 Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags. |
Customize Husky Configuration
Description: Adding customizations to the base Husky robot configuration.Keywords: Clearpath Husky
Tutorial Level: INTERMEDIATE
Note: These tutorials assume that you are familiar with ROS and the catkin build system. Please familiarize yourself using the ROS and catkin tutorials.
If upgrading from a prior ROS release, you should now re-examine your backed-up files from Backing Up Husky Configuration to determine if there's any customizations that need to be configured on your platform.
Environment Variables
Husky's standard peripherals can be configured using these environment variables, to be added to the robot-wide setup file (/etc/ros/setup.bash). These environment variables are loaded on boot.
Variable |
Default |
Description |
ROBOT_NETWORK |
None |
Configure a network interface to trigger the husky-core job, and initialize ROS_IP. If not set, husky-core will define ROS_HOSTNAME instead (see Network Setup) |
HUSKY_IMU_PORT |
/dev/clearpath/imu |
Port for the Husky UM6 IMU if present, must be set before running husky_bringup install |
HUSKY_IMU_XYZ |
0.19 0.0 0.149 |
Pose offset for the Husky IMU's standard mounting location |
HUSKY_IMU_RPY |
0.0 -1.5708 3.1416 |
Orientation offset for the Husky IMU's standard mounting location |
HUSKY_NAVSAT_PORT |
/dev/clearpath/gps |
Port for the Husky GPS if present, must be set before running husky_bringup install |
HUSKY_NAVSAT_BAUD |
19200 |
Baudrate for the Husky GPS |
HUSKY_UR5_IP |
None |
IP Address for the UR5 manipulator if present, must be set before running husky_bringup install |
HUSKY_UR5_ENABLED |
false |
Enable/disable the UR5 manipulator. |
HUSKY_LMS1XX_IP |
None |
IP Address for the SICK LMS1XX LIDAR if present, must be set before running husky_bringup install |
HUSKY_LMS1XX_ENABLED |
false |
Enable/disable the SICK LMS1XX LIDAR |
HUSKY_LMS1XX_XYZ |
0.2206 0.0 0.00635 |
Pose offset for the SICK LMS1XX LIDAR |
HUSKY_LMS1XX_RPY |
0.0 0.0 0.0 |
Orientation offset for the SICK LMS1XX LIDAR |
HUSKY_TOP_PLATE_ENABLED |
true |
Enable/disable the standard Husky top plate. |
FLIR_PTU_PENABLED |
false |
Enable for a FLIR PTU to be added to the Dual UR5 arm husky configuration. Must have HUSKY_DUAL_UR5_ENABLED set to true for this to work. |
HUSKY_DUAL_UR5_ENABLED |
false |
Enable to use the Dual UR5 arm husky configuration with bulk head. This will spawn the husky with 2 arms and prime it for use with MoveIt |
ROBOTIQ_GRIPPERS_ENABLED |
false |
Enable to use the robotiq grippers for the dual UR5 arm huskies. This will put grippers on both left and right arms. DUAL UR5 Enabled must be set to true |
HUSKY_LASER_ENABLED |
true |
Enable to use the default husky laser. This MUST be disabled to correctly use the DUAL UR5 husky build |
HUSKY_LASER_PARENT_LINK |
top_plate_link |
Set this to change the parent of the LIDAR used on the Husky. Useful if you are using non-standard configurations. Set to bulkhead_link for dual ur5 config |
HUSKY_KINECT_XYZ |
xyz |
Set this to be whatever xyz you want for the Husky kinect |
HUSKY_KINECT_RPY |
rpy |
Set this to be whatever rpy you want for Husky kinect attachment |
BUMBLEBEE_ENABLED |
false |
Set this to enable the bumblebee attachment onto the FLIR_PTU if flir PTU is enabled |
VELODYNE_VLP16_ENABLED |
false |
Set this to enable the velodyne vlp 16 3d imaging system on the dual ur5 setup. |
ROBOTIQ_FT_300_ENABLED |
false |
Set this to enable the robotiq ft 300's on each of the left and right ur5 arms when dual ur5 is enabled |
Adding a source workspace
Configuring non-standard peripherals requires a source workspace on the robot PC.
- Create a new workspace:
$ mkdir -p ~/husky_indigo_ws/src
Add any custom source packages to the ~/husky_indigo_ws/src directory.
- After adding your packages, make sure any necessary dependencies are installed:
$ cd ~/husky_indigo_ws/ $ rosdep install --from-paths src --ignore-src --rosdistro indigo -y
- Build the workspace:
$ cd ~/husky_indigo_ws/ $ catkin_make
Modify your robot-wide setup file (/etc/ros/setup.bash) to source your new workspace instead of the base indigo install:
... source /home/administrator/husky_indigo_ws/devel/setup.bash
- Reinitialize your environment so that it picks up your new workspace:
$ source /etc/ros/setup.bash
- Augment the husky-core job with launch files from your custom packages:
$ rosrun robot_upstart install my_custom_package/launch --job husky-core --augment
Robot Description
In ROS Hydro and earlier, custom Husky descriptions (URDFs) were provided to customers in a workspace in their home folder. Since the Husky URDF has undergone some changes for Indigo, your robot description from prior ROS releases will have to be slightly adapted.
To create a custom Husky configuration, fork the husky_customization repository to your GitHub account, and clone the fork into your workspace:
$ cd ~/husky_indigo_ws/src $ git clone https://github.com/<username>/husky_customization.git -b indigo-devel $ cd ~/husky_indigo_ws $ catkin_make $ source devel/setup.bash
To modify your Husky's URDF description (see ROS URDF Tutorials), edit the husky_customization/husky_custom_description/urdf/custom_description.urdf.xacro file. Run roslaunch husky_viz view_model.launch to see your custom model in rviz.
To modify your Husky's simulation configuration (see Gazebo's URDF Tutorials), edit the husky_customization/husky_custom_gazebo/urdf/custom_description.gazebo.xacro file. Run roslaunch husky_gazebo husky_playpen.launch to see your custom Gazebo configuration in action!
Once you are done customizing your Husky configuration, don't forget to commit and push the changes back into your GitHub repository.
Network Configuration
If upgrading from prior ROS releases, your old /etc/network/interfaces file may contain a static IP binding for your robot, or other customizations that should be replicated on your new setup.
