husarion_ugv_description -> husarion_ugv_descriptions

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`](./husarion_ugv_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`](./husarion_ugv_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`                                                                                                                                                                                                                                           |

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](../husarion_ugv_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).

husarion_ugv_controller/launch/controller.launch.py

@@ -122,14 +122,14 @@ def generate_launch_description():
         "wheel_config_path",
         default_value=PathJoinSubstitution(
             [
-                FindPackageShare("husarion_ugv_description"),
+                FindPackageShare("husarion_ugv_descriptions"),
                 "config",
                 PythonExpression(["'", wheel_type, ".yaml'"]),
             ]
         ),
         description=(
             "Path to wheel configuration file. By default, it is located in "
-            "'husarion_ugv_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. "
         ),
     )
@@ -159,7 +159,7 @@ def generate_launch_description():
             PathJoinSubstitution([FindExecutable(name="xacro")]),
             " ",
             PathJoinSubstitution(
-                [FindPackageShare("husarion_ugv_description"), "urdf", urdf_file]
+                [FindPackageShare("husarion_ugv_descriptions"), "urdf", urdf_file]
             ),
             " use_sim:=",
             use_sim,

husarion_ugv_controller/package.xml

@@ -18,7 +18,7 @@
 
   <exec_depend>controller_manager</exec_depend>
   <exec_depend>diff_drive_controller</exec_depend>
-  <exec_depend>husarion_ugv_description</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>

husarion_ugv_description/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.10.2)
-project(husarion_ugv_description)
+project(husarion_ugv_descriptions)
 
 find_package(ament_cmake REQUIRED)
 

husarion_ugv_description/README.md

@@ -1,4 +1,4 @@
-# husarion_ugv_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.
 

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: husarion_ugv_description
+mesh_package: husarion_ugv_descriptions
 folder_path: meshes/WH01
 mecanum: False

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: husarion_ugv_description
+mesh_package: husarion_ugv_descriptions
 folder_path: meshes/WH02
 mecanum: True

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: husarion_ugv_description
+mesh_package: husarion_ugv_descriptions
 folder_path: meshes/WH04
 mecanum: False

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: husarion_ugv_description
+mesh_package: husarion_ugv_descriptions
 folder_path: meshes/WH05
 mecanum: False

husarion_ugv_description/launch/load_urdf.launch.py

@@ -56,7 +56,7 @@ def generate_launch_description():
     declare_components_config_path_arg = DeclareLaunchArgument(
         "components_config_path",
         default_value=PathJoinSubstitution(
-            [FindPackageShare("husarion_ugv_description"), "config", "components.yaml"]
+            [FindPackageShare("husarion_ugv_descriptions"), "config", "components.yaml"]
         ),
         description=(
             "Specify file which contains components. These components will be included in URDF."
@@ -112,14 +112,14 @@ def generate_launch_description():
         "wheel_config_path",
         default_value=PathJoinSubstitution(
             [
-                FindPackageShare("husarion_ugv_description"),
+                FindPackageShare("husarion_ugv_descriptions"),
                 "config",
                 PythonExpression(["'", wheel_type, ".yaml'"]),
             ]
         ),
         description=(
             "Path to wheel configuration file. By default, it is located in "
-            "'husarion_ugv_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. "
         ),
     )
@@ -149,7 +149,7 @@ def generate_launch_description():
             PathJoinSubstitution([FindExecutable(name="xacro")]),
             " ",
             PathJoinSubstitution(
-                [FindPackageShare("husarion_ugv_description"), "urdf", urdf_file]
+                [FindPackageShare("husarion_ugv_descriptions"), "urdf", urdf_file]
             ),
             " use_sim:=",
             use_sim,

husarion_ugv_description/launch/overwrite_robot_description.launch.py

@@ -47,7 +47,7 @@ def generate_launch_description():
     declare_components_config_path_arg = DeclareLaunchArgument(
         "components_config_path",
         default_value=PathJoinSubstitution(
-            [FindPackageShare("husarion_ugv_description"), "config", "components.yaml"]
+            [FindPackageShare("husarion_ugv_descriptions"), "config", "components.yaml"]
         ),
         description=(
             "Specify file which contains components. These components will be included in URDF."
@@ -103,14 +103,14 @@ def generate_launch_description():
         "wheel_config_path",
         default_value=PathJoinSubstitution(
             [
-                FindPackageShare("husarion_ugv_description"),
+                FindPackageShare("husarion_ugv_descriptions"),
                 "config",
                 PythonExpression(["'", wheel_type, ".yaml'"]),
             ]
         ),
         description=(
             "Path to wheel configuration file. By default, it is located in "
-            "'husarion_ugv_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. "
         ),
     )
@@ -140,7 +140,7 @@ def generate_launch_description():
             PathJoinSubstitution([FindExecutable(name="xacro")]),
             " ",
             PathJoinSubstitution(
-                [FindPackageShare("husarion_ugv_description"), "urdf", urdf_file]
+                [FindPackageShare("husarion_ugv_descriptions"), "urdf", urdf_file]
             ),
             " use_sim:=",
             use_sim,

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("husarion_ugv_description"), "rviz", "husarion_ugv.rviz"]
+            [FindPackageShare("husarion_ugv_descriptions"), "rviz", "husarion_ugv.rviz"]
         ),
         description="RViz configuration file.",
     )

husarion_ugv_description/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>husarion_ugv_description</name>
+  <name>husarion_ugv_descriptions</name>
   <version>2.1.2</version>
   <description>The package contains URDF and mesh files for Husarion UGV</description>
   <maintainer email="support@husarion.com">Husarion</maintainer>

husarion_ugv_description/urdf/lynx.urdf.xacro

@@ -6,15 +6,15 @@
   <xacro:arg name="imu_xyz" default="0.169 0.025 0.092" />
   <xacro:arg name="imu_rpy" default="0.0 0.0 -1.57" />
   <xacro:arg name="wheel_config_file"
-    default="$(find husarion_ugv_description)/config/WH05.yaml" />
+    default="$(find husarion_ugv_descriptions)/config/WH05.yaml" />
   <xacro:arg name="controller_config_file"
     default="$(find husarion_ugv_controller)/config/WH05_controller.yaml" />
   <xacro:arg name="battery_config_file"
     default="" />
   <xacro:arg name="namespace" default="" />
 
 
-  <xacro:include filename="$(find husarion_ugv_description)/urdf/lynx/lynx_macro.urdf.xacro" ns="husarion" />
+  <xacro:include filename="$(find husarion_ugv_descriptions)/urdf/lynx/lynx_macro.urdf.xacro" ns="husarion" />
   <xacro:husarion.lynx_robot
     use_sim="$(arg use_sim)"
     imu_xyz="$(arg imu_xyz)"
@@ -24,7 +24,7 @@
     battery_config_file="$(arg battery_config_file)"
     namespace="$(arg namespace)" />
 
-  <xacro:arg name="components_config_path" default="$(find husarion_ugv_description)/config/components.yaml" />
+  <xacro:arg name="components_config_path" default="$(find husarion_ugv_descriptions)/config/components.yaml" />
   <xacro:property name="components_config_path_property" value="$(arg components_config_path)" />
 
   <xacro:unless value="${components_config_path_property == 'None'}">

husarion_ugv_description/urdf/lynx/body.urdf.xacro

@@ -16,15 +16,15 @@
     <link name="base_link">
       <visual>
         <geometry>
-          <mesh filename="package://husarion_ugv_description/meshes/lynx/base.dae" />
+          <mesh filename="package://husarion_ugv_descriptions/meshes/lynx/base.dae" />
         </geometry>
       </visual>
 
       <collision>
         <origin xyz="0.0 0.0 0.0745" rpy="0.0 0.0 0.0" />
         <geometry>
           <!-- TODO change when models ready -->
-          <!-- <mesh filename="package://husarion_ugv_description/meshes/panther/body_collision.stl" /> -->
+          <!-- <mesh filename="package://husarion_ugv_descriptions/meshes/panther/body_collision.stl" /> -->
           <box size="0.646 0.34 0.268" />
         </geometry>
       </collision>
@@ -48,14 +48,14 @@
     <link name="user_compartment_link">
       <visual>
         <geometry>
-          <mesh filename="package://husarion_ugv_description/meshes/lynx/user_compartment.dae" />
+          <mesh filename="package://husarion_ugv_descriptions/meshes/lynx/user_compartment.dae" />
         </geometry>
       </visual>
 
       <!-- TODO change when models ready -->
       <!-- <collision>
         <geometry>
-          <mesh filename="package://husarion_ugv_description/meshes/panther/user_compartment_collision.stl" />
+          <mesh filename="package://husarion_ugv_descriptions/meshes/panther/user_compartment_collision.stl" />
         </geometry>
       </collision> -->
 
@@ -77,14 +77,14 @@
     <link name="battery_link">
       <visual>
         <geometry>
-          <mesh filename="package://husarion_ugv_description/meshes/lynx/battery.dae" />
+          <mesh filename="package://husarion_ugv_descriptions/meshes/lynx/battery.dae" />
         </geometry>
       </visual>
 
       <!-- TODO change when models ready -->
       <!-- <collision>
         <geometry>
-          <mesh filename="package://husarion_ugv_description/meshes/panther/battery_collision.stl" />
+          <mesh filename="package://husarion_ugv_descriptions/meshes/panther/battery_collision.stl" />
         </geometry>
       </collision> -->
 

husarion_ugv_description/urdf/lynx/lynx_macro.urdf.xacro

@@ -17,9 +17,9 @@
     <xacro:property name="wheel_separation_x" value="0.35" />
 
     <!-- INCLUDE ROBOT PARTS DEFINITIONS -->
-    <xacro:include filename="$(find husarion_ugv_description)/urdf/lynx/body.urdf.xacro" ns="body" />
-    <xacro:include filename="$(find husarion_ugv_description)/urdf/common/gazebo.urdf.xacro" ns="gazebo" />
-    <xacro:include filename="$(find husarion_ugv_description)/urdf/common/wheel.urdf.xacro" ns="wheel" />
+    <xacro:include filename="$(find husarion_ugv_descriptions)/urdf/lynx/body.urdf.xacro" ns="body" />
+    <xacro:include filename="$(find husarion_ugv_descriptions)/urdf/common/gazebo.urdf.xacro" ns="gazebo" />
+    <xacro:include filename="$(find husarion_ugv_descriptions)/urdf/common/wheel.urdf.xacro" ns="wheel" />
 
     <!-- BODY DECLARATION -->
     <xacro:body.body

husarion_ugv_description/urdf/panther.urdf.xacro

@@ -5,15 +5,15 @@
   <xacro:arg name="imu_xyz" default="0.169 0.025 0.092" />
   <xacro:arg name="imu_rpy" default="0.0 0.0 -1.57" />
   <xacro:arg name="wheel_config_file"
-    default="$(find husarion_ugv_description)/config/WH01.yaml" />
+    default="$(find husarion_ugv_descriptions)/config/WH01.yaml" />
   <xacro:arg name="controller_config_file"
     default="$(find husarion_ugv_controller)/config/WH01_controller.yaml" />
   <xacro:arg name="battery_config_file"
     default="" />
   <xacro:arg name="namespace" default="" />
 
 
-  <xacro:include filename="$(find husarion_ugv_description)/urdf/panther/panther_macro.urdf.xacro" ns="husarion" />
+  <xacro:include filename="$(find husarion_ugv_descriptions)/urdf/panther/panther_macro.urdf.xacro" ns="husarion" />
   <xacro:husarion.panther_robot
     use_sim="$(arg use_sim)"
     imu_xyz="$(arg imu_xyz)"
@@ -23,7 +23,7 @@
     battery_config_file="$(arg battery_config_file)"
     namespace="$(arg namespace)" />
 
-  <xacro:arg name="components_config_path" default="$(find husarion_ugv_description)/config/components.yaml" />
+  <xacro:arg name="components_config_path" default="$(find husarion_ugv_descriptions)/config/components.yaml" />
   <xacro:property name="components_config_path_property" value="$(arg components_config_path)" />
 
   <xacro:unless value="${components_config_path_property == 'None'}">