husarion_components_description

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

Available URDF Sensors

[!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" />

List of parameters:

• 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.
• use_tf_prefix [bool, default: True] if set to True, the robot_namespace will be used as a prefix for all frame_ids defined in the sensor URDF. This is useful when every robot has its own tf tree. Not present in components.yaml.

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