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Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
* Merge panther and lynx description pkg * Fix path * Add lynx mesh and use base_footprint * Update husarion_ugv_description/urdf/common/gazebo.urdf.xacro * Fix simulation * husarion_ugv_description -> husarion_ugv_descriptions * base_link -> base_footprint * Use base_link in configs * husarion_ugv_description -> husarion_ugv_descriptions * husarion_ugv_descriptions -> husarion_ugv_description
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‎.pre-commit-config.yaml

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repos:
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- repo: https://github.com/pre-commit/pre-commit-hooks
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rev: v4.6.0
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rev: v5.0.0
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hooks:
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- id: check-added-large-files
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# mesh files has to be taken into account
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- id: cmake-format
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- repo: https://github.com/pre-commit/mirrors-clang-format
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rev: v18.1.8
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rev: v19.1.3
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hooks:
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- id: clang-format
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args: [--mapping, '2', --sequence, '4', --offset, '2', --width, '100']
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- repo: https://github.com/psf/black
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rev: 24.8.0
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rev: 24.10.0
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hooks:
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- id: black
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args: ["--line-length=99"]
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# Docs - RestructuredText hooks
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- repo: https://github.com/PyCQA/doc8
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rev: v1.1.1
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rev: v1.1.2
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hooks:
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- id: doc8
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args: ["--max-line-length=100", "--ignore=D001"]
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exclude: ^.*\/CHANGELOG\.rst/.*$
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exclude: ^.*\/CHANGELOG\.rst$
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- repo: https://github.com/tier4/pre-commit-hooks-ros
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rev: v0.10.0

‎README.md

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| ❌ | ✅ | `add_world_transform` | Adds a world frame that connects the tf trees of individual robots (useful when running multiple robots). <br/> ***bool:*** `False` |
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| ✅ | ✅ | `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) |
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| ❌ | ✅ | `battery_config_path` | Path to the Ignition LinearBatteryPlugin configuration file. This configuration is intended for use in simulations only. <br/> ***string:*** `None` |
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| ✅ | ✅ | `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) |
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| ✅ | ✅ | `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) |
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| ✅ | ✅ | `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/) |
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| ✅ | ✅ | `disable_manager` | Enable or disable manager_bt_node. <br/> ***bool:*** `False` |
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| ✅ | ✅ | `fuse_gps` | Include GPS for data fusion. <br/> ***bool:*** `False` |
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| ❌ | ✅ | `use_rviz` | Run RViz simultaneously. <br/> ***bool:*** `True` |
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| ✅ | ✅ | `use_sim` | Whether simulation is used. <br/> ***bool:*** `False` |
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| ✅ | ✅ | `user_led_animations_path` | Path to a YAML file with a description of the user-defined animations. <br/> ***string:*** `''` |
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| ✅ | ✅ | `wheel_config_path` | Path to wheel configuration file. <br/> ***string:*** [`{wheel_type}.yaml`](./panther_description/config) |
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| ✅ | ✅ | `wheel_config_path` | Path to wheel configuration file. <br/> ***string:*** [`{wheel_type}.yaml`](./husarion_ugv_description/config) |
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| ✅ | ✅ | `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`) |
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| ❌ | ✅ | `x` | Initial robot position in the global 'x' axis. <br/> ***float:*** `0.0` |
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| ❌ | ✅ | `y` | Initial robot position in the global 'y' axis. <br/> ***float:***` -2.0` |
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| ❌ | ✅ | `z` | Initial robot position in the global 'z' axis. <br/> ***float:*** `0.0` |
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| ❌ | ✅ | `z` | Initial robot position in the global 'z' axis. <br/> ***float:*** `0.2` |
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| ❌ | ✅ | `roll` | Initial robot 'roll' orientation. <br/> ***float:*** `0.0` |
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| ❌ | ✅ | `pitch` | Initial robot 'pitch' orientation. <br/> ***float:*** `0.0` |
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| ❌ | ✅ | `yaw` | Initial robot 'yaw' orientation. <br/> ***float:*** `0.0` |

‎husarion_ugv/CHANGELOG.rst

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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package panther
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Changelog for package husarion_ugv
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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2.1.2 (2024-12-02)

‎husarion_ugv_battery/CHANGELOG.rst

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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package panther_battery
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Changelog for package husarion_ugv_battery
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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2.1.2 (2024-12-02)

‎husarion_ugv_bringup/CHANGELOG.rst

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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package panther_bringup
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Changelog for package husarion_ugv_bringup
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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2.1.2 (2024-12-02)

‎husarion_ugv_controller/CHANGELOG.rst

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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package panther_controller
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Changelog for package husarion_ugv_controller
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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2.1.2 (2024-12-02)

‎husarion_ugv_controller/CONFIGURATION.md

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## Changing Wheel Type
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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).
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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).

‎husarion_ugv_controller/launch/controller.launch.py

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"wheel_config_path",
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default_value=PathJoinSubstitution(
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[
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FindPackageShare(robot_description_pkg),
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FindPackageShare("husarion_ugv_description"),
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"config",
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PythonExpression(["'", wheel_type, ".yaml'"]),
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]
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),
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description=(
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"Path to wheel configuration file. By default, it is located in "
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"'panther_description/config/{wheel_type}.yaml'. You can also specify the path "
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"'husarion_ugv_description/config/{wheel_type}.yaml'. You can also specify the path "
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"to your custom wheel configuration file here. "
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)
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# Get URDF via xacro
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robot_description_file = PythonExpression(["'", robot_model, ".urdf.xacro'"])
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imu_pos_x = os.environ.get("ROBOT_IMU_LOCALIZATION_X", "0.168")
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imu_pos_y = os.environ.get("ROBOT_IMU_LOCALIZATION_Y", "0.028")
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imu_pos_z = os.environ.get("ROBOT_IMU_LOCALIZATION_Z", "0.083")
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imu_rot_r = os.environ.get("ROBOT_IMU_ORIENTATION_R", "3.14")
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imu_rot_p = os.environ.get("ROBOT_IMU_ORIENTATION_P", "-1.57")
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imu_rot_y = os.environ.get("ROBOT_IMU_ORIENTATION_Y", "0.0")
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urdf_file = PythonExpression(["'", robot_model, ".urdf.xacro'"])
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robot_description_content = Command(
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PathJoinSubstitution([FindExecutable(name="xacro")]),
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" ",
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PathJoinSubstitution(
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FindPackageShare(robot_description_pkg),
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"urdf",
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robot_description_file,
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]
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[FindPackageShare("husarion_ugv_description"), "urdf", urdf_file]
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use_sim,

‎husarion_ugv_controller/package.xml

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<exec_depend>controller_manager</exec_depend>
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<exec_depend>diff_drive_controller</exec_depend>
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<exec_depend>husarion_ugv_description</exec_depend>
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<exec_depend condition="$HUSARION_ROS_BUILD_TYPE == hardware">husarion_ugv_hardware_interfaces</exec_depend>
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<exec_depend>imu_sensor_broadcaster</exec_depend>
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<exec_depend>joint_state_broadcaster</exec_depend>
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<exec_depend>launch</exec_depend>
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<exec_depend>launch_ros</exec_depend>
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<exec_depend>lynx_description</exec_depend>
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<exec_depend>mecanum_drive_controller</exec_depend>
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<exec_depend>panther_description</exec_depend>
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<exec_depend>robot_state_publisher</exec_depend>
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<exec_depend>xacro</exec_depend>
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‎panther_description/CHANGELOG.rst renamed to ‎husarion_ugv_description/CHANGELOG.rst

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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package panther_description
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Changelog for package husarion_ugv_description
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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2.1.2 (2024-12-02)

‎panther_description/CMakeLists.txt renamed to ‎husarion_ugv_description/CMakeLists.txt

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cmake_minimum_required(VERSION 3.10.2)
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project(panther_description)
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project(husarion_ugv_description)
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ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/setup_envs.sh.in")
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ament_package()

‎panther_description/README.md renamed to ‎husarion_ugv_description/README.md

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# panther_description
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# husarion_ugv_description
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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.
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## Launch Files
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- `overwrite_robot_description.launch.py` - launch is able to change `robot_description` topic in runtime.
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- `rviz.launch.py` - launch RViz2 with basic configuration.
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## Configuration Files
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- [`components.yaml`](./config/components.yaml): Allows you to quickly add visualization of sensors, TF connections and simulate their behavior in the simulator.
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- [`WH01.yaml`](./config/WH01.yaml): Description of physical and visual parameters for the wheel WH01.
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- [`WH02.yaml`](./config/WH02.yaml): Description of physical and visual parameters for the wheel WH02.
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- [`WH04.yaml`](./config/WH04.yaml): Description of physical and visual parameters for the wheel WH04.
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- [`WH05.yaml`](./config/WH05.yaml): Description of physical and visual parameters for the wheel WH05.

‎panther_description/config/WH01.yaml renamed to ‎husarion_ugv_description/config/WH01.yaml

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mass: 3.0
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inertia: { ixx: 0.022510, iyy: 0.034850, izz: 0.022510 }
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mesh_package: panther_description
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mesh_package: husarion_ugv_description
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folder_path: meshes/WH01
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mecanum: False

‎panther_description/config/WH02.yaml renamed to ‎husarion_ugv_description/config/WH02.yaml

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inertia: { ixx: 0.010050, iyy: 0.016496, izz: 0.010068 }
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mesh_package: panther_description
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mesh_package: husarion_ugv_description
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folder_path: meshes/WH02
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mecanum: True

‎panther_description/config/WH04.yaml renamed to ‎husarion_ugv_description/config/WH04.yaml

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inertia: { ixx: 0.003099, iyy: 0.005849, izz: 0.003101 }
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mesh_package: husarion_ugv_description
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‎lynx_description/config/WH05.yaml renamed to ‎husarion_ugv_description/config/WH05.yaml

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mesh_package: husarion_ugv_description
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‎panther_description/config/components.yaml renamed to ‎husarion_ugv_description/config/components.yaml

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# By default panther is loaded without any components.
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# By default Husarion UGV is loaded without any components.
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components: []
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‎lynx_description/hooks/lynx_description.sh.in renamed to ‎husarion_ugv_description/hooks/setup_envs.sh.in

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