husarion_ugv_ros

ROS 2 packages for Husarion UGV (Unmanned Ground Vehicle). The repository is a collection of necessary packages enabling the launch of the Lynx and Panther robots.

Quick start

Create workspace

mkdir ~/husarion_ws
cd ~/husarion_ws
git clone -b ros2 https://github.com/husarion/husarion_ugv_ros.git src/husarion_ugv_ros

Configure environment

The repository is used to run the code both on the real robot and in the simulation. Specify HUSARION_ROS_BUILD_TYPE the variable according to your needs.

Real robot:

export HUSARION_ROS_BUILD_TYPE=hardware

Simulation:

export HUSARION_ROS_BUILD_TYPE=simulation

Build

vcs import src < src/husarion_ugv_ros/husarion_ugv/${HUSARION_ROS_BUILD_TYPE}_deps.repos

sudo rosdep init
rosdep update --rosdistro $ROS_DISTRO
rosdep install --from-paths src -y -i

source /opt/ros/$ROS_DISTRO/setup.bash
colcon build --symlink-install --packages-up-to husarion_ugv --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF

source install/setup.bash

[!NOTE] To build code on a real robot you need to run above commands on the robot Built-in Computer.

Running

Real robot:

ros2 launch husarion_ugv_bringup bringup.launch.py

Simulation:

ros2 launch husarion_ugv_gazebo simulation.launch.py

[!IMPORTANT] You can change spawning robot in simulation, by adding robot_model:={robot_model} argument.

Launch Arguments

Launch arguments are largely common to both simulation and physical robot. However, there is a group of arguments that apply only to hardware or only to the simulator. Below is a legend to the tables with all launch arguments.

File truncated at 100 lines see the full file