diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index a685e4f1..27b0be71 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -1,6 +1,6 @@ repos: - repo: https://github.com/pre-commit/pre-commit-hooks - rev: v4.6.0 + rev: v5.0.0 hooks: - id: check-added-large-files # mesh files has to be taken into account @@ -34,7 +34,7 @@ repos: - id: cmake-format - repo: https://github.com/pre-commit/mirrors-clang-format - rev: v18.1.8 + rev: v19.1.3 hooks: - id: clang-format @@ -63,7 +63,7 @@ repos: args: [--mapping, '2', --sequence, '4', --offset, '2', --width, '100'] - repo: https://github.com/psf/black - rev: 24.8.0 + rev: 24.10.0 hooks: - id: black args: ["--line-length=99"] @@ -87,11 +87,11 @@ repos: # Docs - RestructuredText hooks - repo: https://github.com/PyCQA/doc8 - rev: v1.1.1 + rev: v1.1.2 hooks: - id: doc8 args: ["--max-line-length=100", "--ignore=D001"] - exclude: ^.*\/CHANGELOG\.rst/.*$ + exclude: ^.*\/CHANGELOG\.rst$ - repo: https://github.com/tier4/pre-commit-hooks-ros rev: v0.10.0 diff --git a/README.md b/README.md index 3452ae74..a01a0f93 100644 --- a/README.md +++ b/README.md @@ -89,7 +89,7 @@ Launch arguments are largely common to both simulation and physical robot. Howev | ❌ | ✅ | `add_world_transform` | Adds a world frame that connects the tf trees of individual robots (useful when running multiple robots).
***bool:*** `False` | | ✅ | ✅ | `animations_config_path` | Path to a YAML file with a description of led configuration. This file includes definition of robot panels, virtual segments and default animations.
***string:*** [`{robot_model}_animations.yaml`](./husarion_ugv_lights/config) | | ❌ | ✅ | `battery_config_path` | Path to the Ignition LinearBatteryPlugin configuration file. This configuration is intended for use in simulations only.
***string:*** `None` | -| ✅ | ✅ | `components_config_path` | Additional components configuration file. Components described in this file are dynamically included in robot's URDF. Available options are described in [the manual](https://husarion.com/manuals/panther/panther-options).
***string:*** [`components.yaml`](./panther_description/config/components.yaml) | +| ✅ | ✅ | `components_config_path` | Additional components configuration file. Components described in this file are dynamically included in robot's URDF. Available options are described in [the manual](https://husarion.com/manuals/panther/panther-options).
***string:*** [`components.yaml`](./husarion_ugv_descriptions/config/components.yaml) | | ✅ | ✅ | `controller_config_path` | Path to controller configuration file. A path to custom configuration can be specified here.
***string:*** [`{wheel_type}_controller.yaml`](./husarion_ugv_controller/config/) | | ✅ | ✅ | `disable_manager` | Enable or disable manager_bt_node.
***bool:*** `False` | | ✅ | ✅ | `fuse_gps` | Include GPS for data fusion.
***bool:*** `False` | @@ -111,11 +111,11 @@ Launch arguments are largely common to both simulation and physical robot. Howev | ❌ | ✅ | `use_rviz` | Run RViz simultaneously.
***bool:*** `True` | | ✅ | ✅ | `use_sim` | Whether simulation is used.
***bool:*** `False` | | ✅ | ✅ | `user_led_animations_path` | Path to a YAML file with a description of the user-defined animations.
***string:*** `''` | -| ✅ | ✅ | `wheel_config_path` | Path to wheel configuration file.
***string:*** [`{wheel_type}.yaml`](./panther_description/config) | +| ✅ | ✅ | `wheel_config_path` | Path to wheel configuration file.
***string:*** [`{wheel_type}.yaml`](./husarion_ugv_descriptions/config) | | ✅ | ✅ | `wheel_type` | Specify the wheel type. If the selected wheel type is not 'custom', the wheel_config_path and controller_config_path arguments will be automatically adjusted and can be omitted.
***string:*** `WH01` (for Panther), `WH05` (for Lynx) (choices: `WH01`, `WH02`, `WH04`, `WH05`, `custom`) | | ❌ | ✅ | `x` | Initial robot position in the global 'x' axis.
***float:*** `0.0` | | ❌ | ✅ | `y` | Initial robot position in the global 'y' axis.
***float:***` -2.0` | -| ❌ | ✅ | `z` | Initial robot position in the global 'z' axis.
***float:*** `0.0` | +| ❌ | ✅ | `z` | Initial robot position in the global 'z' axis.
***float:*** `0.2` | | ❌ | ✅ | `roll` | Initial robot 'roll' orientation.
***float:*** `0.0` | | ❌ | ✅ | `pitch` | Initial robot 'pitch' orientation.
***float:*** `0.0` | | ❌ | ✅ | `yaw` | Initial robot 'yaw' orientation.
***float:*** `0.0` | diff --git a/husarion_ugv/CHANGELOG.rst b/husarion_ugv/CHANGELOG.rst index d24fd5c6..7d70cb5d 100644 --- a/husarion_ugv/CHANGELOG.rst +++ b/husarion_ugv/CHANGELOG.rst @@ -1,5 +1,5 @@ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package panther +Changelog for package husarion_ugv ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2.1.2 (2024-12-02) diff --git a/husarion_ugv_battery/CHANGELOG.rst b/husarion_ugv_battery/CHANGELOG.rst index 25ebdace..bd73925b 100644 --- a/husarion_ugv_battery/CHANGELOG.rst +++ b/husarion_ugv_battery/CHANGELOG.rst @@ -1,5 +1,5 @@ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package panther_battery +Changelog for package husarion_ugv_battery ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2.1.2 (2024-12-02) diff --git a/husarion_ugv_bringup/CHANGELOG.rst b/husarion_ugv_bringup/CHANGELOG.rst index cbf7d0d1..4f14217d 100644 --- a/husarion_ugv_bringup/CHANGELOG.rst +++ b/husarion_ugv_bringup/CHANGELOG.rst @@ -1,5 +1,5 @@ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package panther_bringup +Changelog for package husarion_ugv_bringup ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2.1.2 (2024-12-02) diff --git a/husarion_ugv_controller/CHANGELOG.rst b/husarion_ugv_controller/CHANGELOG.rst index ca6d9524..b6e8532b 100644 --- a/husarion_ugv_controller/CHANGELOG.rst +++ b/husarion_ugv_controller/CHANGELOG.rst @@ -1,5 +1,5 @@ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package panther_controller +Changelog for package husarion_ugv_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2.1.2 (2024-12-02) diff --git a/husarion_ugv_controller/CONFIGURATION.md b/husarion_ugv_controller/CONFIGURATION.md index 01a40d15..49e29dd4 100644 --- a/husarion_ugv_controller/CONFIGURATION.md +++ b/husarion_ugv_controller/CONFIGURATION.md @@ -6,4 +6,4 @@ The default drive controller is based on [diff_drive_controller](https://control ## Changing Wheel Type -Changing wheel types is possible and can be done for both the real robot and the simulation. By default, three types of wheels are supported using the launch argument `wheel_type`. If you want to use custom wheels, all you need to do is point to the new wheel and controller configuration files using the `wheel_config_path` and `controller_config_path` parameters. These files should be based on the default files, i.e. [WH01_controller.yaml](./config/WH01_controller.yaml) and [WH01.yaml](../panther_description/config/WH01.yaml). +Changing wheel types is possible and can be done for both the real robot and the simulation. By default, three types of wheels are supported using the launch argument `wheel_type`. If you want to use custom wheels, all you need to do is point to the new wheel and controller configuration files using the `wheel_config_path` and `controller_config_path` parameters. These files should be based on the default files, i.e. [WH01_controller.yaml](./config/WH01_controller.yaml) and [WH01.yaml](../husarion_ugv_descriptions/config/WH01.yaml). diff --git a/husarion_ugv_controller/launch/controller.launch.py b/husarion_ugv_controller/launch/controller.launch.py index 12809dce..811f9a65 100644 --- a/husarion_ugv_controller/launch/controller.launch.py +++ b/husarion_ugv_controller/launch/controller.launch.py @@ -148,14 +148,14 @@ def generate_launch_description(): "wheel_config_path", default_value=PathJoinSubstitution( [ - FindPackageShare(robot_description_pkg), + FindPackageShare("husarion_ugv_descriptions"), "config", PythonExpression(["'", wheel_type, ".yaml'"]), ] ), description=( "Path to wheel configuration file. By default, it is located in " - "'panther_description/config/{wheel_type}.yaml'. You can also specify the path " + "'husarion_ugv_descriptions/config/{wheel_type}.yaml'. You can also specify the path " "to your custom wheel configuration file here. " ), ) @@ -173,23 +173,19 @@ def generate_launch_description(): ) # Get URDF via xacro - robot_description_file = PythonExpression(["'", robot_model, ".urdf.xacro'"]) imu_pos_x = os.environ.get("ROBOT_IMU_LOCALIZATION_X", "0.168") imu_pos_y = os.environ.get("ROBOT_IMU_LOCALIZATION_Y", "0.028") imu_pos_z = os.environ.get("ROBOT_IMU_LOCALIZATION_Z", "0.083") imu_rot_r = os.environ.get("ROBOT_IMU_ORIENTATION_R", "3.14") imu_rot_p = os.environ.get("ROBOT_IMU_ORIENTATION_P", "-1.57") imu_rot_y = os.environ.get("ROBOT_IMU_ORIENTATION_Y", "0.0") + urdf_file = PythonExpression(["'", robot_model, ".urdf.xacro'"]) robot_description_content = Command( [ PathJoinSubstitution([FindExecutable(name="xacro")]), " ", PathJoinSubstitution( - [ - FindPackageShare(robot_description_pkg), - "urdf", - robot_description_file, - ] + [FindPackageShare("husarion_ugv_descriptions"), "urdf", urdf_file] ), " use_sim:=", use_sim, diff --git a/husarion_ugv_controller/package.xml b/husarion_ugv_controller/package.xml index 591bd912..33fb991d 100644 --- a/husarion_ugv_controller/package.xml +++ b/husarion_ugv_controller/package.xml @@ -18,14 +18,13 @@ controller_manager diff_drive_controller + husarion_ugv_descriptions husarion_ugv_hardware_interfaces imu_sensor_broadcaster joint_state_broadcaster launch launch_ros - lynx_description mecanum_drive_controller - panther_description robot_state_publisher xacro diff --git a/panther_description/CHANGELOG.rst b/husarion_ugv_description/CHANGELOG.rst similarity index 99% rename from panther_description/CHANGELOG.rst rename to husarion_ugv_description/CHANGELOG.rst index 6bb731c5..d3d08626 100644 --- a/panther_description/CHANGELOG.rst +++ b/husarion_ugv_description/CHANGELOG.rst @@ -1,5 +1,5 @@ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package panther_description +Changelog for package husarion_ugv_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2.1.2 (2024-12-02) diff --git a/panther_description/CMakeLists.txt b/husarion_ugv_description/CMakeLists.txt similarity index 61% rename from panther_description/CMakeLists.txt rename to husarion_ugv_description/CMakeLists.txt index 87ff28f0..8881ede9 100644 --- a/panther_description/CMakeLists.txt +++ b/husarion_ugv_description/CMakeLists.txt @@ -1,12 +1,11 @@ cmake_minimum_required(VERSION 3.10.2) -project(panther_description) +project(husarion_ugv_descriptions) find_package(ament_cmake REQUIRED) install(DIRECTORY config launch meshes rviz urdf DESTINATION share/${PROJECT_NAME}) -ament_environment_hooks( - "${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.sh.in") +ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/setup_envs.sh.in") ament_package() diff --git a/panther_description/README.md b/husarion_ugv_description/README.md similarity index 74% rename from panther_description/README.md rename to husarion_ugv_description/README.md index 6c15c4c4..976e4ca4 100644 --- a/panther_description/README.md +++ b/husarion_ugv_description/README.md @@ -1,10 +1,12 @@ -# panther_description +# husarion_ugv_descriptions The package contains URDF files responsible for creating a representation of the robot by specifying the relationships and types of connections (joints) between individual links. It also contains information about the robot's mesh. ## Launch Files - `load_urdf.launch.py` - loads the robot's URDF and creates simple bindings to display moving joints. +- `overwrite_robot_description.launch.py` - launch is able to change `robot_description` topic in runtime. +- `rviz.launch.py` - launch RViz2 with basic configuration. ## Configuration Files @@ -12,3 +14,4 @@ The package contains URDF files responsible for creating a representation of the - [`WH01.yaml`](./config/WH01.yaml): Description of physical and visual parameters for the wheel WH01. - [`WH02.yaml`](./config/WH02.yaml): Description of physical and visual parameters for the wheel WH02. - [`WH04.yaml`](./config/WH04.yaml): Description of physical and visual parameters for the wheel WH04. +- [`WH05.yaml`](./config/WH05.yaml): Description of physical and visual parameters for the wheel WH05. diff --git a/panther_description/config/WH01.yaml b/husarion_ugv_description/config/WH01.yaml similarity index 82% rename from panther_description/config/WH01.yaml rename to husarion_ugv_description/config/WH01.yaml index d1c79e20..57ae5c43 100644 --- a/panther_description/config/WH01.yaml +++ b/husarion_ugv_description/config/WH01.yaml @@ -4,6 +4,6 @@ wheel_separation: 0.697 mass: 3.0 inertia: { ixx: 0.022510, iyy: 0.034850, izz: 0.022510 } inertia_y_offset: 0.0 -mesh_package: panther_description +mesh_package: husarion_ugv_descriptions folder_path: meshes/WH01 mecanum: False diff --git a/panther_description/config/WH02.yaml b/husarion_ugv_description/config/WH02.yaml similarity index 82% rename from panther_description/config/WH02.yaml rename to husarion_ugv_description/config/WH02.yaml index 91f415fa..fbfeb99e 100644 --- a/panther_description/config/WH02.yaml +++ b/husarion_ugv_description/config/WH02.yaml @@ -4,6 +4,6 @@ wheel_separation: 0.6785 mass: 2.4 inertia: { ixx: 0.010050, iyy: 0.016496, izz: 0.010068 } inertia_y_offset: 0.0 -mesh_package: panther_description +mesh_package: husarion_ugv_descriptions folder_path: meshes/WH02 mecanum: True diff --git a/panther_description/config/WH04.yaml b/husarion_ugv_description/config/WH04.yaml similarity index 82% rename from panther_description/config/WH04.yaml rename to husarion_ugv_description/config/WH04.yaml index 235101cd..6d82ba8f 100644 --- a/panther_description/config/WH04.yaml +++ b/husarion_ugv_description/config/WH04.yaml @@ -4,6 +4,6 @@ wheel_separation: 0.616 mass: 0.85 inertia: { ixx: 0.003099, iyy: 0.005849, izz: 0.003101 } inertia_y_offset: 0.0 -mesh_package: panther_description +mesh_package: husarion_ugv_descriptions folder_path: meshes/WH04 mecanum: False diff --git a/lynx_description/config/WH05.yaml b/husarion_ugv_description/config/WH05.yaml similarity index 85% rename from lynx_description/config/WH05.yaml rename to husarion_ugv_description/config/WH05.yaml index 4e25988b..1b477154 100644 --- a/lynx_description/config/WH05.yaml +++ b/husarion_ugv_description/config/WH05.yaml @@ -5,6 +5,6 @@ wheel_separation: 0.45 mass: 2.5 inertia: { ixx: 0.014738, iyy: 0.0261, izz: 0.014738 } inertia_y_offset: 0.0 -mesh_package: lynx_description +mesh_package: husarion_ugv_descriptions folder_path: meshes/WH05 mecanum: False diff --git a/panther_description/config/components.yaml b/husarion_ugv_description/config/components.yaml similarity index 90% rename from panther_description/config/components.yaml rename to husarion_ugv_description/config/components.yaml index c44f4850..e2427796 100644 --- a/panther_description/config/components.yaml +++ b/husarion_ugv_description/config/components.yaml @@ -1,4 +1,4 @@ -# By default panther is loaded without any components. +# By default Husarion UGV is loaded without any components. components: [] diff --git a/lynx_description/hooks/lynx_description.sh.in b/husarion_ugv_description/hooks/setup_envs.sh.in similarity index 100% rename from lynx_description/hooks/lynx_description.sh.in rename to husarion_ugv_description/hooks/setup_envs.sh.in diff --git a/lynx_description/launch/load_urdf.launch.py b/husarion_ugv_description/launch/load_urdf.launch.py similarity index 84% rename from lynx_description/launch/load_urdf.launch.py rename to husarion_ugv_description/launch/load_urdf.launch.py index cc3e6dbf..df5f61e3 100644 --- a/lynx_description/launch/load_urdf.launch.py +++ b/husarion_ugv_description/launch/load_urdf.launch.py @@ -56,13 +56,11 @@ def generate_launch_description(): declare_components_config_path_arg = DeclareLaunchArgument( "components_config_path", default_value=PathJoinSubstitution( - [FindPackageShare("lynx_description"), "config", "components.yaml"] + [FindPackageShare("husarion_ugv_descriptions"), "config", "components.yaml"] ), description=( - "Additional components configuration file. Components described in this file " - "are dynamically included in Lynx's urdf." - "Lynx options are described here " - "https://husarion.com/manuals/lynx/lynx-options/" + "Specify file which contains components. These components will be included in URDF." + "Available options can be found in manuals: https://husarion.com/manuals" ), ) @@ -91,6 +89,16 @@ def generate_launch_description(): description="Add namespace to all launched nodes.", ) + robot_model = LaunchConfiguration("robot_model") + robot_model_dict = {"LNX": "lynx", "PTH": "panther"} + robot_model_env = os.environ.get("ROBOT_MODEL", default="PTH") + declare_robot_model_arg = DeclareLaunchArgument( + "robot_model", + default_value=robot_model_dict[robot_model_env], + description="Specify robot model.", + choices=["lynx", "panther"], + ) + use_sim = LaunchConfiguration("use_sim") declare_use_sim_arg = DeclareLaunchArgument( "use_sim", @@ -104,27 +112,28 @@ def generate_launch_description(): "wheel_config_path", default_value=PathJoinSubstitution( [ - FindPackageShare("lynx_description"), + FindPackageShare("husarion_ugv_descriptions"), "config", PythonExpression(["'", wheel_type, ".yaml'"]), ] ), description=( "Path to wheel configuration file. By default, it is located in " - "'lynx_description/config/{wheel_type}.yaml'. You can also specify the path " + "'husarion_ugv_descriptions/config/{wheel_type}.yaml'. You can also specify the path " "to your custom wheel configuration file here. " ), ) + default_wheel_type = {"lynx": "WH05", "panther": "WH01"} declare_wheel_type_arg = DeclareLaunchArgument( "wheel_type", - default_value="WH05", + default_value=PythonExpression([f"{default_wheel_type}['", robot_model, "']"]), description=( "Specify the wheel type. If the selected wheel type is not 'custom', " "the 'wheel_config_path' and 'controller_config_path' arguments will be " "automatically adjusted and can be omitted." ), - choices=["WH05", "custom"], + choices=["WH01", "WH02", "WH04", "WH05", "custom"], ) # Get URDF via xacro @@ -134,12 +143,13 @@ def generate_launch_description(): imu_rot_r = os.environ.get("ROBOT_IMU_ORIENTATION_R", "3.14") imu_rot_p = os.environ.get("ROBOT_IMU_ORIENTATION_P", "-1.57") imu_rot_y = os.environ.get("ROBOT_IMU_ORIENTATION_Y", "0.0") + urdf_file = PythonExpression(["'", robot_model, ".urdf.xacro'"]) robot_description_content = Command( [ PathJoinSubstitution([FindExecutable(name="xacro")]), " ", PathJoinSubstitution( - [FindPackageShare("lynx_description"), "urdf", "lynx.urdf.xacro"] + [FindPackageShare("husarion_ugv_descriptions"), "urdf", urdf_file] ), " use_sim:=", use_sim, @@ -185,6 +195,7 @@ def generate_launch_description(): declared_add_wheel_joints_arg, declare_battery_config_path_arg, declare_components_config_path_arg, + declare_robot_model_arg, # robot_model is used by wheel_type declare_wheel_type_arg, # wheel_type is used by controller_config_path declare_controller_config_path_arg, declare_namespace_arg, diff --git a/panther_description/launch/overwrite_robot_description.launch.py b/husarion_ugv_description/launch/overwrite_robot_description.launch.py similarity index 82% rename from panther_description/launch/overwrite_robot_description.launch.py rename to husarion_ugv_description/launch/overwrite_robot_description.launch.py index a7f5cff9..455065a2 100644 --- a/panther_description/launch/overwrite_robot_description.launch.py +++ b/husarion_ugv_description/launch/overwrite_robot_description.launch.py @@ -47,13 +47,11 @@ def generate_launch_description(): declare_components_config_path_arg = DeclareLaunchArgument( "components_config_path", default_value=PathJoinSubstitution( - [FindPackageShare("panther_description"), "config", "components.yaml"] + [FindPackageShare("husarion_ugv_descriptions"), "config", "components.yaml"] ), description=( - "Additional components configuration file. Components described in this file " - "are dynamically included in Panther's urdf." - "Panther options are described here " - "https://husarion.com/manuals/panther/panther-options/" + "Specify file which contains components. These components will be included in URDF." + "Available options can be found in manuals: https://husarion.com/manuals" ), ) @@ -82,6 +80,16 @@ def generate_launch_description(): description="Add namespace to all launched nodes.", ) + robot_model = LaunchConfiguration("robot_model") + robot_model_dict = {"LNX": "lynx", "PTH": "panther"} + robot_model_env = os.environ.get("ROBOT_MODEL", default="PTH") + declare_robot_model_arg = DeclareLaunchArgument( + "robot_model", + default_value=robot_model_dict[robot_model_env], + description="Specify robot model.", + choices=["lynx", "panther"], + ) + use_sim = LaunchConfiguration("use_sim") declare_use_sim_arg = DeclareLaunchArgument( "use_sim", @@ -95,27 +103,28 @@ def generate_launch_description(): "wheel_config_path", default_value=PathJoinSubstitution( [ - FindPackageShare("panther_description"), + FindPackageShare("husarion_ugv_descriptions"), "config", PythonExpression(["'", wheel_type, ".yaml'"]), ] ), description=( "Path to wheel configuration file. By default, it is located in " - "'panther_description/config/{wheel_type}.yaml'. You can also specify the path " + "'husarion_ugv_descriptions/config/{wheel_type}.yaml'. You can also specify the path " "to your custom wheel configuration file here. " ), ) + default_wheel_type = {"lynx": "WH05", "panther": "WH01"} declare_wheel_type_arg = DeclareLaunchArgument( "wheel_type", - default_value="WH01", + default_value=PythonExpression([f"{default_wheel_type}['", robot_model, "']"]), description=( "Specify the wheel type. If the selected wheel type is not 'custom', " "the 'wheel_config_path' and 'controller_config_path' arguments will be " "automatically adjusted and can be omitted." ), - choices=["WH01", "WH02", "WH04", "custom"], + choices=["WH01", "WH02", "WH04", "WH05", "custom"], ) # Get URDF via xacro @@ -125,12 +134,13 @@ def generate_launch_description(): imu_rot_r = os.environ.get("ROBOT_IMU_ORIENTATION_R", "3.14") imu_rot_p = os.environ.get("ROBOT_IMU_ORIENTATION_P", "-1.57") imu_rot_y = os.environ.get("ROBOT_IMU_ORIENTATION_Y", "0.0") + urdf_file = PythonExpression(["'", robot_model, ".urdf.xacro'"]) robot_description_content = Command( [ PathJoinSubstitution([FindExecutable(name="xacro")]), " ", PathJoinSubstitution( - [FindPackageShare("panther_description"), "urdf", "panther.urdf.xacro"] + [FindPackageShare("husarion_ugv_descriptions"), "urdf", urdf_file] ), " use_sim:=", use_sim, @@ -168,6 +178,7 @@ def generate_launch_description(): actions = [ declare_battery_config_path_arg, declare_components_config_path_arg, + declare_robot_model_arg, # robot_model is used by wheel_type declare_wheel_type_arg, # wheel_type is used by controller_config_path declare_controller_config_path_arg, declare_namespace_arg, diff --git a/panther_description/launch/rviz.launch.py b/husarion_ugv_description/launch/rviz.launch.py similarity index 93% rename from panther_description/launch/rviz.launch.py rename to husarion_ugv_description/launch/rviz.launch.py index b194341c..5dc2a34a 100644 --- a/panther_description/launch/rviz.launch.py +++ b/husarion_ugv_description/launch/rviz.launch.py @@ -41,7 +41,7 @@ def generate_launch_description(): declare_rviz_config_arg = DeclareLaunchArgument( "rviz_config", default_value=PathJoinSubstitution( - [FindPackageShare("panther_description"), "rviz", "husarion_ugv.rviz"] + [FindPackageShare("husarion_ugv_descriptions"), "rviz", "husarion_ugv.rviz"] ), description="RViz configuration file.", ) @@ -58,7 +58,7 @@ def generate_launch_description(): rviz_config = ReplaceString( source_file=rviz_config, - replacements={"/": ns_ext, "": namespace}, + replacements={"/": ns_ext, "": namespace}, ) rviz_node = Node( diff --git a/panther_description/meshes/WH01/fl_wheel.dae b/husarion_ugv_description/meshes/WH01/fl_wheel.dae similarity index 100% rename from panther_description/meshes/WH01/fl_wheel.dae rename to husarion_ugv_description/meshes/WH01/fl_wheel.dae diff --git a/panther_description/meshes/WH01/fr_wheel.dae b/husarion_ugv_description/meshes/WH01/fr_wheel.dae similarity index 100% rename from panther_description/meshes/WH01/fr_wheel.dae rename to husarion_ugv_description/meshes/WH01/fr_wheel.dae diff --git a/panther_description/meshes/WH01/rl_wheel.dae b/husarion_ugv_description/meshes/WH01/rl_wheel.dae similarity index 100% rename from panther_description/meshes/WH01/rl_wheel.dae rename to husarion_ugv_description/meshes/WH01/rl_wheel.dae diff --git a/panther_description/meshes/WH01/rr_wheel.dae b/husarion_ugv_description/meshes/WH01/rr_wheel.dae similarity index 100% rename from panther_description/meshes/WH01/rr_wheel.dae rename to husarion_ugv_description/meshes/WH01/rr_wheel.dae diff --git a/panther_description/meshes/WH02/fl_wheel.dae b/husarion_ugv_description/meshes/WH02/fl_wheel.dae similarity index 100% rename from panther_description/meshes/WH02/fl_wheel.dae rename to husarion_ugv_description/meshes/WH02/fl_wheel.dae diff --git a/panther_description/meshes/WH02/fr_wheel.dae b/husarion_ugv_description/meshes/WH02/fr_wheel.dae similarity index 100% rename from panther_description/meshes/WH02/fr_wheel.dae rename to husarion_ugv_description/meshes/WH02/fr_wheel.dae diff --git a/panther_description/meshes/WH02/rl_wheel.dae b/husarion_ugv_description/meshes/WH02/rl_wheel.dae similarity index 100% rename from panther_description/meshes/WH02/rl_wheel.dae rename to husarion_ugv_description/meshes/WH02/rl_wheel.dae diff --git a/panther_description/meshes/WH02/rr_wheel.dae b/husarion_ugv_description/meshes/WH02/rr_wheel.dae similarity index 100% rename from panther_description/meshes/WH02/rr_wheel.dae rename to husarion_ugv_description/meshes/WH02/rr_wheel.dae diff --git a/panther_description/meshes/WH04/fl_wheel.dae b/husarion_ugv_description/meshes/WH04/fl_wheel.dae similarity index 100% rename from panther_description/meshes/WH04/fl_wheel.dae rename to husarion_ugv_description/meshes/WH04/fl_wheel.dae diff --git a/panther_description/meshes/WH04/fr_wheel.dae b/husarion_ugv_description/meshes/WH04/fr_wheel.dae similarity index 100% rename from panther_description/meshes/WH04/fr_wheel.dae rename to husarion_ugv_description/meshes/WH04/fr_wheel.dae diff --git a/panther_description/meshes/WH04/rl_wheel.dae b/husarion_ugv_description/meshes/WH04/rl_wheel.dae similarity index 100% rename from panther_description/meshes/WH04/rl_wheel.dae rename to husarion_ugv_description/meshes/WH04/rl_wheel.dae diff --git a/panther_description/meshes/WH04/rr_wheel.dae b/husarion_ugv_description/meshes/WH04/rr_wheel.dae similarity index 100% rename from panther_description/meshes/WH04/rr_wheel.dae rename to husarion_ugv_description/meshes/WH04/rr_wheel.dae diff --git a/husarion_ugv_description/meshes/WH05/fl_wheel.dae b/husarion_ugv_description/meshes/WH05/fl_wheel.dae new file mode 100644 index 00000000..b1bed989 --- /dev/null +++ b/husarion_ugv_description/meshes/WH05/fl_wheel.dae @@ -0,0 +1,59 @@ + + + + + Blender User + Blender 4.2.1 LTS commit date:2024-08-19, commit time:11:21, hash:396f546c9d82 + + 2024-12-05T12:02:46 + 2024-12-05T12:02:46 + + Z_UP + + + + + + + 0.04580575 8.25479e-6 0.006249964 0.04562252 0 0.006249964 0.04605352 0.00149995 0.006249964 0.03409999 0.00149995 0.006249964 0.03409999 0 0.006249964 0.04580575 8.25479e-6 -0.006249964 0.04605352 0.00149995 -0.006249964 0.04562252 0 -0.006249964 0.03409999 0.00149995 -0.006249964 0.03409999 0 -0.006249964 0.02099895 0.02849996 -0.04755818 0.02123659 0.02803808 -0.04554206 0.03676098 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+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + diff --git a/panther_description/meshes/body.dae b/husarion_ugv_description/meshes/panther/base.dae similarity index 100% rename from panther_description/meshes/body.dae rename to husarion_ugv_description/meshes/panther/base.dae diff --git a/panther_description/meshes/body_collision.stl b/husarion_ugv_description/meshes/panther/base_collision.stl similarity index 100% rename from panther_description/meshes/body_collision.stl rename to husarion_ugv_description/meshes/panther/base_collision.stl diff --git a/panther_description/package.xml b/husarion_ugv_description/package.xml similarity index 82% rename from panther_description/package.xml rename to husarion_ugv_description/package.xml index 3c0cdb72..9d2e9de8 100644 --- a/panther_description/package.xml +++ b/husarion_ugv_description/package.xml @@ -1,9 +1,9 @@ - panther_description + husarion_ugv_descriptions 2.1.2 - The panther_description package + The package contains URDF and mesh files for Husarion UGV Husarion Apache License 2.0 @@ -11,9 +11,11 @@ https://github.com/husarion/panther_ros https://github.com/husarion/panther_ros/issues + Dawid Kmak Krzysztof Wojciechowski Maciej Stepien Paweł Kowalski + Rafal Gorecki ament_cmake diff --git a/panther_description/rviz/husarion_ugv.rviz b/husarion_ugv_description/rviz/husarion_ugv.rviz similarity index 98% rename from panther_description/rviz/husarion_ugv.rviz rename to husarion_ugv_description/rviz/husarion_ugv.rviz index 8285a047..8d6a56c4 100644 --- a/panther_description/rviz/husarion_ugv.rviz +++ b/husarion_ugv_description/rviz/husarion_ugv.rviz @@ -45,7 +45,7 @@ Visualization Manager: Z: 0 Plane: XY Plane Cell Count: 10 - Reference Frame: + Reference Frame: /base_footprint Value: true Enabled: true Name: Map @@ -73,7 +73,7 @@ Visualization Manager: Inertia: false Mass: false Name: RobotModel - TF Prefix: + TF Prefix: Update Interval: 0 Value: true Visual Enabled: true @@ -135,7 +135,7 @@ Visualization Manager: Enabled: true Global Options: Background Color: 48; 48; 48 - Fixed Frame: /odom + Fixed Frame: /odom Frame Rate: 30 Name: root Tools: diff --git a/panther_description/urdf/gazebo.urdf.xacro b/husarion_ugv_description/urdf/common/gazebo.urdf.xacro similarity index 100% rename from panther_description/urdf/gazebo.urdf.xacro rename to husarion_ugv_description/urdf/common/gazebo.urdf.xacro diff --git a/panther_description/urdf/wheel.urdf.xacro b/husarion_ugv_description/urdf/common/wheel.urdf.xacro similarity index 94% rename from panther_description/urdf/wheel.urdf.xacro rename to husarion_ugv_description/urdf/common/wheel.urdf.xacro index 1ad63478..dcee87c3 100644 --- a/panther_description/urdf/wheel.urdf.xacro +++ b/husarion_ugv_description/urdf/common/wheel.urdf.xacro @@ -31,7 +31,7 @@ - + @@ -43,15 +43,14 @@ - + - + diff --git a/lynx_description/urdf/lynx.urdf.xacro b/husarion_ugv_description/urdf/lynx.urdf.xacro similarity index 78% rename from lynx_description/urdf/lynx.urdf.xacro rename to husarion_ugv_description/urdf/lynx.urdf.xacro index 8a78c117..eb102ca5 100644 --- a/lynx_description/urdf/lynx.urdf.xacro +++ b/husarion_ugv_description/urdf/lynx.urdf.xacro @@ -2,13 +2,11 @@ - - + default="$(find husarion_ugv_descriptions)/config/WH05.yaml" /> - + - + diff --git a/husarion_ugv_description/urdf/lynx/base.urdf.xacro b/husarion_ugv_description/urdf/lynx/base.urdf.xacro new file mode 100644 index 00000000..f1804142 --- /dev/null +++ b/husarion_ugv_description/urdf/lynx/base.urdf.xacro @@ -0,0 +1,119 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/lynx_description/urdf/lynx_macro.urdf.xacro b/husarion_ugv_description/urdf/lynx/lynx_macro.urdf.xacro similarity index 89% rename from lynx_description/urdf/lynx_macro.urdf.xacro rename to husarion_ugv_description/urdf/lynx/lynx_macro.urdf.xacro index f835d42f..6bedaf63 100644 --- a/lynx_description/urdf/lynx_macro.urdf.xacro +++ b/husarion_ugv_description/urdf/lynx/lynx_macro.urdf.xacro @@ -11,21 +11,15 @@ imu_rpy:='0.0 0.0 -1.57' namespace:=''"> - - - - - - + - - - - + + + true - + husarion_ugv_hardware_interfaces/LynxSystem 1600 @@ -182,8 +176,9 @@ - - + + + diff --git a/panther_description/urdf/panther.urdf.xacro b/husarion_ugv_description/urdf/panther.urdf.xacro similarity index 77% rename from panther_description/urdf/panther.urdf.xacro rename to husarion_ugv_description/urdf/panther.urdf.xacro index a60b84e9..e9057c6b 100644 --- a/panther_description/urdf/panther.urdf.xacro +++ b/husarion_ugv_description/urdf/panther.urdf.xacro @@ -2,12 +2,10 @@ - - + default="$(find husarion_ugv_descriptions)/config/WH01.yaml" /> - + - + diff --git a/panther_description/urdf/body.urdf.xacro b/husarion_ugv_description/urdf/panther/base.urdf.xacro similarity index 70% rename from panther_description/urdf/body.urdf.xacro rename to husarion_ugv_description/urdf/panther/base.urdf.xacro index 2978d93d..7ae7a944 100644 --- a/panther_description/urdf/body.urdf.xacro +++ b/husarion_ugv_description/urdf/panther/base.urdf.xacro @@ -6,30 +6,23 @@ name="body" params="wheel_radius imu_xyz imu_rpy"> - - - - - - - - - + - + - + + - + + + + + + + + + - + - + - + @@ -62,9 +63,9 @@ - + - + @@ -78,9 +79,9 @@ - + - + diff --git a/panther_description/urdf/panther_macro.urdf.xacro b/husarion_ugv_description/urdf/panther/panther_macro.urdf.xacro similarity index 95% rename from panther_description/urdf/panther_macro.urdf.xacro rename to husarion_ugv_description/urdf/panther/panther_macro.urdf.xacro index 99c7ca43..135c2bc8 100644 --- a/panther_description/urdf/panther_macro.urdf.xacro +++ b/husarion_ugv_description/urdf/panther/panther_macro.urdf.xacro @@ -22,9 +22,9 @@ - - - + + + controller_manager husarion_gz_worlds husarion_ugv_controller + husarion_ugv_descriptions husarion_ugv_lights husarion_ugv_localization husarion_ugv_manager husarion_ugv_utils launch launch_ros - lynx_description nav2_common - panther_description robot_state_publisher ros_components_description ros_gz_bridge diff --git a/husarion_ugv_hardware_interfaces/CHANGELOG.rst b/husarion_ugv_hardware_interfaces/CHANGELOG.rst index 29c324a7..893707f6 100644 --- a/husarion_ugv_hardware_interfaces/CHANGELOG.rst +++ b/husarion_ugv_hardware_interfaces/CHANGELOG.rst @@ -1,5 +1,5 @@ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package panther_hardware_interfaces +Changelog for package husarion_ugv_hardware_interfaces ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2.1.2 (2024-12-02) diff --git a/husarion_ugv_hardware_interfaces/README.md b/husarion_ugv_hardware_interfaces/README.md index 980b9367..a211256e 100644 --- a/husarion_ugv_hardware_interfaces/README.md +++ b/husarion_ugv_hardware_interfaces/README.md @@ -4,7 +4,7 @@ Package that implements SystemInterface from ros2_control for Husarion UGV. ## ROS Nodes -This package doesn't contain any standalone nodes, only plugins that are loaded by the resource manager. To use this hardware interface, add it to your URDF. You can check how to do it in [lynx_description](https://github.com/husarion/panther_ros/tree/ros2/panther_description/) or [panther_description](https://github.com/husarion/panther_ros/tree/ros2/panther_description/). +This package doesn't contain any standalone nodes, only plugins that are loaded by the resource manager. To use this hardware interface, add it to your URDF. You can check how to do it in [panther_macro.urdf.xacro](../husarion_ugv_descriptions/urdf/panther/panther_macro.urdf.xacro) or [lynx_macro.urdf.xacro](../husarion_ugv_descriptions/urdf/lynx/lynx_macro.urdf.xacro). ### UGVSystem (PantherSystem | LynxSystem) @@ -30,7 +30,7 @@ Plugins for Panther and Lynx are based on an abstraction called UGVSystem. Most #### Parameters -Required parameters are defined when including the interface in the URDF (you can check out [panther_macro.urdf.xacro](../panther_description/urdf/panther_macro.urdf.xacro) or [lynx_macro.urdf.xacro](../lynx_description/urdf/lynx_macro.urdf.xacro)). +Required parameters are defined when including the interface in the URDF (you can check out [panther_macro.urdf.xacro](../husarion_ugv_descriptions/urdf/panther/panther_macro.urdf.xacro) or [lynx_macro.urdf.xacro](../husarion_ugv_descriptions/urdf/lynx/lynx_macro.urdf.xacro)). Physical properties @@ -72,7 +72,7 @@ Plugin responsible for communicating with IMU and filtering data using Madgwick #### Parameters -Required parameters are defined when including the interface in the URDF (you can check out [panther_macro.urdf.xacro](../panther_description/urdf/panther_macro.urdf.xacro)). +Required parameters are defined when including the interface in the URDF (you can check out [panther_macro.urdf.xacro](../husarion_ugv_descriptions/urdf/panther/panther_macro.urdf.xacro) or [lynx_macro.urdf.xacro](../husarion_ugv_descriptions/urdf/lynx/lynx_macro.urdf.xacro)). Physical properties diff --git a/husarion_ugv_lights/CHANGELOG.rst b/husarion_ugv_lights/CHANGELOG.rst index 5ddb6822..72f6a4b5 100644 --- a/husarion_ugv_lights/CHANGELOG.rst +++ b/husarion_ugv_lights/CHANGELOG.rst @@ -1,5 +1,5 @@ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package panther_lights +Changelog for package husarion_ugv_lights ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2.1.2 (2024-12-02) diff --git a/husarion_ugv_lights/launch/lights.launch.py b/husarion_ugv_lights/launch/lights.launch.py index 8f681d69..a8826773 100644 --- a/husarion_ugv_lights/launch/lights.launch.py +++ b/husarion_ugv_lights/launch/lights.launch.py @@ -70,7 +70,7 @@ def generate_launch_description(): declare_robot_model_arg = DeclareLaunchArgument( "robot_model", default_value=EnvironmentVariable(name="ROBOT_MODEL_NAME", default_value="panther"), - description="Specify robot model", + description="Specify robot model.", choices=["lynx", "panther"], ) diff --git a/husarion_ugv_localization/CHANGELOG.rst b/husarion_ugv_localization/CHANGELOG.rst index cf9bbec8..df386b82 100644 --- a/husarion_ugv_localization/CHANGELOG.rst +++ b/husarion_ugv_localization/CHANGELOG.rst @@ -1,5 +1,5 @@ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package panther_localization +Changelog for package husarion_ugv_localization ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2.1.2 (2024-12-02) diff --git a/husarion_ugv_manager/CHANGELOG.rst b/husarion_ugv_manager/CHANGELOG.rst index 9d06f8c8..8bda9407 100644 --- a/husarion_ugv_manager/CHANGELOG.rst +++ b/husarion_ugv_manager/CHANGELOG.rst @@ -1,5 +1,5 @@ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package panther_manager +Changelog for package husarion_ugv_manager ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2.1.2 (2024-12-02) diff --git a/husarion_ugv_utils/CHANGELOG.rst b/husarion_ugv_utils/CHANGELOG.rst index 1be203b8..3d19c303 100644 --- a/husarion_ugv_utils/CHANGELOG.rst +++ b/husarion_ugv_utils/CHANGELOG.rst @@ -1,5 +1,5 @@ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package panther_utils +Changelog for package husarion_ugv_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2.1.2 (2024-12-02) diff --git a/lynx_description/CMakeLists.txt b/lynx_description/CMakeLists.txt deleted file mode 100644 index f4e2ded4..00000000 --- a/lynx_description/CMakeLists.txt +++ /dev/null @@ -1,11 +0,0 @@ -cmake_minimum_required(VERSION 3.10.2) -project(lynx_description) - -find_package(ament_cmake REQUIRED) - -install(DIRECTORY config launch urdf DESTINATION share/${PROJECT_NAME}) - -ament_environment_hooks( - "${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.sh.in") - -ament_package() diff --git a/lynx_description/README.md b/lynx_description/README.md deleted file mode 100644 index 953bab34..00000000 --- a/lynx_description/README.md +++ /dev/null @@ -1,12 +0,0 @@ -# lynx_description - -The package contains URDF files responsible for creating a representation of the robot by specifying the relationships and types of connections (joints) between individual links. It also contains information about the robot's mesh. - -## Launch Files - -- `load_urdf.launch.py` - loads the robot's URDF and creates simple bindings to display moving joints. - -## Configuration Files - -- [`components.yaml`](./config/components.yaml): Allows you to quickly add visualization of sensors, TF connections and simulate their behavior in the simulator. -- [`WH05.yaml`](./config/WH05.yaml): Description of physical and visual parameters for the wheel WH05. diff --git a/lynx_description/config/components.yaml b/lynx_description/config/components.yaml deleted file mode 100644 index 71826593..00000000 --- a/lynx_description/config/components.yaml +++ /dev/null @@ -1,25 +0,0 @@ -# By default lynx is loaded without any components. - -components: [] - -# If you want to add for example LDR01, LDR06 and CAM01 to your Panther look at this example below: - -# components: -# - type: LDR01 -# parent_link: cover_link -# xyz: 0.0 0.1 0.0 -# rpy: 0.0 0.0 0.0 -# device_namespace: main_lidar - -# - type: LDR06 -# parent_link: cover_link -# xyz: 0.0 -0.1 0.0 -# rpy: 0.0 0.0 0.0 -# device_namespace: second_lidar - -# - type: CAM01 -# name: camera -# parent_link: cover_link -# xyz: 0.1 0.0 0.0 -# rpy: 0.0 0.0 0.0 -# device_namespace: front_cam diff --git a/lynx_description/package.xml b/lynx_description/package.xml deleted file mode 100644 index 77584066..00000000 --- a/lynx_description/package.xml +++ /dev/null @@ -1,28 +0,0 @@ - - - - lynx_description - 2.1.0 - The lynx_description package - Husarion - Apache License 2.0 - - https://husarion.com/ - https://github.com/husarion/panther_ros - https://github.com/husarion/panther_ros/issues - - Dawid Kmak - - ament_cmake - - joint_state_publisher - launch - launch_ros - robot_state_publisher - ros_components_description - xacro - - - ament_cmake - - diff --git a/lynx_description/urdf/body.urdf.xacro b/lynx_description/urdf/body.urdf.xacro deleted file mode 100644 index c424ba01..00000000 --- a/lynx_description/urdf/body.urdf.xacro +++ /dev/null @@ -1,64 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/lynx_description/urdf/gazebo.urdf.xacro b/lynx_description/urdf/gazebo.urdf.xacro deleted file mode 100644 index ce1a25c8..00000000 --- a/lynx_description/urdf/gazebo.urdf.xacro +++ /dev/null @@ -1,142 +0,0 @@ - - - - - - - - - - - - - - - - - - - ${ns}battery - 41.4 - 42.0 - -10.0 - ${battery_config['initial_charge_percentage']*battery_config['capacity']} - ${battery_config['capacity']} - 0.15 - 2.0 - true - ${battery_config['charging_time']} - 2.0 - - ${battery_config['power_load']/100.0} - ${battery_config['simulate_discharging']} - - - - - - - - - ${config_file} - - ${namespace} - drive_controller/cmd_vel_unstamped:=cmd_vel - drive_controller/odom:=odometry/wheels - drive_controller/transition_event:=drive_controller/_transition_event - gz_ros2_control/e_stop:=hardware/e_stop - gz_ros2_control/e_stop_reset:=hardware/e_stop_reset - gz_ros2_control/e_stop_trigger:=hardware/e_stop_trigger - imu_broadcaster/imu:=imu/data - imu_broadcaster/transition_event:=imu_broadcaster/_transition_event - joint_state_broadcaster/transition_event:=joint_state_broadcaster/_transition_event - - - - - - - - - ${mean} - ${stddev} - ${bias_mean} - ${bias_stddev} - ${precision} - - - - - - - - - - - - - - - - true - 50 - ${ns}imu/data_raw - false - false - imu_link - - - ENU - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - true - 0 - 1.0 1.0 1.0 - 1.0 1.0 1.0 - 1 0 0 - 1.0 - - 1.0 - 2.0 - 0.4 - - - - - - diff --git a/lynx_description/urdf/wheel.urdf.xacro b/lynx_description/urdf/wheel.urdf.xacro deleted file mode 100644 index 7003ab3e..00000000 --- a/lynx_description/urdf/wheel.urdf.xacro +++ /dev/null @@ -1,94 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1.0 - 0.0 - ${fdir} - - - - - - - - - - - diff --git a/panther_description/hooks/panther_description.sh.in b/panther_description/hooks/panther_description.sh.in deleted file mode 100755 index 45d23a05..00000000 --- a/panther_description/hooks/panther_description.sh.in +++ /dev/null @@ -1,3 +0,0 @@ -ament_prepend_unique_value GAZEBO_MODEL_PATH "@CMAKE_INSTALL_PREFIX@/share" -ament_prepend_unique_value GZ_SIM_RESOURCE_PATH "@CMAKE_INSTALL_PREFIX@/share" -ament_prepend_unique_value IGN_GAZEBO_RESOURCE_PATH "@CMAKE_INSTALL_PREFIX@/share" diff --git a/panther_description/launch/load_urdf.launch.py b/panther_description/launch/load_urdf.launch.py deleted file mode 100644 index 1297f7c1..00000000 --- a/panther_description/launch/load_urdf.launch.py +++ /dev/null @@ -1,197 +0,0 @@ -#!/usr/bin/env python3 - -# Copyright 2020 ros2_control Development Team -# Copyright 2024 Husarion sp. z o.o. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -import os - -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument -from launch.conditions import IfCondition -from launch.substitutions import ( - Command, - EnvironmentVariable, - FindExecutable, - LaunchConfiguration, - PathJoinSubstitution, - PythonExpression, -) -from launch_ros.actions import Node, SetParameter -from launch_ros.substitutions import FindPackageShare - - -def generate_launch_description(): - add_wheel_joints = LaunchConfiguration("add_wheel_joints") - declared_add_wheel_joints_arg = DeclareLaunchArgument( - "add_wheel_joints", - default_value="True", - description="Flag enabling joint_state_publisher to publish information about the wheel position. Should be false when there is a controller that sends this information.", - choices=["True", "true", "False", "false"], - ) - - battery_config_path = LaunchConfiguration("battery_config_path") - declare_battery_config_path_arg = DeclareLaunchArgument( - "battery_config_path", - description=( - "Path to the Ignition LinearBatteryPlugin configuration file. " - "This configuration is intended for use in simulations only." - ), - default_value="", - ) - - components_config_path = LaunchConfiguration("components_config_path") - declare_components_config_path_arg = DeclareLaunchArgument( - "components_config_path", - default_value=PathJoinSubstitution( - [FindPackageShare("panther_description"), "config", "components.yaml"] - ), - description=( - "Additional components configuration file. Components described in this file " - "are dynamically included in Panther's urdf." - "Panther options are described here " - "https://husarion.com/manuals/panther/panther-options/" - ), - ) - - wheel_type = LaunchConfiguration("wheel_type") - controller_config_path = LaunchConfiguration("controller_config_path") - declare_controller_config_path_arg = DeclareLaunchArgument( - "controller_config_path", - default_value=PathJoinSubstitution( - [ - FindPackageShare("husarion_ugv_controller"), - "config", - PythonExpression(["'", wheel_type, "_controller.yaml'"]), - ] - ), - description=( - "Path to controller configuration file. By default, it is located in" - " 'husarion_ugv_controller/config/{wheel_type}_controller.yaml'. You can also specify" - " the path to your custom controller configuration file here. " - ), - ) - - namespace = LaunchConfiguration("namespace") - declare_namespace_arg = DeclareLaunchArgument( - "namespace", - default_value=EnvironmentVariable("ROBOT_NAMESPACE", default_value=""), - description="Add namespace to all launched nodes.", - ) - - use_sim = LaunchConfiguration("use_sim") - declare_use_sim_arg = DeclareLaunchArgument( - "use_sim", - default_value="False", - description="Whether simulation is used.", - choices=["True", "true", "False", "false"], - ) - - wheel_config_path = LaunchConfiguration("wheel_config_path") - declare_wheel_config_path_arg = DeclareLaunchArgument( - "wheel_config_path", - default_value=PathJoinSubstitution( - [ - FindPackageShare("panther_description"), - "config", - PythonExpression(["'", wheel_type, ".yaml'"]), - ] - ), - description=( - "Path to wheel configuration file. By default, it is located in " - "'panther_description/config/{wheel_type}.yaml'. You can also specify the path " - "to your custom wheel configuration file here. " - ), - ) - - declare_wheel_type_arg = DeclareLaunchArgument( - "wheel_type", - default_value="WH01", - description=( - "Specify the wheel type. If the selected wheel type is not 'custom', " - "the 'wheel_config_path' and 'controller_config_path' arguments will be " - "automatically adjusted and can be omitted." - ), - choices=["WH01", "WH02", "WH04", "custom"], - ) - - # Get URDF via xacro - imu_pos_x = os.environ.get("ROBOT_IMU_LOCALIZATION_X", "0.168") - imu_pos_y = os.environ.get("ROBOT_IMU_LOCALIZATION_Y", "0.028") - imu_pos_z = os.environ.get("ROBOT_IMU_LOCALIZATION_Z", "0.083") - imu_rot_r = os.environ.get("ROBOT_IMU_ORIENTATION_R", "3.14") - imu_rot_p = os.environ.get("ROBOT_IMU_ORIENTATION_P", "-1.57") - imu_rot_y = os.environ.get("ROBOT_IMU_ORIENTATION_Y", "0.0") - robot_description_content = Command( - [ - PathJoinSubstitution([FindExecutable(name="xacro")]), - " ", - PathJoinSubstitution( - [FindPackageShare("panther_description"), "urdf", "panther.urdf.xacro"] - ), - " use_sim:=", - use_sim, - " wheel_config_file:=", - wheel_config_path, - " controller_config_file:=", - controller_config_path, - " battery_config_file:=", - battery_config_path, - " imu_xyz:=", - f"'{imu_pos_x} {imu_pos_y} {imu_pos_z}'", - " imu_rpy:=", - f"'{imu_rot_r} {imu_rot_p} {imu_rot_y}'", - " namespace:=", - namespace, - " components_config_path:=", - components_config_path, - ] - ) - - namespace_ext = PythonExpression(["'", namespace, "' + '/' if '", namespace, "' else ''"]) - - robot_state_pub_node = Node( - package="robot_state_publisher", - executable="robot_state_publisher", - parameters=[ - {"robot_description": robot_description_content}, - {"frame_prefix": namespace_ext}, - ], - namespace=namespace, - emulate_tty=True, - ) - - joint_state_publisher_node = Node( - package="joint_state_publisher", - executable="joint_state_publisher", - namespace=namespace, - emulate_tty=True, - condition=IfCondition(add_wheel_joints), - ) - - actions = [ - declared_add_wheel_joints_arg, - declare_battery_config_path_arg, - declare_components_config_path_arg, - declare_wheel_type_arg, # wheel_type is used by controller_config_path - declare_controller_config_path_arg, - declare_namespace_arg, - declare_use_sim_arg, - declare_wheel_config_path_arg, - SetParameter(name="use_sim_time", value=use_sim), - robot_state_pub_node, - joint_state_publisher_node, # do not publish, when use_sim is true - ] - - return LaunchDescription(actions)