husarion_components_description

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

Overview

Components (cameras, lidars, frames, manipulators, …) are attached to a robot from a single YAML config: a list of entries, each picking a component by its type code and placing it on a parent link. Husarion robot packages (e.g. rosbot_description) read this config and build the URDF for you; you can also instantiate a component’s xacro macro directly (see Advanced).

Build

# 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

Usage via config

List the components you want under components:. Each entry selects a type — an intuitive name or its historical code (both work, see Available components) — and where to mount it:

components:
  - type: rplidar_s3        # intuitive name
    parent_link: cover_link
    xyz: 0.0 0.0 0.2
    rpy: 0.0 0.0 0.0

  - type: CAM06             # or the historical code (here: zed_x)
    name: front
    parent_link: camera_mount_link
    xyz: -0.01 0.0 0.02
    rpy: 0.0 0.0 0.0

  - type: RCK
    name: rack
    parent_link: mount_link
    xyz: 0.0 0.0 0.0
    rpy: 0.0 0.0 0.0
    elements:
      - length: 0.42
        xyz: 0.185 0.0 0.21
        rpy: 0.0 0.0 1.5708
      - length: 0.2
        xyz: 0.185 0.2 0.1
        rpy: 0.0 1.5708 0.0
      - length: 0.2
        xyz: 0.185 -0.2 0.1
        rpy: 0.0 1.5708 0.0

Config schema

Some types accept extra fields (e.g. RCK takes elements, custom takes package/file).

Available components

Put the Name in type: (recommended) or the Code — both resolve to the same component. Some devices have no code (e.g. rplidar_c1) and are selected by name only. A few short aliases also work: astra, realsense, oak, wibotic.

Frames & mounts

Cameras

File truncated at 100 lines see the full file