Common ROS packages for the Clearpath Husky, useable for both simulation and real robot operation.
- husky_control : Control configuration
- husky_description : Robot description (URDF)
- husky_msgs : Message definitions
- husky_navigation : Navigation configurations and demos
For Husky instructions and tutorials, please see Robots/Husky.
To create a custom Husky description or simulation, please fork husky_customization.
Desktop ROS packages for the Clearpath Husky, which may pull in graphical dependencies.
- husky_viz : Visualization (rviz) configuration and bringup
For Husky instructions and tutorials, please see http://wiki.ros.org/Robots/Husky
Robot ROS packages for the Clearpath Husky, for operating robot hardware.
- husky_bringup : Bringup launch files and scripts.
- husky_base : Hardware driver for communicating with the onboard MCU.
For Husky instructions and tutorials, please see http://wiki.ros.org/Robots/Husky
Simulator ROS packages for the Clearpath Husky.
- husky_gazebo : Gazebo plugin definitions and extensions to the robot URDF.
Husky model is customized to support the addition of other sensors such as Velodyne VLP-16, HDL-32E and UR5. In order for these sensors to be properly integrated to the simulation system, the following packages need to be installed.
- velodyne_description
- velodyne_gazebo_plugins
Both of these packages can be installed as
sudo apt-get install ros-kinetic-velodyne-simulator
Currently, in order to load either the VLP-16 or HDL-32E sensor onto the robot's sensor arch, the HUSKY_URDF_EXTRAS environment variable needs to be set to the required urdf file.
For VLP-16
export HUSKY_URDF_EXTRAS=~/ros_kinetic_ws/src/husky_simulator/husky_description/urdf/accessories/VLP-16.urdf.xacro
For HDL32-E
export HUSKY_URDF_EXTRAS=~/ros_kinetic_ws/src/husky_simulator/husky_description/urdf/accessories/HDL-32E.urdf.xacro
In order to get the UR5 simulated, the set of packages come under the universal_robot stack needs to be installed
sudo apt-get install ros-kinetic-universal-robot
For Husky instructions and tutorials, please see http://wiki.ros.org/Robots/Husky