3D vision | | MAN06 | 7DoF Kinova Gen3 | | MAN07 | 7DoF Kinova Gen3 + 3D vision | | GRP02 | Robotiq 2F-85 | | WCH01 | Wibotic receiver |

[!NOTE] The manipulators (code MAN<X>) must only be used within the simulation environment. Support for manipulators on a physical robot is implemented as separate software components. Please refer to the official documentation.

Including sensor

First build the package by running:

# create workspace folder and clone husarion_components_description
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/husarion_components_description.git src/husarion_components_description

# in case the package will be used within simulation
export HUSARION_ROS_BUILD_TYPE=simulation

rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build

To include the sensor, use the following code:

<!-- include file with definition of xacro macro of sensor -->
<xacro:include filename="$(find husarion_components_description)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />

<!-- evaluate the macro and place the sensor on robot -->
<xacro:lidar.slamtec_rplidar
  parent_link="cover_link"
  xyz="0.0 0.0 0.0"
  rpy="0.0 0.0 0.0" />

A list of parameters can be found here:

  • component_name [string, default: ’‘] local namespace allowing to distinguish two identical devices from each other. Called name in components.yaml.
  • parent_link [string, default: None] parent link to which sensor should be attached.
  • xyz [float list, default: 0.0 0.0 0.0] 3 float values defining translation between base of a sensor and parent link. Values in m.
  • rpy [float list, default: 0.0 0.0 0.0] 3 float values define rotation between parent link and base of a sensor. Values in rad.
  • robot_namespace [string, default: ’‘] global namespace common to the entire robot. Not present in components.yaml.
  • model [string, default: ’‘] model argument that appears when you want to load the appropriate model from a given manufacturer. Not present in components.yaml.

Some sensors can define their specific parameters. Refer to their definition for more info.

CONTRIBUTING

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

husarion_components_description repository

husarion_components_description

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/husarion/husarion_components_description.git
VCS Type git
VCS Version ros2
Last Updated 2025-09-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
husarion_components_description 0.0.2

README

husarion_components_description

URDF models of sensors and other components offered alongside with Husarion robots

Available URDF Sensors

| Code | Device Name | | ------ | ---------------------------- | | DEV01 | Cover with Access Panel | | DEV02 | Carrying Handles | | DEV03 | Wooden Mounting Plate | | DEV04H | 370 mm High Frame | | DEV04L | 170 mm High Frame | | DEV05 | 350 mm Pillar | | DEV06 | Basket on Railings | | DEV07 | 475 mm Small Gate | | DEV07T | 350 mm Rotated Small Gate | | DEV09 | Large Gate | | ANT02 | Teltonika 003R-00253 | | CAM01 | Orbbec Astra | | CAM03 | StereoLabs ZED 2 | | CAM04 | StereoLabs ZED 2i | | CAM05 | StereoLabs ZED M | | CAM06 | StereoLabs ZED X | | CAM11 | Luxonis OAK-D-PRO | | LDR01 | RPLIDAR S1 | | LDR06 | RPLIDAR S3 | | LDR10 | Ouster OS0-32 | | LDR11 | Ouster OS0-64 | | LDR12 | Ouster OS0-128 | | LDR13 | Ouster OS1-32 | | LDR14 | Ouster OS1-64 | | LDR15 | Ouster OS1-128 | | LDR20 | Velodyne Puck | | MAN01 | Universal Robots UR3e | | MAN02 | Universal Robots UR5e | | MAN04 | 6DoF Kinova Gen3 | | MAN05 | 6DoF Kinova Gen3 + 3D vision | | MAN06 | 7DoF Kinova Gen3 | | MAN07 | 7DoF Kinova Gen3 + 3D vision | | GRP02 | Robotiq 2F-85 | | WCH01 | Wibotic receiver |

[!NOTE] The manipulators (code MAN<X>) must only be used within the simulation environment. Support for manipulators on a physical robot is implemented as separate software components. Please refer to the official documentation.

Including sensor

First build the package by running:

# create workspace folder and clone husarion_components_description
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/husarion_components_description.git src/husarion_components_description

# in case the package will be used within simulation
export HUSARION_ROS_BUILD_TYPE=simulation

rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build

To include the sensor, use the following code:

<!-- include file with definition of xacro macro of sensor -->
<xacro:include filename="$(find husarion_components_description)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />

<!-- evaluate the macro and place the sensor on robot -->
<xacro:lidar.slamtec_rplidar
  parent_link="cover_link"
  xyz="0.0 0.0 0.0"
  rpy="0.0 0.0 0.0" />

A list of parameters can be found here:

  • component_name [string, default: ’‘] local namespace allowing to distinguish two identical devices from each other. Called name in components.yaml.
  • parent_link [string, default: None] parent link to which sensor should be attached.
  • xyz [float list, default: 0.0 0.0 0.0] 3 float values defining translation between base of a sensor and parent link. Values in m.
  • rpy [float list, default: 0.0 0.0 0.0] 3 float values define rotation between parent link and base of a sensor. Values in rad.
  • robot_namespace [string, default: ’‘] global namespace common to the entire robot. Not present in components.yaml.
  • model [string, default: ’‘] model argument that appears when you want to load the appropriate model from a given manufacturer. Not present in components.yaml.

Some sensors can define their specific parameters. Refer to their definition for more info.

CONTRIBUTING

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

husarion_components_description repository

husarion_components_description

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/husarion/husarion_components_description.git
VCS Type git
VCS Version ros2
Last Updated 2025-09-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
husarion_components_description 0.0.2

README

husarion_components_description

URDF models of sensors and other components offered alongside with Husarion robots

Available URDF Sensors

| Code | Device Name | | ------ | ---------------------------- | | DEV01 | Cover with Access Panel | | DEV02 | Carrying Handles | | DEV03 | Wooden Mounting Plate | | DEV04H | 370 mm High Frame | | DEV04L | 170 mm High Frame | | DEV05 | 350 mm Pillar | | DEV06 | Basket on Railings | | DEV07 | 475 mm Small Gate | | DEV07T | 350 mm Rotated Small Gate | | DEV09 | Large Gate | | ANT02 | Teltonika 003R-00253 | | CAM01 | Orbbec Astra | | CAM03 | StereoLabs ZED 2 | | CAM04 | StereoLabs ZED 2i | | CAM05 | StereoLabs ZED M | | CAM06 | StereoLabs ZED X | | CAM11 | Luxonis OAK-D-PRO | | LDR01 | RPLIDAR S1 | | LDR06 | RPLIDAR S3 | | LDR10 | Ouster OS0-32 | | LDR11 | Ouster OS0-64 | | LDR12 | Ouster OS0-128 | | LDR13 | Ouster OS1-32 | | LDR14 | Ouster OS1-64 | | LDR15 | Ouster OS1-128 | | LDR20 | Velodyne Puck | | MAN01 | Universal Robots UR3e | | MAN02 | Universal Robots UR5e | | MAN04 | 6DoF Kinova Gen3 | | MAN05 | 6DoF Kinova Gen3 + 3D vision | | MAN06 | 7DoF Kinova Gen3 | | MAN07 | 7DoF Kinova Gen3 + 3D vision | | GRP02 | Robotiq 2F-85 | | WCH01 | Wibotic receiver |

[!NOTE] The manipulators (code MAN<X>) must only be used within the simulation environment. Support for manipulators on a physical robot is implemented as separate software components. Please refer to the official documentation.

Including sensor

First build the package by running:

# create workspace folder and clone husarion_components_description
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/husarion_components_description.git src/husarion_components_description

# in case the package will be used within simulation
export HUSARION_ROS_BUILD_TYPE=simulation

rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build

To include the sensor, use the following code:

<!-- include file with definition of xacro macro of sensor -->
<xacro:include filename="$(find husarion_components_description)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />

<!-- evaluate the macro and place the sensor on robot -->
<xacro:lidar.slamtec_rplidar
  parent_link="cover_link"
  xyz="0.0 0.0 0.0"
  rpy="0.0 0.0 0.0" />

A list of parameters can be found here:

  • component_name [string, default: ’‘] local namespace allowing to distinguish two identical devices from each other. Called name in components.yaml.
  • parent_link [string, default: None] parent link to which sensor should be attached.
  • xyz [float list, default: 0.0 0.0 0.0] 3 float values defining translation between base of a sensor and parent link. Values in m.
  • rpy [float list, default: 0.0 0.0 0.0] 3 float values define rotation between parent link and base of a sensor. Values in rad.
  • robot_namespace [string, default: ’‘] global namespace common to the entire robot. Not present in components.yaml.
  • model [string, default: ’‘] model argument that appears when you want to load the appropriate model from a given manufacturer. Not present in components.yaml.

Some sensors can define their specific parameters. Refer to their definition for more info.

CONTRIBUTING

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

husarion_components_description repository

husarion_components_description

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/husarion/husarion_components_description.git
VCS Type git
VCS Version ros2
Last Updated 2025-09-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
husarion_components_description 0.0.2

README

husarion_components_description

URDF models of sensors and other components offered alongside with Husarion robots

Available URDF Sensors

| Code | Device Name | | ------ | ---------------------------- | | DEV01 | Cover with Access Panel | | DEV02 | Carrying Handles | | DEV03 | Wooden Mounting Plate | | DEV04H | 370 mm High Frame | | DEV04L | 170 mm High Frame | | DEV05 | 350 mm Pillar | | DEV06 | Basket on Railings | | DEV07 | 475 mm Small Gate | | DEV07T | 350 mm Rotated Small Gate | | DEV09 | Large Gate | | ANT02 | Teltonika 003R-00253 | | CAM01 | Orbbec Astra | | CAM03 | StereoLabs ZED 2 | | CAM04 | StereoLabs ZED 2i | | CAM05 | StereoLabs ZED M | | CAM06 | StereoLabs ZED X | | CAM11 | Luxonis OAK-D-PRO | | LDR01 | RPLIDAR S1 | | LDR06 | RPLIDAR S3 | | LDR10 | Ouster OS0-32 | | LDR11 | Ouster OS0-64 | | LDR12 | Ouster OS0-128 | | LDR13 | Ouster OS1-32 | | LDR14 | Ouster OS1-64 | | LDR15 | Ouster OS1-128 | | LDR20 | Velodyne Puck | | MAN01 | Universal Robots UR3e | | MAN02 | Universal Robots UR5e | | MAN04 | 6DoF Kinova Gen3 | | MAN05 | 6DoF Kinova Gen3 + 3D vision | | MAN06 | 7DoF Kinova Gen3 | | MAN07 | 7DoF Kinova Gen3 + 3D vision | | GRP02 | Robotiq 2F-85 | | WCH01 | Wibotic receiver |

[!NOTE] The manipulators (code MAN<X>) must only be used within the simulation environment. Support for manipulators on a physical robot is implemented as separate software components. Please refer to the official documentation.

Including sensor

First build the package by running:

# create workspace folder and clone husarion_components_description
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/husarion_components_description.git src/husarion_components_description

# in case the package will be used within simulation
export HUSARION_ROS_BUILD_TYPE=simulation

rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build

To include the sensor, use the following code:

<!-- include file with definition of xacro macro of sensor -->
<xacro:include filename="$(find husarion_components_description)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />

<!-- evaluate the macro and place the sensor on robot -->
<xacro:lidar.slamtec_rplidar
  parent_link="cover_link"
  xyz="0.0 0.0 0.0"
  rpy="0.0 0.0 0.0" />

A list of parameters can be found here:

  • component_name [string, default: ’‘] local namespace allowing to distinguish two identical devices from each other. Called name in components.yaml.
  • parent_link [string, default: None] parent link to which sensor should be attached.
  • xyz [float list, default: 0.0 0.0 0.0] 3 float values defining translation between base of a sensor and parent link. Values in m.
  • rpy [float list, default: 0.0 0.0 0.0] 3 float values define rotation between parent link and base of a sensor. Values in rad.
  • robot_namespace [string, default: ’‘] global namespace common to the entire robot. Not present in components.yaml.
  • model [string, default: ’‘] model argument that appears when you want to load the appropriate model from a given manufacturer. Not present in components.yaml.

Some sensors can define their specific parameters. Refer to their definition for more info.

CONTRIBUTING

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

husarion_components_description repository

husarion_components_description

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/husarion/husarion_components_description.git
VCS Type git
VCS Version ros2
Last Updated 2025-09-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
husarion_components_description 0.0.2

README

husarion_components_description

URDF models of sensors and other components offered alongside with Husarion robots

Available URDF Sensors

| Code | Device Name | | ------ | ---------------------------- | | DEV01 | Cover with Access Panel | | DEV02 | Carrying Handles | | DEV03 | Wooden Mounting Plate | | DEV04H | 370 mm High Frame | | DEV04L | 170 mm High Frame | | DEV05 | 350 mm Pillar | | DEV06 | Basket on Railings | | DEV07 | 475 mm Small Gate | | DEV07T | 350 mm Rotated Small Gate | | DEV09 | Large Gate | | ANT02 | Teltonika 003R-00253 | | CAM01 | Orbbec Astra | | CAM03 | StereoLabs ZED 2 | | CAM04 | StereoLabs ZED 2i | | CAM05 | StereoLabs ZED M | | CAM06 | StereoLabs ZED X | | CAM11 | Luxonis OAK-D-PRO | | LDR01 | RPLIDAR S1 | | LDR06 | RPLIDAR S3 | | LDR10 | Ouster OS0-32 | | LDR11 | Ouster OS0-64 | | LDR12 | Ouster OS0-128 | | LDR13 | Ouster OS1-32 | | LDR14 | Ouster OS1-64 | | LDR15 | Ouster OS1-128 | | LDR20 | Velodyne Puck | | MAN01 | Universal Robots UR3e | | MAN02 | Universal Robots UR5e | | MAN04 | 6DoF Kinova Gen3 | | MAN05 | 6DoF Kinova Gen3 + 3D vision | | MAN06 | 7DoF Kinova Gen3 | | MAN07 | 7DoF Kinova Gen3 + 3D vision | | GRP02 | Robotiq 2F-85 | | WCH01 | Wibotic receiver |

[!NOTE] The manipulators (code MAN<X>) must only be used within the simulation environment. Support for manipulators on a physical robot is implemented as separate software components. Please refer to the official documentation.

Including sensor

First build the package by running:

# create workspace folder and clone husarion_components_description
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/husarion_components_description.git src/husarion_components_description

# in case the package will be used within simulation
export HUSARION_ROS_BUILD_TYPE=simulation

rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build

To include the sensor, use the following code:

<!-- include file with definition of xacro macro of sensor -->
<xacro:include filename="$(find husarion_components_description)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />

<!-- evaluate the macro and place the sensor on robot -->
<xacro:lidar.slamtec_rplidar
  parent_link="cover_link"
  xyz="0.0 0.0 0.0"
  rpy="0.0 0.0 0.0" />

A list of parameters can be found here:

  • component_name [string, default: ’‘] local namespace allowing to distinguish two identical devices from each other. Called name in components.yaml.
  • parent_link [string, default: None] parent link to which sensor should be attached.
  • xyz [float list, default: 0.0 0.0 0.0] 3 float values defining translation between base of a sensor and parent link. Values in m.
  • rpy [float list, default: 0.0 0.0 0.0] 3 float values define rotation between parent link and base of a sensor. Values in rad.
  • robot_namespace [string, default: ’‘] global namespace common to the entire robot. Not present in components.yaml.
  • model [string, default: ’‘] model argument that appears when you want to load the appropriate model from a given manufacturer. Not present in components.yaml.

Some sensors can define their specific parameters. Refer to their definition for more info.

CONTRIBUTING

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

husarion_components_description repository

husarion_components_description

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/husarion/husarion_components_description.git
VCS Type git
VCS Version ros2
Last Updated 2025-09-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
husarion_components_description 0.0.2

README

husarion_components_description

URDF models of sensors and other components offered alongside with Husarion robots

Available URDF Sensors

| Code | Device Name | | ------ | ---------------------------- | | DEV01 | Cover with Access Panel | | DEV02 | Carrying Handles | | DEV03 | Wooden Mounting Plate | | DEV04H | 370 mm High Frame | | DEV04L | 170 mm High Frame | | DEV05 | 350 mm Pillar | | DEV06 | Basket on Railings | | DEV07 | 475 mm Small Gate | | DEV07T | 350 mm Rotated Small Gate | | DEV09 | Large Gate | | ANT02 | Teltonika 003R-00253 | | CAM01 | Orbbec Astra | | CAM03 | StereoLabs ZED 2 | | CAM04 | StereoLabs ZED 2i | | CAM05 | StereoLabs ZED M | | CAM06 | StereoLabs ZED X | | CAM11 | Luxonis OAK-D-PRO | | LDR01 | RPLIDAR S1 | | LDR06 | RPLIDAR S3 | | LDR10 | Ouster OS0-32 | | LDR11 | Ouster OS0-64 | | LDR12 | Ouster OS0-128 | | LDR13 | Ouster OS1-32 | | LDR14 | Ouster OS1-64 | | LDR15 | Ouster OS1-128 | | LDR20 | Velodyne Puck | | MAN01 | Universal Robots UR3e | | MAN02 | Universal Robots UR5e | | MAN04 | 6DoF Kinova Gen3 | | MAN05 | 6DoF Kinova Gen3 + 3D vision | | MAN06 | 7DoF Kinova Gen3 | | MAN07 | 7DoF Kinova Gen3 + 3D vision | | GRP02 | Robotiq 2F-85 | | WCH01 | Wibotic receiver |

[!NOTE] The manipulators (code MAN<X>) must only be used within the simulation environment. Support for manipulators on a physical robot is implemented as separate software components. Please refer to the official documentation.

Including sensor

First build the package by running:

# create workspace folder and clone husarion_components_description
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/husarion_components_description.git src/husarion_components_description

# in case the package will be used within simulation
export HUSARION_ROS_BUILD_TYPE=simulation

rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build

To include the sensor, use the following code:

<!-- include file with definition of xacro macro of sensor -->
<xacro:include filename="$(find husarion_components_description)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />

<!-- evaluate the macro and place the sensor on robot -->
<xacro:lidar.slamtec_rplidar
  parent_link="cover_link"
  xyz="0.0 0.0 0.0"
  rpy="0.0 0.0 0.0" />

A list of parameters can be found here:

  • component_name [string, default: ’‘] local namespace allowing to distinguish two identical devices from each other. Called name in components.yaml.
  • parent_link [string, default: None] parent link to which sensor should be attached.
  • xyz [float list, default: 0.0 0.0 0.0] 3 float values defining translation between base of a sensor and parent link. Values in m.
  • rpy [float list, default: 0.0 0.0 0.0] 3 float values define rotation between parent link and base of a sensor. Values in rad.
  • robot_namespace [string, default: ’‘] global namespace common to the entire robot. Not present in components.yaml.
  • model [string, default: ’‘] model argument that appears when you want to load the appropriate model from a given manufacturer. Not present in components.yaml.

Some sensors can define their specific parameters. Refer to their definition for more info.

CONTRIBUTING

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

husarion_components_description repository

husarion_components_description

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/husarion/husarion_components_description.git
VCS Type git
VCS Version ros2
Last Updated 2025-09-18
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
husarion_components_description 0.0.2

README

husarion_components_description

URDF models of sensors and other components offered alongside with Husarion robots

Available URDF Sensors

| Code | Device Name | | ------ | ---------------------------- | | DEV01 | Cover with Access Panel | | DEV02 | Carrying Handles | | DEV03 | Wooden Mounting Plate | | DEV04H | 370 mm High Frame | | DEV04L | 170 mm High Frame | | DEV05 | 350 mm Pillar | | DEV06 | Basket on Railings | | DEV07 | 475 mm Small Gate | | DEV07T | 350 mm Rotated Small Gate | | DEV09 | Large Gate | | ANT02 | Teltonika 003R-00253 | | CAM01 | Orbbec Astra | | CAM03 | StereoLabs ZED 2 | | CAM04 | StereoLabs ZED 2i | | CAM05 | StereoLabs ZED M | | CAM06 | StereoLabs ZED X | | CAM11 | Luxonis OAK-D-PRO | | LDR01 | RPLIDAR S1 | | LDR06 | RPLIDAR S3 | | LDR10 | Ouster OS0-32 | | LDR11 | Ouster OS0-64 | | LDR12 | Ouster OS0-128 | | LDR13 | Ouster OS1-32 | | LDR14 | Ouster OS1-64 | | LDR15 | Ouster OS1-128 | | LDR20 | Velodyne Puck | | MAN01 | Universal Robots UR3e | | MAN02 | Universal Robots UR5e | | MAN04 | 6DoF Kinova Gen3 | | MAN05 | 6DoF Kinova Gen3 + 3D vision | | MAN06 | 7DoF Kinova Gen3 | | MAN07 | 7DoF Kinova Gen3 + 3D vision | | GRP02 | Robotiq 2F-85 | | WCH01 | Wibotic receiver |

[!NOTE] The manipulators (code MAN<X>) must only be used within the simulation environment. Support for manipulators on a physical robot is implemented as separate software components. Please refer to the official documentation.

Including sensor

First build the package by running:

# create workspace folder and clone husarion_components_description
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/husarion_components_description.git src/husarion_components_description

# in case the package will be used within simulation
export HUSARION_ROS_BUILD_TYPE=simulation

rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build

To include the sensor, use the following code:

<!-- include file with definition of xacro macro of sensor -->
<xacro:include filename="$(find husarion_components_description)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />

<!-- evaluate the macro and place the sensor on robot -->
<xacro:lidar.slamtec_rplidar
  parent_link="cover_link"
  xyz="0.0 0.0 0.0"
  rpy="0.0 0.0 0.0" />

A list of parameters can be found here:

  • component_name [string, default: ’‘] local namespace allowing to distinguish two identical devices from each other. Called name in components.yaml.
  • parent_link [string, default: None] parent link to which sensor should be attached.
  • xyz [float list, default: 0.0 0.0 0.0] 3 float values defining translation between base of a sensor and parent link. Values in m.
  • rpy [float list, default: 0.0 0.0 0.0] 3 float values define rotation between parent link and base of a sensor. Values in rad.
  • robot_namespace [string, default: ’‘] global namespace common to the entire robot. Not present in components.yaml.
  • model [string, default: ’‘] model argument that appears when you want to load the appropriate model from a given manufacturer. Not present in components.yaml.

Some sensors can define their specific parameters. Refer to their definition for more info.

CONTRIBUTING