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Package Summary
Released
Documented
The husky_base package
- Maintainer: Mike Purvis <mpurvis AT clearpathrobotics DOT com>
- Author:
- License: BSD
- Source: git https://github.com/husky/husky_base.git (branch: hydro-devel)
husky_robot: husky_base | husky_bringup
Package Summary
Released
Documented
Clearpath Husky robot driver
- Maintainer status: maintained
- Maintainer: Paul Bovbel <pbovbel AT clearpathrobotics DOT com>
- Author: Mike Purvis <mpurvis AT clearpathrobotics DOT com>, Paul Bovbel <pbovbel AT clearpathrobotics DOT com>
- License: BSD
- Bug / feature tracker: https://github.com/husky/husky_robot/issues
- Source: git https://github.com/husky/husky_robot.git (branch: indigo-devel)
husky_robot: husky_base | husky_bringup
Package Summary
Released
Documented
Clearpath Husky robot driver
- Maintainer status: maintained
- Maintainer: Paul Bovbel <paul AT bovbel DOT com>, Tony Baltovski <tbaltovski AT clearpathrobotics DOT com>
- Author: Mike Purvis <mpurvis AT clearpathrobotics DOT com>, Paul Bovbel <paul AT bovbel DOT com>
- License: BSD
- Bug / feature tracker: https://github.com/husky/husky_robot/issues
- Source: git https://github.com/husky/husky.git (branch: kinetic-devel)
husky_robot: husky_base | husky_bringup
Package Summary
Released
Documented
Clearpath Husky robot driver
- Maintainer status: maintained
- Maintainer: Tony Baltovski <tbaltovski AT clearpathrobotics DOT com>
- Author: Mike Purvis <mpurvis AT clearpathrobotics DOT com>, Paul Bovbel <paul AT bovbel DOT com>
- License: BSD
- Bug / feature tracker: https://github.com/husky/husky_robot/issues
- Source: git https://github.com/husky/husky.git (branch: melodic-devel)
See Robots/Husky for instructions and tutorials.
Overview
The husky_base package contains a node for communicating with the Husky MCU, and launch files to bring up the Husky control and diagnostic systems. The husky_node hardware interface is configured through the husky_control package.
husky_node
Control and communication node for Husky MCU. Includes ros_control integration via diff_drive_controller.Subscribed Topics
husky_velocity_controller/cmd_vel (geometry_msgs/Twist)- Twist velocity command for Husky MCU, muxed in husky_control. External clients should publish to bare cmd_vel topic.
Published Topics
husky_velocity_controller/odom (nav_msgs/Odometry)- Odometry information from Husky MCU.
- Status information from Husky MCU and husky_node. Also exposed over standard diagnostics interface.
Parameters
~control_frequency (float, default: 10.0)- Frequency at which Husky MCU is controlled for velocity and polled for odometry information.
- Frequency at which Husky MCU is polled for diagnostic and status information
- Husky wheel diameter.
- Max acceleration of Husky drive motors.
- Max speed of Husky drive motors.
- Port to connect to Husky MCU.
Contents
Nodes
basic_odom_publisher
Produces nav_msgs/Odometry messages from encoder data on a Husky platform.Subscribed Topics
husky/data/encoders (clearpath_base/Encoders)- Encoder information from a Husky platform.
Published Topics
encoder (nav_msgs/Odometry)- Dead-reckoned odometry message. Intended for use by nodes such as robot_pose_ekf.
Parameters
~width (float, default: 0.5)- Width of the Husky
diagnostics_publisher
Produces diagnostic_msgs/DiagnosticArray messages from system data created by a Husky platform. Used for general debugging and status purposes.Subscribed Topics
husky/data/system_status (clearpath_base/SystemStatus)- Uptime, voltage, motor temperature, and motor driver temperature information.
- Emergency stop, timeout, and other safety system feedback.
- Information related to the battery state of charge and capacity.
Published Topics
/diagnostics (diagnostic_msgs/DiagnosticArray)- System diagnostics information.
