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Version: ROS 1 Noetic

Husky Tutorials

Husky Overview​

Introduction​

Husky is a rugged, outdoor-ready unmanned ground vehicle (UGV), suitable for research and rapid prototyping applications. These tutorials will assist you with setting up and operating your Husky. The tutorial topics are listed in the right column and presented in the suggested reading order.

For more information or to receive a quote, please visit us online.

note

These tutorials assume that you are comfortable working with ROS. We recommend starting with our ROS tutorial if you are not familiar with ROS already.

note

These tutorials specifically target Husky robots running Ubuntu 20.04 with ROS Noetic, as it is the standard OS environment for Husky. If instead you have an older Husky robot running Ubuntu 18.04 with ROS Melodic, please follow this tutorial to upgrade the robot OS environment to Ubuntu 20.04 with ROS Noetic.

Husky ROS Packages provides the references for the software packages and key ROS topics.

Husky Software Setup outlines the steps for setting up the software on your Husky robot and optionally on a remote computer.

Using Husky describes how to simulate and drive your Husky. Simulation is a great way for most users to learn more about their Husky; understanding how to effectively operate Husky in simulation is valuable whether you are in the testing phase with software you intend to ultimately deploy on a physical Husky, or you do not have one and are simply exploring the platform's capabilities. Driving Husky covers how to teleoperate Husky using the remote control, as well as safety procedures for operating the physical robot. Anyone working with a physical robot should be familiar with this section.

Navigating Husky is a follow-on to what is learned in the Simulation tutorial, as navigation and map-making may be run in the simulated environment. However, this content is applicable to both the simulator and the real platform, if your Husky is equipped with a laser scanner.

Husky Tests outlines how to validate that your physical Husky is working correctly.

Advanced Topics covers items that are only required in atypical situations.

Husky ROS Packages​

Husky fully supports ROS; all of the packages are available in Husky Github.

Description Package​

The husky_description repository provides a URDF model of Husky.

Husky's URDF model can be visualized in RViz. Once you have installed the desktop software in an upcoming tutorial, you will be able to run:

roslaunch husky_viz view_model.launch
Husky model

Husky can be customized and extended through the use of several environment variables. These are summarized in the README file.

Key ROS Nodes and Topics​

Nodes​

You can use rosnode list to see all the nodes running by default on a Husky computer. The most important nodes are summarized in the following table.

NodeDescription
/husky_nodeProvides control and communication between the Husky platform and ROS. Accepts velocity commands and provides system feedback on /status
/robot_state_publisherSubscribes to /joint_states and publishes the robot's state to /tf
/bluetooth_teleopPublishes velocity commands from a joystick to /twist_mux
/twist_muxTakes in multiple sources of velocity commands, and prioritizes what actually gets sent to the controller
/ekf_localizationPart of the robot localization package, more information regarding this package can be found at http://wiki.ros.org/robot_localization

Topics​

You can view all topics that are active using rostopic list. The most important topics are summarized in the two tables below.

General Topics​
TopicMessage typeDescription
/bluetooth_teleop/joysensor_msgs/JoyReceives joystick commands, echo this topic to verify your controller is publishing
/tftf2_msgs/TFMessageTransforms between coordinate frames, this should always be publishing, and hence a good topic to echo to test your ROS connection
/statushusky_msgs/HuskyStatusDisplays system status information
/estopstd_msgs/BoolDisplays the estop status
/odometry/filterednav_msgs/OdometryThe odometry estimate of the robot from \lstinline!/ekf_localization
Motion Topics​
Motion Topicstwist_mux PriorityDescription
/husky_velocity_controller/cmd_vel-Receives motion commands from twist_mux based off their priority
/joy_teleop/cmd_vel10Joystick teleop input
/twist_marker_server/cmd_vel8Interactive marker teleop input
/move_base/cmd_vel2Autonomous movement input, for the Husky navigation packages
/cmd_vel1Miscellaneous external input

Husky Software Setup​

Backing Up Robot Configuration​

Upgrading your Clearpath Husky to ROS Noetic from older ROS distributions is a straightforward process; however it's important to understand that each Husky is different, having undergone customization to your specifications. For more complete upgrade instructions see this guide.

Please take the time to understand what these modifications are, and how to recreate them on your fresh install of Ubuntu Focal/ROS Noetic.

Performing a Backup​

  1. As a fail-safe, please make an image of your robot's hard drive. You should always be able to restore this image if you need to revert back to your previous configuration.

    • The easiest approach may be to either connect a removable (USB or similar) hard drive to the robot's computer, or to unplug the robot's hard drive and insert it into a computer or workstation.
    • You can then use a tool such as CloneZilla or dd to write a backup image of your robot's hard drive onto another hard drive.
    • Alternatively, you can simply replace the robot computer's hard drive, reserving the drive and installing a new one to use with Noetic.

  2. There are several places in the filesystem you should specifically look for customizations for your robot:

    LocationDescription
    /etc/network/interfaces or /etc/netplan/*Your robot may have a custom network configuration in this file.
    /etc/ros/*/*-core.d/*.launchWill contain base.launch and description.launch, may contain custom launch files for your robot configuration. Replaced by ros.d in newer versions.
    /etc/ros/*/ros.d/*.launchWill contain base.launch and description.launch, may contain custom launch files for your robot configuration. Replaces *-core.d in newer versions.
    /etc/ros/setup.bashMay contain environment variables for your configuration.

  3. Please save all the files listed above and use them as a reference during Noetic configuration.

Installing and Configuring Robot Software​

note

If you are upgrading your Husky from an older version of ROS, please refer to our upgrade instructions here and here.

Installing Husky Software​

note

The physical Husky robot comes pre-configured with ROS and the necessary Husky packages already installed; therefore, you will only need to follow the instructions below if you are re-installing software on the Husky.

There are three methods to install software on the physical robot.

The preferred method is using the Clearpath Robotics ISO image, which is covered in this section.

The second method is using Debian (.deb) packages, which is also covered in this section.

The final approach is installing from source by directly cloning Clearpath Robotics Github repositories and building them in your ROS (catkin) workspace; however, this method is not covered in this section.

Install from ISO Image​
caution

Installing with the Clearpath Robotics ISO image will completely wipe data on the robot's computer, since the ISO image will install Ubuntu 20.04 (Focal), ROS Noetic, and robot-specific packages.

note

The Clearpath Robotics ISO image only targets Intel-family computers (amd64 architecture). If your robot runs on an Nvidia Jetson computer, see Jetson Software for software installation details.

Clearpath provides a lightly customized installation image of Ubuntu 20.04 "Focal" that automatically pulls in all necessary dependencies for the robot software. To install the software on a physical robot through the Clearpath Robotics ISO image, you will first need a USB drive of at least 2 GB to create the installation media, an ethernet cable, a monitor, and a keyboard.

  1. Download the appropriate Noetic ISO image for your platform.

  2. Copy the image to a USB drive using unetbootin, rufus, balena etcher, or a similar program. For example:

    sudo unetbootin isofile="clearpath-universal-noetic-amd64-0.4.17.iso"

  3. Connect your robot computer to internet access (via wired Ethernet), a keyboard, and a monitor. Make sure that the robot is connected to shore power (where applicable) or that the robot's battery is fully charged.

    caution

    The next step wipes your robot's hard drive, so make sure you have that image backed up.

  4. Boot your robot computer from the USB drive and let the installer work its magic. If asked for a partitioning method choose Guided - use entire disk and set up LVM.

    note

    You may need to configure the computer's BIOS to prioritize booting from the USB drive. On most common motherboards, pressing Delete during the initial startup will open the BIOS for configuration.

  5. The setup process will be automated and may take a long time depending on the speed of your internet connection.

  6. Once the setup process is complete, the computer will turn off. Please unplug the USB drive and turn the computer back on.

  7. On first boot, the username will be administrator and the password will be clearpath. You should use the passwd utility to change the administrator account password.

  8. To set up a factory-standard robot, ensure all your peripherals are plugged in, and run the following command, which will configure a ros upstart service, that will bring up the base robot launch files on boot. The script will also detect any standard peripherals (IMU, GPS, etc.) you have installed and add them to the service.

    rosrun husky_bringup install


    sudo systemctl daemon-reload

  9. Finally, start ROS for the first time. In terminal, run:

    sudo systemctl start ros
Installing from Debian Packages​

If you are installing software on a physical robot through Debian packages, you will first need to ensure that the robot's computer is running Ubuntu 20.04 (Focal) and ROS Noetic.

  1. Before you can install the robot packages, you need to configure Ubuntu's APT package manager to add Clearpath's package server.

    1. Install the authentication key for the packages.clearpathrobotics.com repository. In terminal, run:

      wget https://packages.clearpathrobotics.com/public.key -O - | sudo apt-key add -

    2. Add the debian sources for the repository. In terminal, run:

      sudo sh -c 'echo "deb https://packages.clearpathrobotics.com/stable/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/clearpath-latest.list'

    3. Update your computer's package cache. In terminal, run:

      sudo apt-get update

  2. After the robot's computer is configured to use Clearpath's debian package repository, you can install the robot-specific packages.

    1. On a physical robot, you should only need the robot packages. In terminal, run:

      sudo apt-get install ros-noetic-husky-robot

    2. Install the robot_upstart job and configure the bringup service so that ROS will launch each time the robot starts. In terminal, run:

      rosrun husky_bringup install


      sudo systemctl daemon-reload

    3. Finally, start ROS for the first time. In terminal, run:

      sudo systemctl start ros

Testing Base Configuration​

  1. To test your configuration, start the background service with the following command:

    sudo systemctl start ros

  2. The COMM light on your Husky should go from red to green. You can check that the service has started correctly by checking the logs:

    sudo journalctl -u ros

  3. Your Husky should now be accepting commands from your joystick (see next section). The service will automatically start each time you boot your Husky's computer.

Pairing the Controller​

PS4 Controller​

To pair a PS4 controller to your robot:

  1. Ensure your controller's battery is charged.

  2. SSH into the robot. The remaining instructions below assume you are already SSH'd into the robot.

  3. Make sure the ds4drv driver is installed, and the ds4drv daemon service is active and running:

    sudo systemctl status ds4drv

  4. If ds4drv is not installed, install it by running:

    sudo apt-get install python-ds4drv

  5. Put the controller into pairing mode by pressing and holding the SHARE and PS buttons until the controller's LED light bar flashes rapidly in white.

  6. Run the controller pairing script:

    sudo ds4drv-pair

  7. In the output of the ds4drv-pair script, you should see that the controller automatically pairs via the script. The controller's LED light bar should also turn solid blue to indicate successful pairing.

Alternatively, if ds4drv-pair fails to detect the controller, you can pair the controller using bluetoothctl:

  1. Install the bluez package if it is not installed already by running:

    sudo apt-get install bluez

  2. Run the bluetoothctl command:

    sudo bluetoothctl

  3. Enter the following commands in bluetoothctl to scan and display the MAC addresses of nearby devices:

    agent on
    scan on

  4. Determine which MAC address corresponds to the controller and copy it. Then run the following commands in bluetoothctl to pair the controller:

    scan off
    pair <MAC Address>
    trust <MAC Address>
    connect <MAC Address>

  5. The controller should now be correctly paired.

Logitech F710 Controller​
caution

Logitech controllers are not considered safe, and usage should be experimental only. If your robot has bluetooth capabilities, please switch to using a PS4 controller instead.

Some Husky robots ship with a Logitech F710 controller instead of a PS4 controller. Pairing these controllers is very easy: simply plug the USB dongle into one of robot's USB ports and turn the controller on.

By default Husky will use the PS4 controller for teleoperation and ignore the F710. To enable the F710 to control the robot, run sudo nano /etc/ros/setup.bash and add the following line to the middle of the file, under the six # characters:

######
export HUSKY_LOGITECH=1

Save the file and press CTRL + X to save and quit nano. Then restart ROS by running sudo systemctl restart ros or rebooting the robot. When ROS restarts it will now use the Logitech controller as its teleoperation input device.

Setting up Husky's Network Configuration​

Husky is normally equipped with a combination Wi-Fi + Bluetooth module. If this is your first unboxing, ensure that Husky's wireless antennae are firmly screwed on to the chassis. Some Husky robots may only be equipped with a single antenna, depending on the exact model of PC installed in the robot.

First Connection​

By default, Husky's Wi-Fi is in client mode, looking for the wireless network at the Clearpath factory.

Set your laptop's ethernet port to a static IP such as 192.168.131.101. To do this in Ubuntu, follow the steps below:

  1. Click on the Wi-Fi icon in the upper-right corner of your screen, and select Edit Connections.
  2. In the Network Connections window, under Ethernet, select your wired connection and then click Edit.
  3. Select the IPv4 Settings tab and then change the Method to Manual.
  4. Click the Add button to add a new address.
  5. Enter a 192.168.131.101 as the static IP under the Address column, and enter 255.255.255.0 under the Netmask column, and then select Save.
Static IP Configuration (Ubuntu)

The next step is to connect to your robot via SSH. To do so execute the following in a terminal window:

ssh administrator@192.168.131.1

You will be promoted to enter a password. The default password is clearpath and you set a new password on first connection.

Changing the Default Password​

note

All Clearpath robots ship from the factory with their login password set to clearpath. Upon receipt of your robot we recommend changing the password.

To change the password to log into your robot, run the following command:

passwd

This will prompt you to enter the current password, followed by the new password twice. While typing the passwords in the passwd prompt there will be no visual feedback (e.g. "*" characters).

To further restrict access to your robot you can reconfigure the robot's SSH service to disallow logging in with a password and require SSH certificates to log in. This tutorial covers how to configure SSH to disable password-based login.

Wi-Fi Setup​

Now that you are connected via SSH over a wired connection using the steps above, you can set up your robot's computer (running Ubuntu 20.04) to connect to a local Wi-Fi network. (For legacy systems running Ubuntu 18.04, use wicd-curses instead.)

Clearpath robots running Ubuntu 20.04 and later use netplan for configuration of their wired and wireless interfaces. To connect your robot to your wireless network using netplan, create the file /etc/netplan/60-wireless.yaml and fill in the following:

network:
  wifis:
    # Replace WIRELESS_INTERFACE with the name of the wireless network device, e.g. wlan0 or wlp3s0
    # Fill in the SSID and PASSWORD fields as appropriate.  The password may be included as plain-text
    # or as a password hash.  To generate the hashed password, run
    #   echo -n 'WIFI_PASSWORD' | iconv -t UTF-16LE | openssl md4 -binary | xxd -p
    # If you have multiple wireless cards you may include a block for each device.
    # For more options, see https://netplan.io/reference/
    WIRELESS_INTERFACE:
      optional: true
      access-points:
        SSID_GOES_HERE:
          password: PASSWORD_GOES_HERE
      dhcp4: true
      dhcp4-overrides:
        send-hostname: true

Modify the following variables in the file:

  1. Replace WIRELESS_INTERFACE with the name of the robot's Wi-Fi interface (e.g. wlan0, wlp2s0, or wlp3s0).
  2. Replace SSID_GOES_HERE with the name of the local Wi-Fi network.
  3. Replace PASSWORD_GOES_HERE with the password of the local Wi-Fi network.

Once you are done modifying the file, save it by pressing CTRL + O, then ENTER. Close the file by pressing CTRL + X.

Then, run the following to bring up the Wi-Fi connection:

sudo netplan apply

You can validate that the connection was successful and determine the IP address of the Wi-Fi interface by running:

ip a

A list of network connections will be displayed within the terminal. Locate the wireless network and make note of its IP address.

Now that you know robot's wireless IP address, you may now exit the Ethernet SSH session by executing exit.

Remove the Ethernet cable and close up your robot. Now you can SSH into your robot over the wireless network. To do so, execute:

ssh administrator@<IP_OF_ROBOT>

SSH sessions allow you to control your robot's internal computer. You can do various things such as download packages, run updates, add/remove files, transfer files etc.

Installing Remote Computer Software​

note

This step is optional.

It is often convenient to use a Remote Computer (eg. laptop) to command and observe your robot. To do this, your Remote Computer must be configured correctly.

  1. Perform a basic ROS installation. See here for details.

  2. Install the desktop packages:

    sudo apt-get install ros-noetic-husky-desktop

  3. Configure Remote ROS Connectivity.

    Click to expand

    To use ROS desktop tools, you will need the Remote Computer to be able to connect to your robot's ROS master. This will allow you to run ROS commands like rostopic list, rostopic echo, rosnode list, and others, from the Remote Computer and the output will reflect the activity on your robot's ROS master, rather than on the Remote Computer. This can be a tricky process, but we have tried to make it as simple as possible.

    In order for the ROS tools on the Remote Computer to talk to your robot, they need to know two things:

    • How to find the ROS master, which is set in the ROS_MASTER_URI environment variable, and
    • How processes on the ROS master can find the Remote Computer, which is the ROS_IP environment variable.

    The suggested pattern is to create a file in your home directory called remote-robot.sh with the following contents:

    export ROS_MASTER_URI=http://cpr-robot-0001:11311 # Your robot's hostname
    export ROS_IP=10.25.0.102 # Your Remote Computer's wireless IP address

    If your network does not already resolve your robot's hostname to its wireless IP address, you may need to add a corresponding line to the Remote Computer's /etc/hosts file:

    10.25.0.101 cpr-robot-0001
    note

    You can verify the hostname and IP address of your robot using the following commands during an SSH session with the Onboard Computer.

    hostname
    hostname -i

    Then, when you are ready to communicate remotely with your robot, you can source that script like so, thus defining those two key environment variables in the present context.

    source remote-robot.sh

    To verify that everything is set up properly, try running a few ROS commands:

    rosrun rqt_robot_monitor rqt_robot_monitor
    rosrun rqt_console rqt_console

    You can also run the RViz commands outlined in the Tutorials.

    If the tools launch, then everything is setup properly. If you still need assistance in configuring remote access, please contact Clearpath Support. For more general details on how ROS works over TCP with multiple machines, please see: http://wiki.ros.org/ROS/Tutorials/MultipleMachines. For help troubleshooting a multiple machines connectivity issue, see: http://wiki.ros.org/ROS/NetworkSetup.

  4. From your Remote Computer, try launching RViz, the standard ROS robot visualization tool:

    roslaunch husky_viz view_robot.launch

    From within RViz, you can use interactive markers to drive your robot, you can visualize its published localization estimate and you can visualize any attached sensors which have been added to its robot description XML URDF.

Customizing Husky Configuration​

note

These tutorials assume that you are familiar with ROS and the catkin build system. Please familiarize yourself using the ROS and catkin tutorials.

If upgrading from a prior ROS release, you should now re-examine your backed-up files from Performing a Backup to determine if there's any customizations that need to be configured on your platform.

Environment Variables​

Husky can be customized and extended through the use of several environment variables. These are summarized in the README file.

Adding a Source Workspace​

Configuring non-standard peripherals requires a source workspace on the robot computer.

tip

The instructions below use cpr_noetic_ws as the workspace name. You can choose a different workspace name and substitute it in the commands below.

  1. Create a new workspace:

    mkdir -p ~/cpr_noetic_ws/src

  2. Add any custom source packages to the ~/cpr_noetic_ws/src directory.

  3. After adding your packages, make sure any necessary dependencies are installed:

    cd ~/cpr_noetic_ws/
    rosdep install --from-paths src --ignore-src --rosdistro noetic -y

  4. Build the workspace:

    cd ~/cpr_noetic_ws/
    catkin_make

  5. Modify your robot-wide setup file (/etc/ros/setup.bash) to source your new workspace instead of the base noetic install:

    source /home/administrator/cpr_noetic_ws/devel/setup.bash

  6. Reinitialize your environment so that it picks up your new workspace:

    source /etc/ros/setup.bash

Using Husky​

Simulating Husky​

Whether you actually have a Husky robot or not, the Husky simulator is a great way to get started with ROS robot development. In this tutorial, we will go through the basics of starting Gazebo and RViz and how to drive your Husky around.

Installation​

To get started with the Husky simulation, make sure you have a working ROS installation set up on your Ubuntu desktop, and install the Husky-specific metapackages for desktop and simulation:

sudo apt-get install ros-noetic-husky-simulator ros-noetic-husky-desktop

Launching Gazebo​

Gazebo is the most common simulation tool used in ROS. Husky's model in Gazebo include reasonable approximations of its dynamics, including wheel slippage, skidding, and inertia. To launch simulated Husky in a simple example world, run the following command:

roslaunch husky_gazebo husky_playpen.launch

You should see the following window appear, or something like it.

note

You can adjust the camera angle by clicking and dragging while holding CTRL, ALT, or the Shift key.

Simulated Husky in the Play Pen
note

To stop the simulation, close the Gazebo window, and then CTRL-C out of the terminal process.

The window which you are looking at is the Gazebo Client. This window shows you the "true" state of the simulated world which the robot exists in. It communicates on the backend with the Gazebo Server, which is doing the heavy lifting of actually maintaining the simulated world. At the moment, you're running both the client and server locally on your own machine, but some advanced users may choose to run heavy duty simulations on separate hardware and connect to them over the network.

Note that like Husky itself, Husky can be customized for simulations. For example, to add a front laser, stop the previous simulation, enable the appropriate environment variable (see here for options) and re-launch the simulation.

export HUSKY_LMS1XX_ENABLED='1'
roslaunch husky_gazebo husky_playpen.launch

You should now see the simulator running with the simulated SICK LMS-111 laser present:

Simulated Husky in the Race World with SICK LMS-111

Gazebo not only simulates the physical presence of the laser scanner, it also provides simulated data which reflects the robot's surroundings in its simulated world. We will visualize the simulated laser scanner data shortly.

note

See also Additional Simulation Worlds.

Customizing Husky's Payload​

To customize Husky's payload you must use the environment variables described in here. For example, to equip Husky with a Sick LMS-1xx lidar, as pictured in several of the images above, run

export HUSKY_LMS1XX_ENABLED=1

before launching the simulation world.

You can also add additional sensors by creating a customized URDF and setting the HUSKY_URDF_EXTRAS environment variable to point to it.

For example, let's suppose you want to equip Husky with an Intel RealSense D435 camera. First, install the realsense2_camera and realsense2_description packages, along with the gazebo plugins:

sudo apt-get install ros-$ROS_DISTRO-realsense2-camera ros-$ROS_DISTRO-realsense2-description ros-$ROS_DISTRO-gazebo-plugins

Then create your customized URDF file, for example $HOME/Desktop/realsense.urdf.xacro. Put the following in it:

<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">

  <link name="front_realsense" />

  <!--
    The gazebo plugin aligns the depth data with the Z axis, with X=left and Y=up
    ROS expects the depth data along the X axis, with Y=left and Z=up
    This link only exists to give the gazebo plugin the correctly-oriented frame
  -->
  <link name="front_realsense_gazebo" />
  <joint name="front_realsense_gazebo_joint" type="fixed">
    <parent link="front_realsense"/>
    <child link="front_realsense_gazebo"/>
    <origin xyz="0.0 0 0" rpy="-1.5707963267948966 0 -1.5707963267948966"/>
  </joint>

  <gazebo reference="front_realsense">
    <turnGravityOff>true</turnGravityOff>
    <sensor type="depth" name="front_realsense_depth">
      <update_rate>30</update_rate>
      <camera>
        <!-- 75x65 degree FOV for the depth sensor -->
        <horizontal_fov>1.5184351666666667</horizontal_fov>
        <vertical_fov>1.0122901111111111</vertical_fov>

        <image>
          <width>640</width>
          <height>480</height>
          <format>RGB8</format>
        </image>
        <clip>
          <!-- give the colour sensor a maximum range of 50m so that the simulation renders nicely -->
          <near>0.01</near>
          <far>50.0</far>
        </clip>
      </camera>
      <plugin name="kinect_controller" filename="libgazebo_ros_openni_kinect.so">
        <baseline>0.2</baseline>
        <alwaysOn>true</alwaysOn>
        <updateRate>30</updateRate>
        <cameraName>realsense</cameraName>
        <imageTopicName>color/image_raw</imageTopicName>
        <cameraInfoTopicName>color/camera_info</cameraInfoTopicName>
        <depthImageTopicName>depth/image_rect_raw</depthImageTopicName>
        <depthImageInfoTopicName>depth/camera_info</depthImageInfoTopicName>
        <pointCloudTopicName>depth/color/points</pointCloudTopicName>
        <frameName>front_realsense_gazebo</frameName>
        <pointCloudCutoff>0.105</pointCloudCutoff>
        <pointCloudCutoffMax>8.0</pointCloudCutoffMax>
        <distortionK1>0.00000001</distortionK1>
        <distortionK2>0.00000001</distortionK2>
        <distortionK3>0.00000001</distortionK3>
        <distortionT1>0.00000001</distortionT1>
        <distortionT2>0.00000001</distortionT2>
        <CxPrime>0</CxPrime>
        <Cx>0</Cx>
        <Cy>0</Cy>
        <focalLength>0</focalLength>
        <hackBaseline>0</hackBaseline>
      </plugin>
    </sensor>
  </gazebo>

  <link name="front_realsense_lens">
    <visual>
      <origin xyz="0.02 0 0" rpy="${pi/2} 0 ${pi/2}" />
      <geometry>
        <mesh filename="package://realsense2_description/meshes/d435.dae" />
      </geometry>
      <material name="white" />
    </visual>
  </link>

  <joint type="fixed" name="front_realsense_lens_joint">
    <!-- Offset the camera 2cm backwards and 1cm up -->
    <origin xyz="-0.02 0 0.01" rpy="0 0 0" />
    <parent link="top_plate_front_link" />
    <child link="front_realsense_lens" />
  </joint>
  <joint type="fixed" name="front_realsense_joint">
    <origin xyz="0.025 0 0" rpy="0 0 0" />
    <parent link="front_realsense_lens" />
    <child link="front_realsense" />
  </joint>
</robot>

This file defines the additional links for adding a RealSense camera to the robot, as well as configuring the openni_kinect plugin for Gazebo to simulate data from a depth camera. The camera itself will be connected to the Husky's top_plate_front_link link. This places the camera at the very front edge of the robot's top cover-plate.

Now, set the HUSKY_URDF_EXTRAS environment variable and try viewing the Husky model:

export HUSKY_URDF_EXTRAS=$HOME/Desktop/realsense.urdf.xacro
roslaunch husky_viz view_model.launch

You should see the Husky model in RViz, with the RealSense camera mounted to it:

Husky with a RealSense D435 connected to it

To launch the customized Husky in any of the new simulation environments, similarly run:

export HUSKY_URDF_EXTRAS=$HOME/Desktop/realsense.urdf.xacro
roslaunch cpr_office_gazebo office_world.launch platform:=husky

You should see Husky spawn in the office world with the RealSense camera:

Husky with a RealSense D435 connected to it in Office World

You can view the sensor data from the RealSense camera by running

roslaunch husky_viz view_robot.launch

and adding the camera and pointcloud from the /realsense/color/image_raw and /realsense/depth/color/points topics:

Husky with a RealSense in RViz showing pointcloud and RGB topics

Interfacing with Husky​

Both simulated and real Husky robots expose the same ROS interface, and can be interacted with in the same way.

note

Please make sure that the desktop packages for Husky are installed:

sudo apt-get install ros-noetic-husky-desktop

Visualization​

You may start a preconfigured RViz instance using the following command:

roslaunch husky_viz view_robot.launch

Control​

There are three ways to send your Husky control commands:

  1. Using the provided PS4 or Logitech controller. Refer to the User Manual details on how to use the controller.

  2. Using the RViz instance above. If you select the Interact option in the top toolbar, an interactive marker will appear around the Husky and can be used to control speed.

  3. The rqt_robot_steering plugin. Run the rqt command, and select Plugins→Robot Tools→Robot Steering from the top menu.

Husky uses twist_mux to mix four separate geometry_msgs\Twist control channels into the husky_velocity_controller/cmd_vel topic. See Motion Topics for the priority levels for the different inputs.

Additional velocity channels can be defined in twist_mux.yaml, or can be piped into the lowest-priority cmd_vel topic.

Odometry​

Husky publishes odometry information on the odometry/filtered topic, as nav_msgs/Odometry messages. These are generated by ekf_localization_node, which processes data from several sensor sources using an Extended Kalman filter (EKF). This includes data from the wheel encoders and IMU (if available).

TopicSourcesDescription
husky_velocity_controller/odomhusky_nodeReceives motion commands from twist_mux based off their priority
imu/dataimu_filter_madgwickJoystick teleop input
odometry/filteredekf_localization_nodeInteractive marker teleop input

Additional odometry information sources can be added to the EKF in localization.yaml.

Diagnostics​

note

Diagnostics are only applicable to real Husky robots, not simulation.

Husky provides hardware and software system diagnostics on the ROS standard /diagnostics topic. The best way to view these messages is using the rqt_runtime_monitor plugin. Run the rqt command, and select Plugins→Robot Tools→Runtime Monitor from the top menu.

The same information is also published as a husky_msgs\HuskyStatus message on the status topic.

Driving Husky​

There are four ways to drive Husky and each way will work on a physical Husky robot as well as on a simulated Husky.

  1. Using the interactive remote controller in RViz. See Simulating Husky.
  2. Using autonomous navigation. See Navigating Husky.
  3. Using the controller for teleoperation. See below.
  4. Publishing ROS messages. See below.
warning

Husky is a heavy, robot capable of reaching high speeds. Careless driving can cause harm to the operator, bystanders, the robot, or other property. Always remain vigilant, ensure you have a clear line of sight to the robot, and operate the robot at safe speeds.

Driving with Remote Controller​

note

For instructions on controller pairing, Pairing the Controller.

caution

When familiarizing yourself with your robot's operation, always hold the left button (L1/LB). Once you are comfortable with how it operates and you are in a large area with plenty of open room, then you can use R1/RB to enable turbo mode.

Differential Drive Robots (Husky, Jackal, Dingo-D, Warthog, Boxer)​

To drive your differential drive robot, Axis 0 controls the robot's steering, Axis 1 controls the forward/backward velocity, Button 4 acts as enable, and Button 5 acts as enable-turbo. On common controllers these correspond to the following physical controls:

Axis/ButtonPhysical InputPS4F710Xbox OneAction
Axis 0Left thumb stick verticalLJLJLJDrive forward/backward
Axis 1Left thumb stick horizontalLJLJLJRotate/turn
Button 4Left shoulder button or triggerL1LBLBEnable normal speed
Button 5Right shoulder button or triggerR1RBRBEnable turbo speed
note

You must hold either Button 4 or Button 5 at all times to drive the robot.

Omnidirectional Robots (Dingo-O, Ridgeback)​

To drive your omnidirectional robot, Axis 0 controls the robot's steering, Axis 1 controls the robot's left/right translation, and Axis 2 controls the forward/backward velocity. Button 4 acts as enable, and Button 5 acts as enable-turbo. On common controllers these correspond to the following physical controls:

Axis/ButtonPhysical InputPS4F710Xbox OneAction
Axis 0Left thumb stick verticalLJLJLJDrive forward/backward
Axis 1Left thumb stick horizontalLJLJLJTranslate left/right
Axis 2Right thumb stick horizontalRJRJRJRotate/turn
Button 4Left shoulder button or triggerL1LBLBEnable normal speed
Button 5Right shoulder button or triggerR1RBRBEnable turbo speed (Dingo-O only; not supported on Ridgeback)
note

You must hold either Button 4 or Button 5 at all times to drive the robot.

Using Remote Control with Gazebo​
note

You can also use a remote controller to drive your robot in Gazebo. To set up your computer for teleop using the remote controller follow these steps:

  1. Connect the controller to your PC.

  2. Set the HUSKY_JOY_DEVICE environment variable to point to your game controller device Normally this will be /dev/input/js0.

  3. Launch Gazebo as described in Simulation.

Driving with ROS Messages​

You can manually publish geometry_msgs/Twist ROS messages to either the /husky_velocity_controller/cmd_vel or the /cmd_vel ROS topics to drive Husky.

For example, in terminal, run:

rostopic pub /husky_velocity_controller/cmd_vel geometry_msgs/Twist '{linear: {x: 0.5, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}'

The command above makes Husky drive forward momentarily at 0.5 m/s without any rotation. To have Husky move forward continually, add -r 10 to the end of the command above.

Using rqt_graph​

We can also see the structure of how topics are passed around the system. Leave the publishing window running from the example above (using the -r 10 option), then open a second terminal window and run:

rosrun rqt_graph rqt_graph

This command generates a representation of how the nodes and topics running on the current ROS Master are related. You should get something similar to the following:

rqt_graph snapshot

The highlighted node and arrow show the topic that you are publishing to the simulated Husky. This Husky then goes on to update the gazebo virtual environment, which takes care of movement of the joints (wheels) and the physics of the robot. The rqt_graph command is very handy to use, when you are unsure who is publishing to what in ROS. Once you figure out what topic you are interested in, you can see the content of the topic using rostopic echo.

Using tf​

In ROS, tf is a special topic that keeps track of coordinate frames, and how they relate to each other. The simulated Husky starts at (0,0,0) in the world coordinate frame. When the Husky moves, its own coordinate frame changes. Each wheel has a coordinate frame that tracks how it is rotating, and where it is. Generally, anything on the robot that is not fixed in space, will have a tf describing it. In the rqt_graph section above, you can see that the /tf topic is published to and subscribed from by many different nodes.

One intuitive way to see how the tf topic is structured for a robot is to use the view_frames tool provided by ROS. Open a terminal window and run:

rosrun tf view_frames

Wait for this to complete, and then run:

evince frames.pdf

This will bring up something similar to the following image.

tf frames snapshot

Here we can see that all four wheel are referenced to the base_link. We also see that the odom topic is driving the reference of the whole robot. This means that if you write to the odom topic, such as when you publish to the /cmd_vel topic, then the whole robot will move.

Keeping Husky Updated​

For details on updating Husky software or firmware, refer to Software Maintenance.

There are several options for autonomous navigation for Husky. These are outlined in the sections that follow.

Husky Move Base Demo​

This tutorial shows you how to use move_base to perform basic autonomous planning and movement on a simulated Husky, or a factory-standard Husky with a laser scanner publishing on the /front/scan topic.

To adapt this demo to your own Husky, you may need to clone the husky_navigation repository, and modify the relevant parameters. To learn about move_base and the navigation stack, see the ROS Navigation Tutorials.

Instructions:

  1. Ensure that the Husky navigation demo package is installed:

    sudo apt-get install ros-noetic-husky-navigation

  2. Open window #1 and start the Clearpath-configured Husky simulation environment:

    roslaunch husky_gazebo husky_playpen.launch

  3. Open window #2 and start the Clearpath-configured RViz visualizer:

    roslaunch husky_viz view_robot.launch

  4. Open window #3 and start the move_base demo:

    roslaunch husky_navigation move_base_mapless_demo.launch

  5. In the RViz visualizer, make sure the visualizers in the Navigation group are enabled.

  6. Use the 2D Nav Goal tool in the top toolbar to select a movement goal in the visualizer. Make sure to select an unoccupied (dark grey) or unexplored (light grey) location.

  7. Note that in this example, the robot has no absolute localization source, and the position estimate will drift relative to the world. See the next tutorial for a demo with localization.

Husky AMCL Demo​

This tutorial shows you how to use move_base with amcl to perform autonomous planning and movement with localization on a simulated Husky, or a factory-standard Husky with a laser scanner publishing on the /front/scan topic.

To adapt this demo to your own Husky, you may need to clone the husky_navigation repository, and modify the relevant parameters. To learn about move_base, amcl, and the navigation stack, see the ROS Navigation Tutorials.

Instructions:

  1. Ensure that the Husky navigation demo package is installed:

    sudo apt-get install ros-noetic-husky-navigation

  2. Open window #1 and start the Clearpath-configured Husky simulation environment:

    export HUSKY_LMS1XX_ENABLED=1; roslaunch husky_gazebo husky_playpen.launch

  3. Open window #2 and start the Clearpath-configured RViz visualizer:

    roslaunch husky_viz view_robot.launch

  4. Open window #3 and start the move_base demo:

    roslaunch husky_navigation amcl_demo.launch

  5. In the RViz visualizer, make sure the visualizers in the Navigation group are enabled.

  6. Use the 2D Pose Estimate tool in the top toolbar to give amcl an initial pose estimate. Without an initial estimate, the Monte Carlo localization approach is unlikely to converge the correct pose.

  7. Use the 2D Nav Goal tool in the top toolbar to select a movement goal in the visualizer. Make sure to select an unoccupied (dark grey) or unexplored (light grey) location.

  8. Note that in this example, the robot uses data from the laser scanner to correct the fused odometry estimate, and mitigate drift. The amcl node uses a pregenerated map of this environment to compare against incoming scans. See the next tutorial for a demo with localization and mapping.

Husky Gmapping Demo​

This tutorial shows you how to use move_base with gmapping to perform autonomous planning and movement with simultaneous localization and mapping (SLAM), on a simulated Husky, or a factory-standard Husky with a laser scanner publishing on the /front/scan topic.

To adapt this demo to your own Husky, you may need to clone the husky_navigation repository, and modify the relevant parameters. To learn about move_base, gmapping, and the navigation stack, see the ROS Navigation Tutorials.

Instructions:

  1. Ensure that the Husky navigation demo package is installed:

    sudo apt-get install ros-noetic-husky-navigation

  2. Open window #1 and start the Clearpath-configured Husky simulation environment:

    export HUSKY_LMS1XX_ENABLED=1; roslaunch husky_gazebo husky_playpen.launch

  3. Open window #2 and start the Clearpath-configured RViz visualizer:

    roslaunch husky_viz view_robot.launch

  4. Open window #3 and start the move_base demo:

    roslaunch husky_navigation gmapping_demo.launch

  5. In the RViz visualizer, make sure the visualizers in the Navigation group are enabled.

  6. Use the 2D Nav Goal tool in the top toolbar to select a movement goal in the visualizer. Make sure to select an unoccupied (dark grey) or unexplored (light grey) location.

  7. As the robot moves, you should see the grey static map (map topic) grow. Occasionally, the Gmapping algorithm will relocalize the robot, causing a discrete jump in the map→odom transform.

  8. To save the generated map, you can run the map_saver utility:

    rosrun map_server map_saver -f <filename>

Husky Frontier Exploration Demo​

caution

The frontier_exploration package is no longer officially supported in ROS Noetic. These instructions require building the package from source. Because the package is no longer officially supported support for any issues you encounter will be limited.

This tutorial shows you how to use move_base with gmapping and frontier_exploration to perform autonomous planning movement, and exploration with simultaneous localization and mapping (SLAM), on a simulated Husky, or a factory-standard Husky with a laser scanner publishing on the /front/scan topic.

To adapt this demo to your own Husky, you may need to clone the husky_navigation repository, and modify the relevant parameters. To learn about move_base, gmapping, frontier_exploration and the navigation stack, see the ROS Navigation Tutorials.

Preparation​

First, you must build the frontier_exploration package from source. Create a catkin workspace and cd into it (or cd into an existing workspace if you already have one) and clone the code from GitHub:

cd ~/catkin_ws/src
git clone https://github.com/paulbovbel/frontier_exploration.git

Install any additional dependencies:

cd ~/catkin_ws
rosdep install --from-paths src --ignore-src -r -y

Then make the exploration_msgs package:

catkin_make --pkg exploration_msgs

Once that package is built, source your workspace and build the rest of the package:

source devel/setup.bash
catkin_make

Make sure you have the husky_navigation package installed by running

sudo apt-get install ros-noetic-husky-navigation

Because frontier_exploration is not officially supported by ROS Noetic you will need to modify the following launch files inside the husky_navigation package:

  • launch/exploration.launch
  • launch/exploration_demo.launch

Remove the commented-out sections so that the files look like this:

exploration.launch:

<launch>

  <node pkg="frontier_exploration" type="explore_client" name="explore_client" output="screen"/>
  <node pkg="frontier_exploration" type="explore_server" name="explore_server" output="screen">
    <param name="frequency" value="1.0"/>

    <!-- Should be less than sensor range -->
    <param name="goal_aliasing" value="2.0"/>
    <rosparam file="$(find husky_navigation)/config/costmap_common.yaml" command="load" ns="explore_costmap" />
    <rosparam file="$(find husky_navigation)/config/costmap_exploration.yaml" command="load" ns="explore_costmap" />
  </node>
</launch>

exploration_demo.launch:

<launch>
  <!--- Run gmapping -->
  <include file="$(find husky_navigation)/launch/gmapping.launch" />

  <!--- Run Move Base -->
  <include file="$(find husky_navigation)/launch/move_base.launch" />

  <!-- Run Frontier Exploration -->
  <include file="$(find husky_navigation)/launch/exploration.launch" />
</launch>

Running the demo​

note

In each terminal window, make sure to source the catkin workspace where you built frontier_exploration.

  1. Ensure that the Husky navigation demo package is installed:

    sudo apt-get install ros-noetic-husky-navigation

  2. Open window #1 and start the Clearpath-configured Husky simulation environment:

    export HUSKY_LMS1XX_ENABLED=1; roslaunch husky_gazebo husky_playpen.launch

  3. Open window #2 and start the Clearpath-configured RViz visualizer:

    roslaunch husky_viz view_robot.launch

  4. Open window #3 and start the move_base demo:

    roslaunch husky_navigation exploration_demo.launch

  5. In the RViz visualizer, make sure the visualizers in the Navigation group are enabled.

  6. Use the Point tool in the top toolbar to draw a closed polygon on the map that the Husky should explore. Watch the terminal window for instructions.

  7. As the robot moves, you should see the grey static map (map topic) grow. Occasionally, the Gmapping algorithm will relocalize the robot, causing a discrete jump in the map→odom transform.

  8. When the exploration goal is complete, you will see a feedback message in the terminal window. You can now issue a new exploration goal if you wish.

  9. To save the generated map, you can run the map_saver utility:

    rosrun map_server map_saver -f <filename>

Testing Husky​

Husky robots come preinstalled with a set of test scripts as part of the husky_tests ROS package, which can be run to verify robot functionality at the component and system levels.

If your Husky does not have the husky_tests ROS package installed already, you can manually install it by opening terminal and running:

sudo apt-get install ros-noetic-husky-tests

Running ROS Tests​

The ros_tests script exposes a set of interactive tests to verify the functionality of core features. These tests run at the ROS-level via ROS topics, and serve as a useful robot-level diagnostic tool for identifying the root cause of problems, or at the very least, narrowing down on where the root cause(s) may be.

To run ros_tests on a Husky robot, open terminal and run:

rosrun husky_tests ros_tests

Upon running ros_tests, a list of available tests will be shown in a menu. From the menu, you can choose individual tests to run, or simply choose the option to automatically run all the tests.

The details of each test are shown below.

  • Motion Stop Test

    Checks that the robot's motion-stop is working properly.

    This test subscribes to the /status ROS topic and checks that when the motion-stop is manually engaged by the user, the motion-stop state is correctly reported on the /status ROS topic.

  • ADC Test

    Checks that the robot's voltage and current values across its internal hardware components are within expected tolerances.

    This test subscribes to the /status ROS topic and checks that the voltage and current values across the internal hardware are within expected tolerances.

  • Rotate Test (Optional test; only applies to Husky's with an IMU)

    Rotates the robot counter clockwise 2 full revolutions and checks that the motors, IMU, and EKF odometry are working properly.

    This test:

    • Subscribes to the /imu/data ROS topic to receive angular velocity measurements from the IMU's Gyroscope. These measurements are converted into angular displacement estimations, and the robot will rotate until 2 full revolutions are estimated.
    • Subscribes to the /odometry/filtered ROS topic to receive angular velocity estimations from the EKF odometry. These measurements are converted into angular displacement estimations, and are output as comparison to the angular displacement estimations from the IMU's Gyroscope.
    • Publishes to the /cmd_vel ROS topic to send drive commands to rotate the robot.
    • The user will be asked to verify that the robot rotates 2 full revolutions.
    note

    The Rotate Test rotates the robot using the IMU's Gyroscope data, which inherently will not be 100% accurate. Therefore, some undershoot/overshoot is to be expected.

  • Drive Test

    Drives the robot forward 1 metre and checks that the motors, encoders, and encoder-fused odometry are working properly.

    This test:

    • Subscribes to the /husky_velocity_controller/odom ROS topic to receive linear displacement estimations from the encoder-fused odometry. The robot will drive forward until 1 metre is estimated.
    • Subscribes to the /joint_state ROS topic to receive linear displacement measurements from individual the encoders. These measurements are output as comparison to the linear displacement estimations from the encoder-fused odometry.
    • Publishes to the /cmd_vel ROS topic to send drive commands to drive the robot.
    • The user will be asked to verify that the robot drives forward 1 metre.
    note

    The Drive Test drives the robot using the Odometry data, which inherently will not be 100% accurate. Therefore, some undershoot/overshoot is to be expected.

Advanced Topics​

Calibrating the Magnetometer (UM6 IMU only)​

warning

Husky will rotate autonomously during calibration. Make sure all external cables are unplugged, and Husky has unobstructed room to move in a 1 metre radius.

If your Husky has a UM6 IMU installed, you must calibrate the magnetometer for magnetic deviation before it will be used for pose estimation.

  1. Make sure the ros service is running.

  2. Execute the calibration script on the Husky computer remotely via SSH:

    rosrun husky_bringup calibrate_compass

  3. Follow the onscreen instructions. To drive Husky using the included game controller, you must hold down either the left or right shoulder buttons (L1 or R2 on a PS4 controller, LB or RB on the Logitech F710). Holding the left button will enable normal operation while holding the right button will enable turbo speed.

warning

When familiarizing yourself with Husky operation, always hold the left button (L1). Once you are comfortable with how Husky operates, and you are in a large area with plenty of open room, then you can use the right button (R1) to enable turbo mode.

With either shoulder button held down, and the controller turned on and properly paired, you can use the left joystick on the controller to drive the robot. The vertical axis controls the robot's forward/backward speed and the horizontal axis controls the robot's rotation.

Configuring the Network Bridge​

Your computer is configured to bridge its physical network ports together. This allows any network port to be used as a connection to the internal 192.168.131.1/24 network for connecting sensors, diagnostic equipment, or manipulators, or for connecting the your robot to the internet for the purposes of installing updates.

In the unlikely event you must modify your robot's Ethernet bridge, you can do so by editing the configuration file found at /etc/netplan/50-clearpath-bridge.yaml:

# Configure the wired ports to form a single bridge
# We assume wired ports are en* or eth*
# This host will have address 192.168.131.1

network:
version: 2
renderer: networkd
ethernets:
bridge_eth:
  dhcp4: no
  dhcp6: no
  match:
    name: eth*
bridge_en:
  dhcp4: no
  dhcp6: no
  match:
    name: en*
bridges:
br0:
  dhcp4: yes
  dhcp6: no
  interfaces: [bridge_en, bridge_eth]
  addresses:
    - 192.168.131.1/24

This file will create a bridged interface called br0 that will have a static address of 192.168.131.1, but will also be able to accept a DHCP lease when connected to a wired router. By default, all network ports named en* and eth* are added to the bridge. This includes all common wired port names, such as: eth0, eno1, enx0123456789ab, enp3s0, etc.

To include/exclude additional ports from the bridge, edit the match fields, or add additional bridge_* sections with their own match fields, and add those interfaces to the interfaces: [bridge_en, bridge_eth] line near the bottom of the file.

We do not recommend changing the static address of the bridge to be anything other than 192.168.131.1; changing this may cause sensors that communicate over Ethernet (e.g. lidars, cameras, GPS arrays) from working properly.

note

See also Network IP Addresses for common IP addresses on Clearpath robots.

Jetson Installation​

Refer to the Jetson page for details on installing a Jetson in Husky.

Additional Simulation Worlds​

In addtion to the default husky_playpen.launch file, husky_gazebo contains two additional launch files of use:

  • empty_world.launch, which spawns Husky in a featureless, infinite plane; and
  • spawn_husky.launch, which is intended to be included in any custom world to add a Husky simulation to it.

To add a Husky to any of your own worlds, simply include the spawn_husky.launch file in your own world's launch:

<include file="$(find husky_gazebo)/launch/spawn_husky.launch">
  <!-- Optionally configure the spawn position -->
  <arg name="x" value="$(arg x)"/>
  <arg name="y" value="$(arg y)"/>
  <arg name="z" value="$(arg z)"/>
  <arg name="yaw" value="$(arg yaw)"/>
</include>

Finally, Clearpath provides an additional suite of simulation environments that can be downloaded separately and used with Husky, as described below.

Clearpath Gazebo Worlds​

The Clearpath Gazebo Worlds collection contains four different simulation worlds, representative of different environments our robots are designed to operate in:

  • Inspection World: a hilly outdoor world with water and a cave
  • Agriculture World: a flat outdoor world with a barn, fences, and solar farm
  • Office World: a flat indoor world with enclosed rooms and furniture
  • Construction World: office world, under construction with small piles of debris and partial walls

Husky is supported in all four environments.

Installation​

To download the Clearpath Gazebo Worlds, clone the repository from GitHub into the same workspace as your Husky:

cd ~/catkin_ws/src
git clone https://github.com/clearpathrobotics/cpr_gazebo.git

Before you can build the package, make sure to install dependencies. Because Clearpath Gazebo Worlds depends on all of our robots' simulation packages, and some of these are currently only available as source code, installing dependencies with rosdep install --from-paths [...] will likely fail.

All four simulation environments need the gazebo_ros package. The Inspection World also needs the uuv_gazebo_worlds package, which can be installed by running:

sudo apt-get install ros-$ROS_DISTRO-uuv-gazebo-worlds

Once the dependencies are installed, you can build the package:

cd ~/catkin_ws
catkin_make
source devel/setup.bash

Running the Inspection Simulation​

Inspection World is a hilly, outdoor world that includes a water feature, bridge, pipeline, small cave/mine, and a small solar farm. It is intended to simulate a variety of missions, including pipeline inspection, cave/underground navigation, and localization on non-planar terrain.

Husky driving over the bridge in the inspection world

To launch the inspection simulation, run

roslaunch cpr_inspection_gazebo inspection_world.launch platform:=husky

To customize Husky's payload, for example to add additional sensors, see here.

Once the simulation is running you can use RViz and other tools as described in the Gmapping and AMCL demos to control and monitor the robot.

For example, below we can see Husky exploring the cave:

Husky exploring the cave

Husky's perception of the inside of the cave as a 3D pointcloud in RViz:

Husky in RViz exploring the cave

You can see the complete layout of the Inspection World below:

Inspection World

Running the Agriculture Simulation​

Agriculture World is a flat, mixed indoor/outdoor world that include a large barn, open fields surrounded by fences, and a large solar farm. It is intended to simulate missions such as solar panel inspection and area coverage.

Husky in the Agriculture World

To launch the agriculture simulation, run

roslaunch cpr_agriculture_gazebo agriculture_world.launch platform:=husky

To customize Husky's payload, for example to add additional sensors, see here.

Once the simulation is running you can use RViz and other tools as described in the Gmapping and AMCL demos to control and monitor the robot.

Agriculture World

Running the Office Simulation​

Office World is a small indoor environment representing a commercial office space. It features several large, open areas with furniture, as well as a narrow hallway with smaller offices and meeting rooms. It is intended to simulate missions in commercial spaces, such as facilitating deliveries, security monitoring, and inspecting equipment.

Husky in the Office World

To launch Office World with a Husky, run the following command:

roslaunch cpr_office_gazebo office_world.launch platform:=husky

To customize Husky's payload, for example to add additional sensors, see here.

Once the simulation is running you can use RViz and other tools as described in the Gmapping and AMCL demos to control and monitor the robot. For example, below we can see the gmapping_demo from husky_navigation being used to build a map of the Office World:

Husky building a map of the office with Gmapping

You can see the complete layout of the office world below:

Office World

Running the Construction Simulation​

Construction World is the same basic layout as Office World, representing the same office space under construction/renovation. It is an indoor environment with small hills of debris/rubble, partial walls, and piles of construction supplies. It is designed to simulate missions in any sort of construction site.

Husky in the Construction World

To launch Construction World with a Husky, run the following command:

roslaunch cpr_office_gazebo office_construction_world.launch platform:=husky

To customize Husky's payload, for example to add additional sensors, see here.

Once the simulation is running you can use RViz and other tools as described in the Gmapping and AMCL demos to control and monitor the robot.

You can see the complete layout of the office below:

The layout of Construction World

Support​

Clearpath is committed to your success. Please get in touch with us and we will do our best to get you rolling again quickly: <support@clearpathrobotics.com>.

To get in touch with a salesperson regarding Clearpath Robotics products, please email <research-sales@clearpathrobotics.com>.

If you have an issue that is specifically about ROS and is something which may be of interest to the broader community, consider asking it on Robotics Stack Exchange. If you do not get a satisfactory response, please ping us and include a link to your question as posted there. If appropriate, we will answer on Robotics Stack Exchange for the benefit of the community.

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