husarion · rafal-gorecki · Nov 20, 2024 · Dec 3, 2024 · Dec 5, 2024 · Dec 5, 2024
diff --git 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
@@ -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). <br/> ***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. <br/> ***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. <br/> ***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). <br/> ***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). <br/> ***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. <br/> ***string:*** [`{wheel_type}_controller.yaml`](./husarion_ugv_controller/config/)                                                                                                                               |
 | ✅   | ✅   | `disable_manager`            | Enable or disable manager_bt_node. <br/> ***bool:*** `False`                                                                                                                                                                                                                                                       |
 | ✅   | ✅   | `fuse_gps`                   | Include GPS for data fusion. <br/> ***bool:*** `False`                                                                                                                                                                                                                                                             |
@@ -111,7 +111,7 @@ Launch arguments are largely common to both simulation and physical robot. Howev
 | ❌   | ✅   | `use_rviz`                   | Run RViz simultaneously. <br/> ***bool:*** `True`                                                                                                                                                                                                                                                                                   |
 | ✅   | ✅   | `use_sim`                    | Whether simulation is used. <br/> ***bool:*** `False`                                                                                                                                                                                                                                                              |
 | ✅   | ✅   | `user_led_animations_path`   | Path to a YAML file with a description of the user-defined animations. <br/> ***string:*** `''`                                                                                                                                                                                                                    |
-| ✅   | ✅   | `wheel_config_path`          | Path to wheel configuration file. <br/> ***string:*** [`{wheel_type}.yaml`](./panther_description/config)                                                                                                                                                                                                          |
+| ✅   | ✅   | `wheel_config_path`          | Path to wheel configuration file. <br/> ***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. <br/> ***string:*** `WH01` (for Panther), `WH05` (for Lynx) (choices: `WH01`, `WH02`, `WH04`, `WH05`, `custom`)                  |
 | ❌   | ✅   | `x`                          | Initial robot position in the global 'x' axis. <br/> ***float:*** `0.0`                                                                                                                                                                                                                                            |
 | ❌   | ✅   | `y`                          | Initial robot position in the global 'y' axis. <br/> ***float:***` -2.0`                                                                                                                                                                                                                                           |

diff --git 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
@@ -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
@@ -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
@@ -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
@@ -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/config/WH01_controller.yaml b/husarion_ugv_controller/config/WH01_controller.yaml
@@ -41,7 +41,7 @@
 
       publish_rate: 100.0
       odom_frame_id: odom
-      base_frame_id: base_link
+      base_frame_id: base_footprint
       twist_covariance_diagonal: [5.4e-5, 5.4e-5, 0.0, 0.0, 0.0, 1.9e-4] # Values measured experimentally
 
       # Whether to use feedback or commands for odometry calculations

diff --git a/husarion_ugv_controller/config/WH02_controller.yaml b/husarion_ugv_controller/config/WH02_controller.yaml
@@ -42,7 +42,7 @@
 
       publish_rate: 100.0
       odom_frame_id: odom
-      base_frame_id: base_link
+      base_frame_id: base_footprint
       twist_covariance_diagonal: [5.4e-5, 5.4e-5, 0.0, 0.0, 0.0, 1.9e-4] # Selected intuitively based on WH01 results
 
       # Whether to use feedback or commands for odometry calculations

diff --git a/husarion_ugv_controller/config/WH04_controller.yaml b/husarion_ugv_controller/config/WH04_controller.yaml
@@ -42,7 +42,7 @@
 
       publish_rate: 100.0
       odom_frame_id: odom
-      base_frame_id: base_link
+      base_frame_id: base_footprint
       twist_covariance_diagonal: [2.7e-5, 2.7e-5, 0.0, 0.0, 0.0, 1.0e-4] # Selected intuitively based on WH01 results
 
       # Whether to use feedback or commands for odometry calculations

diff --git a/husarion_ugv_controller/config/WH05_controller.yaml b/husarion_ugv_controller/config/WH05_controller.yaml
@@ -41,7 +41,7 @@
 
       publish_rate: 100.0
       odom_frame_id: odom
-      base_frame_id: base_link
+      base_frame_id: base_footprint
       twist_covariance_diagonal: [5.4e-5, 5.4e-5, 0.0, 0.0, 0.0, 1.9e-4] # Values measured experimentally
 
       # Whether to use feedback or commands for odometry calculations

diff --git 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
@@ -18,14 +18,13 @@
 
   <exec_depend>controller_manager</exec_depend>
   <exec_depend>diff_drive_controller</exec_depend>
+  <exec_depend>husarion_ugv_descriptions</exec_depend>
   <exec_depend condition="$HUSARION_ROS_BUILD_TYPE == hardware">husarion_ugv_hardware_interfaces</exec_depend>
   <exec_depend>imu_sensor_broadcaster</exec_depend>
   <exec_depend>joint_state_broadcaster</exec_depend>
   <exec_depend>launch</exec_depend>
   <exec_depend>launch_ros</exec_depend>
-  <exec_depend>lynx_description</exec_depend>
   <exec_depend>mecanum_drive_controller</exec_depend>
-  <exec_depend>panther_description</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>xacro</exec_depend>
 

diff --git a/panther_description/CHANGELOG.rst → husarion_ugv_description/CHANGELOG.rst b/panther_description/CHANGELOG.rst → 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 → husarion_ugv_description/CMakeLists.txt b/panther_description/CMakeLists.txt → 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 → husarion_ugv_description/README.md b/panther_description/README.md → husarion_ugv_description/README.md
@@ -1,14 +1,17 @@
-# 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
 
 - [`components.yaml`](./config/components.yaml): Allows you to quickly add visualization of sensors, TF connections and simulate their behavior in the simulator.
 - [`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 → husarion_ugv_description/config/WH01.yaml b/panther_description/config/WH01.yaml → 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 → husarion_ugv_description/config/WH02.yaml b/panther_description/config/WH02.yaml → 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 → husarion_ugv_description/config/WH04.yaml b/panther_description/config/WH04.yaml → 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 → husarion_ugv_description/config/WH05.yaml b/lynx_description/config/WH05.yaml → 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 → ...on_ugv_description/config/components.yaml b/panther_description/config/components.yaml → ...on_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/..._description/hooks/lynx_description.sh.in → ...on_ugv_description/hooks/setup_envs.sh.in b/..._description/hooks/lynx_description.sh.in → ...on_ugv_description/hooks/setup_envs.sh.in
diff --git a/lynx_description/launch/load_urdf.launch.py → ...gv_description/launch/load_urdf.launch.py b/lynx_description/launch/load_urdf.launch.py → ...gv_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,
Original file line number	Diff line number	Diff line change
Expand Up		@@ -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).