ROS Index
Repository Summary
| Checkout URI | https://github.com/husarion/husarion_components_description.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2025-07-10 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| husarion_components_description | 0.0.1 |
README
husarion_components_description
URDF models of sensors and other components offered alongside with Husarion robots
Available URDF Sensors
| Code | Device Name |
| ----- | ---------------------------- |
| 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 |
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:
-
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. -
namespace[string, default: ’‘] global namespace common to the entire robot. -
device_namespace[string, default: ’‘] local namespace allowing to distinguish two identical devices from each other. -
model[string, default: ’‘] model argument that appears when you want to load the appropriate model from a given manufacturer.
Some sensors can define their specific parameters. Refer to their definition for more info.
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/husarion/husarion_components_description.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2025-07-10 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| husarion_components_description | 0.0.1 |
README
husarion_components_description
URDF models of sensors and other components offered alongside with Husarion robots
Available URDF Sensors
| Code | Device Name |
| ----- | ---------------------------- |
| 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 |
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:
-
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. -
namespace[string, default: ’‘] global namespace common to the entire robot. -
device_namespace[string, default: ’‘] local namespace allowing to distinguish two identical devices from each other. -
model[string, default: ’‘] model argument that appears when you want to load the appropriate model from a given manufacturer.
Some sensors can define their specific parameters. Refer to their definition for more info.
CONTRIBUTING
No version for distro kilted. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.
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.
No version for distro foxy. 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 lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.
No version for distro noetic. Known supported distros are highlighted in the buttons above.