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Version: ROS 2 Humble

Extras

Despite all current customization options, we still would like our users to be able to add-in their existing custom URDF to the robot platform URDF and pass in and overwrite parameters to all platform nodes. Extras have the following entries:

  • urdf:
    • package: name of the ROS 2 package that contains the extras URDF (optional).
    • path: relative path within the package or absolute path to robot extras URDF
  • ros_parameters: in YAML to pass in parameters to platform nodes. This is useful to change parameters such as the robot's velocity and acceleration.
extras:
  urdf:
    package: package_name
    path: relative/path/to/urdf/in/package.urdf.xacro # or can contain /absolute/path/to/urdf.urdf.xacro
  launch:
    package: package_name
    path: relative/path/to/launch/in/package.launch.py
  ros_parameters: {} # node parameters, see below
note

Remember, absolute paths start with / and relative paths do not.

ROS Parameters​

A common use case is to set and update the parameters to the platform_velocity_controller node. These can be used to modify the linear and angular velocity and acceleratation.

These can be passed in as follows:

A200 Husky Controller Defaults:

platform:
  extras:
    ros_parameters:
      platform_velocity_controller:
        wheel_radius: 0.1651
        linear.x.max_velocity: 1.0
        linear.x.min_velocity: -1.0
        linear.x.max_acceleration: 3.0
        linear.x.min_acceleration: -3.0
        angular.z.max_velocity: 2.0
        angular.z.min_velocity: -2.0
        angular.z.max_acceleration: 6.0
        angular.z.min_acceleration: -6.0
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