husarion_components_description

URDF models of sensors and other components offered alongside with Husarion robots

Available URDF Sensors

Code	Device Name
DEV01	Cover with Access Panel
DEV02	Carrying Handles
DEV03	Wooden Mounting Plate
DEV04H	370 mm High Frame
DEV04L	170 mm High Frame
DEV05	350 mm Pillar
DEV06	Basket on Railings
DEV07	475 mm Small Gate
DEV07T	350 mm Rotated Small Gate
DEV09	Large Gate
ANT02	Teltonika 003R-00253
CAM01	Orbbec Astra
CAM03	StereoLabs ZED 2
CAM04	StereoLabs ZED 2i
CAM05	StereoLabs ZED M
CAM06	StereoLabs ZED X
CAM11	Luxonis OAK-D-PRO
LDR01	RPLIDAR S1
LDR06	RPLIDAR S3
LDR10	Ouster OS0-32
LDR11	Ouster OS0-64
LDR12	Ouster OS0-128
LDR13	Ouster OS1-32
LDR14	Ouster OS1-64
LDR15	Ouster OS1-128
LDR20	Velodyne Puck
MAN01	Universal Robots UR3e
MAN02	Universal Robots UR5e
MAN04	6DoF Kinova Gen3
MAN05	6DoF Kinova Gen3 + 3D vision
MAN06	7DoF Kinova Gen3
MAN07	7DoF Kinova Gen3 + 3D vision
GRP02	Robotiq 2F-85
WCH01	Wibotic receiver
RCK	Custom rack made of profiles

Note

The manipulators (code MAN<X>) must only be used within the simulation environment. Support for manipulators on a physical robot is implemented as separate software components. Please refer to the official documentation.

Including sensor

First build the package by running:

# create workspace folder and clone husarion_components_description
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/husarion_components_description.git src/husarion_components_description

# in case the package will be used within simulation
export HUSARION_ROS_BUILD_TYPE=simulation

rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build

To include the sensor, use the following code:

<!-- include file with definition of xacro macro of sensor -->
<xacro:include filename="$(find husarion_components_description)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />

<!-- evaluate the macro and place the sensor on robot -->
<xacro:lidar.slamtec_rplidar
  parent_link="cover_link"
  xyz="0.0 0.0 0.0"
  rpy="0.0 0.0 0.0" />

List of parameters:

• component_name [string, default: ''] local namespace allowing to distinguish two identical devices from each other. Called name in components.yaml.
• parent_link [string, default: None] parent link to which sensor should be attached.
• xyz [float list, default: 0.0 0.0 0.0] 3 float values defining translation between base of a sensor and parent link. Values in m.
• rpy [float list, default: 0.0 0.0 0.0] 3 float values define rotation between parent link and base of a sensor. Values in rad.
• robot_namespace [string, default: ''] global namespace common to the entire robot. Not present in components.yaml.
• model [string, default: ''] model argument that appears when you want to load the appropriate model from a given manufacturer. Not present in components.yaml.
• use_tf_prefix [bool, default: True] if set to True, the robot_namespace will be used as a prefix for all frame_ids defined in the sensor URDF. This is useful when every robot has its own tf tree. Not present in components.yaml.

Some sensors can define their specific parameters. Refer to their definition for more info.