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Package Summary

The husky_base package

husky_robot: husky_base | husky_bringup

Package Summary

Clearpath Husky robot driver

husky_robot: husky_base | husky_bringup

Package Summary

Clearpath Husky robot driver

husky_robot: husky_base | husky_bringup

Package Summary

Clearpath Husky robot driver

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 (husky_msgs/HuskyStatus)
  • 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.
~diagnostic_frequency (float, default: 1.0)
  • Frequency at which Husky MCU is polled for diagnostic and status information
~wheel_diameter (float, default: 0.3555)
  • Husky wheel diameter.
~max_accel (float, default: 3.0)
  • Max acceleration of Husky drive motors.
~max_speed (float, default: 1.0)
  • Max speed of Husky drive motors.
~port (string, default: /dev/prolific)
  • Port to connect to Husky MCU.

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.
husky/data/safety_status (clearpath_base/SafetyStatus)
  • Emergency stop, timeout, and other safety system feedback.
husky/data/power_status (clearpath_base/PowerStatus)
  • Information related to the battery state of charge and capacity.

Published Topics

/diagnostics (diagnostic_msgs/DiagnosticArray)
  • System diagnostics information.


2019-10-19 12:44