Contents
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.
Contents
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 sensor_msgs/NavSatFix messages to a planar coordinate system for use with estimators.
Contents
Nodes
dead_reckoning.py
Produces nav_msgs/Odometry messages from encoder and IMU data on a Husky platform.Subscribed Topics
imu/data (sensor_msgs/Imu)- Actual data from an IMU (or equivalent) sensor.
- Encoder information from a Husky platform.
Published Topics
imu_data (sensor_msgs/Imu)- Republished IMU messages. Incorporated due to the potential of correcting for IMU drift based on encoder data.
- Dead-reckoned odometry message. Intended for use by nodes such as robot_pose_ekf.
Parameters
~width (float, default: 0.5)- Width of the Husky
- Scaling factor for IMU data
diagnostics.py
Produces diagnostic_msgs/DiagnosticArray messages from system data created by a Husky platform. Used for general debugging purposes.Subscribed Topics
husky/data/system_status (clearpath_base/SystemStatus)- Uptime, voltage, motor temperature, and motor driver temperature information.
- Emergency stop, timeout, and other safety system feedback.
- Information related to the battery state of charge and capacity.
Published Topics
/diagnostics (diagnostic_msgs/DiagnosticArray)- System diagnostics information.
