ros_components_description

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

Including sensor

First build the package by running:

git clone -b ros2 https://github.com/husarion/ros_components_description.git
# in case the package will be used within simulation
export HUSARION_ROS_BUILD_TYPE=simulation

# to specify which simulation engine will be used
# for gazebo classic
export SIMULATION_ENGINE=gazebo-classic
# for ignition gazebo
export SIMULATION_ENGINE=ignition-gazebo

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 ros_components_description)/urdf/slamtec_rplidar_s1.urdf.xacro" ns="lidar" />

<!-- evaluate the macro and place the sensor on robot -->
<xacro:lidar.slamtec_rplidar_s1
  parent_link="cover_link"
  xyz="0.0 0.0 0.0"
  rpy="0.0 0.0 0.0"
  use_gpu="true"
  simulation_engine="gazebo-classic" />

A list of parameters can be found here:

• parent_link [string, default: None] parent link to which sensor should be attached.
• xyz [float list, default: None] 3 float values defining translation between base of a sensor and parent link. Values in m.
• rpy [float list, default: None] 3 float values define rotation between parent link and base of a sensor. Values in rad.
• tf_prefix [string, optional] tf prefix applied before all links created by sensor. If defined, applies <tf_prefix>_<sensor_name>. If not defined, leaves <sensor_name> intact. Applies also to frame_id parameter.
• topic [string, default: same as default of manufacturer] name of topic at which simulated sensor will publish data.
• frame_id [string, default: same as default of manufacturer] name of final tf to which sensor will be attached. Should match one from message published by sensor.
• use_gpu [bool, default: false] enable GPU acceleration for sensor. Available only if sensor can be accelerated.
• simulation_engine [string, default: gazebo-classic] selected for which simulation engine plugins should be loaded. Currently the only supported:
  • gazebo-classic used to select Gazebo Classic.
  • ignition-gazebo used to select Ignition Gazebo.

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