<> {{{{#!wiki version indigo <> See [[Robots/Husky]] for instructions and tutorials. == Overview == The `husky_base` package contains a node for communicating with the Husky MCU, and launch files to bring up the Husky control and diagnostic systems. The `husky_node` hardware interface is configured through the [[husky_control]] package. {{{ #!clearsilver CS/NodeAPI node.0 { name = husky_node desc = Control and communication node for Husky MCU. Includes [[ros_control]] integration via [[diff_drive_controller]]. pub { 0.name= husky_velocity_controller/odom 0.type= nav_msgs/Odometry 0.desc= Odometry information from Husky MCU. 1.name= status 1.type= husky_msgs/HuskyStatus 1.desc= Status information from Husky MCU and `husky_node`. Also exposed over standard [[diagnostics]] interface. } sub { 1.name= husky_velocity_controller/cmd_vel 1.type= geometry_msgs/Twist 1.desc= Twist velocity command for Husky MCU, muxed in [[husky_control]]. External clients should publish to bare `cmd_vel` topic. } param { 0.name = ~control_frequency 0.type = float 0.desc = Frequency at which Husky MCU is controlled for velocity and polled for odometry information. 0.default = 10.0 1.name = ~diagnostic_frequency 1.type = float 1.desc = Frequency at which Husky MCU is polled for diagnostic and status information 1.default = 1.0 2.name = ~wheel_diameter 2.type = float 2.desc = Husky wheel diameter. 2.default = 0.3555 3.name = ~max_accel 3.type = float 3.desc = Max acceleration of Husky drive motors. 3.default = 3.0 4.name = ~max_speed 4.type = float 4.desc = Max speed of Husky drive motors. 4.default = 1.0 5.name = ~port 5.type = string 5.desc = Port to connect to Husky MCU. 5.default = /dev/prolific } } }}} }}}} {{{{#!wiki version hydro <> == Nodes == {{{ #!clearsilver CS/NodeAPI node.0 { name = basic_odom_publisher desc = Produces <> messages from encoder data on a [[Robots/Husky|Husky]] platform. pub { 0.name= encoder 0.type= nav_msgs/Odometry 0.desc= Dead-reckoned odometry message. Intended for use by nodes such as [[robot_pose_ekf]]. } sub { 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 } } node.1 { name = diagnostics_publisher desc = Produces <> messages from system data created by a [[Robots/Husky|Husky]] platform. Used for general debugging and status 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. } }}} }}}} ## AUTOGENERATED DON'T DELETE ## CategoryPackage