<<PackageHeader(husky_bringup)>>

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See [[Robots/Husky]] for instructions and tutorials.

== Overview ==

This package contains setup scripts and supporting launch files for bringing up Husky's ROS software, as well as drivers and other configuration for standard payloads.

For usage, please see the [[Robots/Husky]] page.

=== Launch files ===

The `launch` folder contains launch files for setting up Husky's standard payloads, including the CHRobotics UM6 ([[um6]]), Microstrain 3DM-GX3-25 ([[microstrain_3dmgx2_imu]])), SICK LMS1XX ([[lms1xx]]), and a NMEA-compatible GPS ([[nmea_navsat_driver]]).

The launch files for communication with Husky's MCU live in the [[husky_base]] package.

=== Script files ===

The `scripts` folder contains the Husky `install` script (via [[robot_upstart]]), and compass calibration scripts.

=== Udev files ===

The `udev` folder contains udev decice manager configuration files for Husky's standard payloads.

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== Overview ==

This package contains setup scripts and supporting launch files for bringing up Husky's ROS software, as well as drivers and other configuration for standard payloads.

For usage, please see the [[Robots/Husky]] page.

The nodes which used to live in this package have been moved to [[husky_base]].

== Launch files ==

The launch files for serial comms with Husky's MCU live in the [[husky_base]] package.

The `launch/imu_config` directory contains launchers for use with the CHRobotics UM6 inertial measurement unit. Included is an instance of the [[um6]] driver, as well as a static transform to its typical mounting location, and an instance of [[robot_pose_ekf]] used to fuse IMU and encoder data for an inertial pose estimate.

The `launch/navsat_config` directory contains additional launchers for use with the various NMEA GPS options available for Husky. Included is the basic [[nmea_navsat_driver]], as well as the [[enu]] package's `from_fix` node, which converts <<MsgLink(sensor_msgs/NavSatFix)>>  messages to a planar coordinate system for use with estimators.

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== Nodes ==
{{{
#!clearsilver CS/NodeAPI
node.0 {
 name = dead_reckoning.py
 desc = Produces <<MsgLink(nav_msgs/Odometry)>> messages from encoder and IMU data on a [[Robots/Husky|Husky]] platform.
 pub {
  0.name= imu_data
  0.type= sensor_msgs/Imu
  0.desc= Republished IMU messages. Incorporated due to the potential of correcting for IMU drift based on encoder data.
  1.name= encoder
  1.type= nav_msgs/Odometry
  1.desc= Dead-reckoned odometry message. Intended for use by nodes such as [[robot_pose_ekf]].
 }
sub {
  0.name= imu/data
  0.type= sensor_msgs/Imu
  0.desc= Actual data from an IMU (or equivalent) sensor.
  1.name= husky/data/encoders
  1.type= clearpath_base/Encoders
  1.desc= Encoder information from a Husky platform.
}
param {
  0.name = ~width
  0.type = float
  0.desc = Width of the Husky
  0.default = 0.5

  1.name = ~gyro_scale_correction
  1.type = float
  1.desc = Scaling factor for IMU data
  1.default = 1.0
 }
}
node.1 {
 name = diagnostics.py
 desc = Produces <<MsgLink(diagnostic_msgs/DiagnosticArray)>> messages from system data created by a [[Robots/Husky|Husky]] platform. Used for general debugging purposes.
 pub {
  0.name= /diagnostics
  0.type= diagnostic_msgs/DiagnosticArray
  0.desc= System diagnostics information.
 }
sub {
  0.name= husky/data/system_status
  0.type= clearpath_base/SystemStatus
  0.desc= Uptime, voltage, motor temperature, and motor driver temperature information.
  1.name= husky/data/safety_status
  1.type= clearpath_base/SafetyStatus
  1.desc= Emergency stop, timeout, and other safety system feedback.
  2.name= husky/data/power_status
  2.type= clearpath_base/PowerStatus
  2.desc= Information related to the battery state of charge and capacity.
}
}}}

}}}}

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