[Documentation] [TitleIndex] [WordIndex

Husky (ROS Groovy)

ROS Software Maintainer: Clearpath Robotics

Husky A200 is a rugged, outdoor-ready unmanned ground vehicle (UGV), suitable for research and rapid prototyping applications. All of Husky's basic capabilities are exposed through the clearpath_husky stack.

If you are using Fuerte you should follow the instructions here

To install the software on your control computer, first ensure that you have Groovy installed. Then grab the Husky stacks using package management:

sudo apt-get install ros-groovy-clearpath-husky-robot

Starting the Nodes

Ensure that the robot is powered on, and the USB->Serial adaptor is connected. Then run:

roslaunch clearpath_base example.launch port:=/dev/ttyUSB0

Now plug in a joystick, and in another terminal, run:

roslaunch clearpath_teleop example.launch

Hold button 1 (the deadman switch) and you should be driving.

Beyond

When you're ready to mount more sensors and equipment, the onboard 5V, 12V, and 24V power supplies will provide the necessary juice to your payloads.

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

Basic Configuration

Component

ROS package/stack

Robot-specific Messages

clearpath_base

Hardware Drivers

Component

ROS package/stack

Actuator Drivers

clearpath_base

Sensor Drivers

clearpath_sensors

Simulation and Support

URDF models

husky_description

Dead Reckoning

husky_bringup

rviz Interactive Markers

husky_interactive_markers

Gazebo Plugins and Examples

husky_simulator

High-Level Capabilities

Component

ROS package/stack

Teleop

clearpath_teleop

Basic Localization

husky_localization

Mapping, Localization, Navigation

husky_navigation

Media


2019-12-07 12:23