From af2716b2a0001f9ec2914bdd11ce2106ce725635 Mon Sep 17 00:00:00 2001 From: Griswald Brooks Date: Thu, 20 Aug 2026 12:39:39 -0400 Subject: [PATCH 01/10] feat(husky_a300_mock): add minimal Husky A300 blank-world example config Pivots the Husky example config from a generic A200 to the real robot platform: a Clearpath Husky A300, mock hardware, no sensors, no environment assets, for fast iteration decoupled from a full simulation. The robot description composes the A300 platform body entirely from clearpathrobotics/clearpath_common's own public (BSD-licensed) clearpath_platform_description package - confirmed byte-identical in composition to the private Togo robot's own a300.urdf.xacro fork, except for an unused gazebo_controllers arg and which drivetrain file supplies the ros2_control block (moot here: use_platform_controllers skips that include, replaced with a mock_components/GenericSystem block). No private/customer-specific source is vendored or copied. Vendors only clearpath_platform_description (not the full 14-package, 148MB clearpath_common monorepo) under external_dependencies, byte- for-byte from upstream. Controller renamed to platform_velocity_controller (matching the real robot's convention) with its real calibration: wheel_separation 0.562, wheel_separation_multiplier 1.75, wheel_radius 0.1625, wheels_per_side 2, velocity limits +/-0.8 linear / +/-2.0 angular. /cmd_vel and /odom remain flat-remapped for Nav2. One core Objective (wait_for_trajectory_approval_if_user_available.xml) needs MTCCoreBehaviorsLoader and will not register in this config by design - this robot has no arm and no whole-body motion planning is in scope, so only VisionBehaviorsLoader was added alongside the core and converter loaders. Refs PickNikRobotics/moveit_pro#19671 --- README.md | 1 + .../CHANGELOG.rst | 577 ++++++++++++++++++ .../CMakeLists.txt | 10 + .../clearpath_platform_description/LICENSE | 28 + .../launch/description.launch.py | 123 ++++ .../meshes/a200/accessories/lidar_mount.stl | 3 + .../meshes/a200/accessories/lms1xx_mount.dae | 3 + .../meshes/a200/accessories/lms1xx_mount.stl | 3 + .../a200/attachments/300_mm_sensor_arch.dae | 3 + .../a200/attachments/300_mm_sensor_arch.stl | 3 + .../a200/attachments/510_mm_sensor_arch.dae | 3 + .../a200/attachments/510_mm_sensor_arch.stl | 3 + .../meshes/a200/attachments/bumper.dae | 3 + .../meshes/a200/attachments/bumper2.dae | 3 + .../meshes/a200/attachments/bumper3.dae | 3 + .../a200/attachments/bumper_extension.dae | 3 + .../a200/attachments/large_top_plate.dae | 3 + .../attachments/large_top_plate_collision.stl | 3 + .../attachments/observer_backpack_masts.stl | 3 + .../attachments/observer_backpack_shell.stl | 3 + .../a200/attachments/pacs_top_plate.stl | 3 + .../meshes/a200/attachments/top_plate.dae | 3 + .../meshes/a200/attachments/top_plate.stl | 3 + .../meshes/a200/attachments/user_rail.dae | 3 + .../meshes/a200/attachments/user_rail.stl | 3 + .../meshes/a200/base_link.dae | 3 + .../meshes/a200/base_link.stl | 3 + .../meshes/a200/top_chassis.dae | 3 + .../meshes/a200/top_chassis.stl | 3 + .../meshes/a200/wheels/indoor.dae | 3 + .../meshes/a200/wheels/outdoor.dae | 3 + .../meshes/a200/wheels/outdoor.stl | 3 + .../meshes/a300/attachments/bumper.dae | 3 + .../a300/attachments/bumper_collision.stl | 3 + .../attachments/observer_access_panels.stl | 3 + .../meshes/a300/attachments/observer_arch.stl | 3 + .../observer_bluetooth_antenna.stl | 3 + .../attachments/observer_cellular_antenna.stl | 3 + .../a300/attachments/observer_enclosure.stl | 3 + .../attachments/observer_wifi_antennas.stl | 3 + .../meshes/a300/attachments/top_plate.dae | 3 + .../a300/attachments/wireless_charger.stl | 3 + .../meshes/a300/chassis.dae | 3 + .../meshes/a300/chassis_collision.stl | 3 + .../a300/drivetrain/caster_bracket_plate.stl | 3 + .../a300/drivetrain/caster_bracket_swivel.stl | 3 + .../a300/drivetrain/caster_flange_primary.stl | 3 + .../drivetrain/caster_flange_secondary.stl | 3 + .../meshes/a300/drivetrain/motor.stl | 3 + .../a300/drivetrain/suspension_beam.stl | 3 + .../a300/drivetrain/suspension_spacer.stl | 3 + .../meshes/a300/drivetrain/wheels/caster.stl | 3 + .../meshes/a300/drivetrain/wheels/indoor.dae | 3 + .../drivetrain/wheels/mecanum_primary.stl | 3 + .../drivetrain/wheels/mecanum_secondary.stl | 3 + .../a300/drivetrain/wheels/outdoor_left.stl | 3 + .../a300/drivetrain/wheels/outdoor_right.stl | 3 + .../meshes/a300/livery.dae | 3 + .../meshes/a300/status_lights.dae | 3 + .../dd100/attachments/pacs_top_plate.stl | 3 + .../meshes/dd100/chassis.dae | 3 + .../meshes/dd100/chassis_collision.stl | 3 + .../meshes/dd100/wheels/indoor.stl | 3 + .../meshes/do100/omni_chassis.dae | 3 + .../meshes/do100/omni_chassis_collision.stl | 3 + .../meshes/do100/wheels/mecanum.dae | 3 + .../meshes/j100/attachments/ark_enclosure.stl | 3 + .../j100/attachments/default_fender.stl | 3 + .../meshes/j100/attachments/sensor_fender.stl | 3 + .../meshes/j100/bridge_plate.stl | 3 + .../meshes/j100/camera_beam.stl | 3 + .../meshes/j100/camera_bracket.stl | 3 + .../meshes/j100/j100_base.stl | 3 + .../meshes/j100/kinect_mount.stl | 3 + .../j100/sick_lms1xx_inverted_bracket.stl | 3 + .../j100/sick_lms1xx_upright_bracket.stl | 3 + .../meshes/j100/stereo_camera_beam.stl | 3 + .../meshes/j100/stereo_camera_bracket.stl | 3 + .../meshes/j100/velodyne_tower.stl | 3 + .../meshes/j100/wheels/outdoor.stl | 3 + .../meshes/j100/wibotic_bumper.stl | 3 + .../meshes/r100/attachments/hams_mount.stl | 3 + .../meshes/r100/attachments/hams_top.stl | 3 + .../meshes/r100/attachments/leg.stl | 3 + .../meshes/r100/attachments/tower_body.stl | 3 + .../r100/attachments/tower_body_collision.stl | 3 + .../r100/attachments/tower_shoulder.stl | 3 + .../attachments/tower_shoulder_collision.stl | 3 + .../meshes/r100/axle.stl | 3 + .../meshes/r100/body-collision.stl | 3 + .../meshes/r100/body.stl | 3 + .../meshes/r100/end-cover.stl | 3 + .../meshes/r100/lights.stl | 3 + .../meshes/r100/rocker.stl | 3 + .../meshes/r100/side-cover.stl | 3 + .../meshes/r100/top.stl | 3 + .../meshes/r100/wheels/mecanum.stl | 3 + .../meshes/w200/arm-mount-plate.stl | 3 + .../meshes/w200/bulkhead-collision.stl | 3 + .../meshes/w200/bulkhead.stl | 3 + .../meshes/w200/chassis-collision.stl | 3 + .../meshes/w200/chassis.stl | 3 + .../meshes/w200/diff-link.stl | 3 + .../meshes/w200/e-stop.stl | 3 + .../meshes/w200/fenders.stl | 3 + .../meshes/w200/generator.stl | 3 + .../meshes/w200/light.stl | 3 + .../meshes/w200/rocker.stl | 3 + .../meshes/w200/susp-link.stl | 3 + .../meshes/w200/wheels/outdoor.stl | 3 + .../meshes/w200/wheels/tracks.dae | 3 + .../meshes/w200/wheels/tracks_collision.stl | 3 + .../package.xml | 31 + .../urdf/a200/a200.urdf.xacro | 173 ++++++ .../urdf/a200/attachments/bumper.urdf.xacro | 85 +++ .../attachments/observer_backpack.urdf.xacro | 145 +++++ .../a200/attachments/sensor_arch.urdf.xacro | 70 +++ .../a200/attachments/top_plate.urdf.xacro | 190 ++++++ .../urdf/a200/drivetrain/wheels.urdf.xacro | 76 +++ .../a200/drivetrain/wheels/indoor.urdf.xacro | 51 ++ .../a200/drivetrain/wheels/outdoor.urdf.xacro | 51 ++ .../urdf/a300/a300.urdf.xacro | 188 ++++++ .../a300/attachments/amp_enclosure.urdf.xacro | 82 +++ .../attachments/amp_sensor_arch.urdf.xacro | 139 +++++ .../urdf/a300/attachments/bumper.urdf.xacro | 30 + .../a300/attachments/spotlight.urdf.xacro | 74 +++ .../a300/attachments/top_plate.urdf.xacro | 80 +++ .../attachments/wireless_charger.urdf.xacro | 39 ++ .../a300/drivetrain/caster_flange.urdf.xacro | 34 ++ .../urdf/a300/drivetrain/motor.urdf.xacro | 38 ++ .../drivetrain/suspension_beam.urdf.xacro | 67 ++ .../urdf/a300/drivetrain/wheels.urdf.xacro | 127 ++++ .../a300/drivetrain/wheels/caster.urdf.xacro | 109 ++++ .../a300/drivetrain/wheels/indoor.urdf.xacro | 51 ++ .../a300/drivetrain/wheels/mecanum.urdf.xacro | 68 +++ .../a300/drivetrain/wheels/outdoor.urdf.xacro | 51 ++ .../urdf/common.urdf.xacro | 126 ++++ .../dd100/attachments/top_plate.urdf.xacro | 93 +++ .../urdf/dd100/dd100.urdf.xacro | 163 +++++ .../urdf/dd100/drivetrain/wheels.urdf.xacro | 39 ++ .../dd100/drivetrain/wheels/caster.urdf.xacro | 62 ++ .../dd100/drivetrain/wheels/indoor.urdf.xacro | 60 ++ .../dd150/attachments/top_plate.urdf.xacro | 4 + .../urdf/dd150/dd150.urdf.xacro | 163 +++++ .../do100/attachments/top_plate.urdf.xacro | 4 + .../urdf/do100/do100.urdf.xacro | 169 +++++ .../urdf/do100/drivetrain/wheels.urdf.xacro | 40 ++ .../drivetrain/wheels/mecanum.urdf.xacro | 66 ++ .../do150/attachments/top_plate.urdf.xacro | 4 + .../urdf/do150/do150.urdf.xacro | 170 ++++++ .../drivetrain/control/diff_4wd.urdf.xacro | 12 + .../drivetrain/control/diff_fwd.urdf.xacro | 27 + .../drivetrain/control/diff_rwd.urdf.xacro | 27 + .../drivetrain/control/omni_4wd.urdf.xacro | 37 ++ .../generic/drivetrain/drivetrain.urdf.xacro | 30 + .../urdf/generic/empty.urdf.xacro | 15 + .../urdf/generic/gazebo.urdf.xacro | 31 + .../urdf/j100/attachments/fender.urdf.xacro | 36 ++ .../j100/attachments/top_plate.urdf.xacro | 21 + .../urdf/j100/drivetrain/wheels.urdf.xacro | 40 ++ .../j100/drivetrain/wheels/outdoor.urdf.xacro | 59 ++ .../urdf/j100/j100.urdf.xacro | 147 +++++ .../urdf/links/box.urdf.xacro | 25 + .../urdf/links/cylinder.urdf.xacro | 25 + .../urdf/links/frame.urdf.xacro | 12 + .../urdf/links/mesh.urdf.xacro | 25 + .../urdf/links/sphere.urdf.xacro | 25 + .../urdf/r100/attachments/fams.urdf.xacro | 71 +++ .../urdf/r100/attachments/hams.urdf.xacro | 95 +++ .../urdf/r100/attachments/legs.urdf.xacro | 38 ++ .../urdf/r100/attachments/tower.urdf.xacro | 97 +++ .../urdf/r100/drivetrain/wheels.urdf.xacro | 63 ++ .../r100/drivetrain/wheels/mecanum.urdf.xacro | 65 ++ .../urdf/r100/r100.urdf.xacro | 281 +++++++++ .../urdf/r100/rocker.urdf.xacro | 32 + .../w200/attachments/arm_plate.urdf.xacro | 42 ++ .../urdf/w200/attachments/bulkhead.urdf.xacro | 45 ++ .../w200/attachments/generator.urdf.xacro | 31 + .../urdf/w200/diff_unit.urdf.xacro | 116 ++++ .../urdf/w200/drivetrain/wheels.urdf.xacro | 75 +++ .../w200/drivetrain/wheels/outdoor.urdf.xacro | 63 ++ .../w200/drivetrain/wheels/tracks.urdf.xacro | 80 +++ .../urdf/w200/w200.urdf.xacro | 207 +++++++ src/husky_a300_mock/CMakeLists.txt | 21 + src/husky_a300_mock/LICENSE | 25 + src/husky_a300_mock/README.md | 18 + src/husky_a300_mock/config/config.yaml | 112 ++++ .../control/husky_a300.ros2_control.yaml | 50 ++ .../config/moveit/husky_a300.srdf | 31 + .../config/moveit/joint_jog.yaml | 7 + .../config/moveit/kinematics.yaml | 2 + .../config/moveit/pose_jog.yaml | 6 + .../description/husky_a300_blank_world.xacro | 65 ++ src/husky_a300_mock/launch/runtime.launch.xml | 6 + src/husky_a300_mock/package.xml | 29 + src/husky_a300_mock/waypoints/waypoints.yaml | 1 + 196 files changed, 6640 insertions(+) create mode 100644 src/external_dependencies/clearpath_platform_description/CHANGELOG.rst create mode 100644 src/external_dependencies/clearpath_platform_description/CMakeLists.txt create mode 100644 src/external_dependencies/clearpath_platform_description/LICENSE create mode 100644 src/external_dependencies/clearpath_platform_description/launch/description.launch.py create mode 100755 src/external_dependencies/clearpath_platform_description/meshes/a200/accessories/lidar_mount.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a200/accessories/lms1xx_mount.dae create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a200/accessories/lms1xx_mount.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/300_mm_sensor_arch.dae create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/300_mm_sensor_arch.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/510_mm_sensor_arch.dae create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/510_mm_sensor_arch.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/bumper.dae create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/bumper2.dae create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/bumper3.dae create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/bumper_extension.dae create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/large_top_plate.dae create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/large_top_plate_collision.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/observer_backpack_masts.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/observer_backpack_shell.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/pacs_top_plate.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/top_plate.dae create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/top_plate.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/user_rail.dae create mode 100755 src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/user_rail.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a200/base_link.dae create mode 100755 src/external_dependencies/clearpath_platform_description/meshes/a200/base_link.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a200/top_chassis.dae create mode 100755 src/external_dependencies/clearpath_platform_description/meshes/a200/top_chassis.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a200/wheels/indoor.dae create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a200/wheels/outdoor.dae create mode 100755 src/external_dependencies/clearpath_platform_description/meshes/a200/wheels/outdoor.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a300/attachments/bumper.dae create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a300/attachments/bumper_collision.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a300/attachments/observer_access_panels.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a300/attachments/observer_arch.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a300/attachments/observer_bluetooth_antenna.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a300/attachments/observer_cellular_antenna.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a300/attachments/observer_enclosure.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a300/attachments/observer_wifi_antennas.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a300/attachments/top_plate.dae create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a300/attachments/wireless_charger.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a300/chassis.dae create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a300/chassis_collision.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/caster_bracket_plate.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/caster_bracket_swivel.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/caster_flange_primary.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/caster_flange_secondary.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/motor.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/suspension_beam.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/suspension_spacer.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/wheels/caster.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/wheels/indoor.dae create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/wheels/mecanum_primary.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/wheels/mecanum_secondary.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/wheels/outdoor_left.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/wheels/outdoor_right.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a300/livery.dae create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/a300/status_lights.dae create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/dd100/attachments/pacs_top_plate.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/dd100/chassis.dae create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/dd100/chassis_collision.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/dd100/wheels/indoor.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/do100/omni_chassis.dae create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/do100/omni_chassis_collision.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/do100/wheels/mecanum.dae create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/j100/attachments/ark_enclosure.stl create mode 100755 src/external_dependencies/clearpath_platform_description/meshes/j100/attachments/default_fender.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/j100/attachments/sensor_fender.stl create mode 100755 src/external_dependencies/clearpath_platform_description/meshes/j100/bridge_plate.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/j100/camera_beam.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/j100/camera_bracket.stl create mode 100755 src/external_dependencies/clearpath_platform_description/meshes/j100/j100_base.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/j100/kinect_mount.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/j100/sick_lms1xx_inverted_bracket.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/j100/sick_lms1xx_upright_bracket.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/j100/stereo_camera_beam.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/j100/stereo_camera_bracket.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/j100/velodyne_tower.stl create mode 100755 src/external_dependencies/clearpath_platform_description/meshes/j100/wheels/outdoor.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/j100/wibotic_bumper.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/r100/attachments/hams_mount.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/r100/attachments/hams_top.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/r100/attachments/leg.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/r100/attachments/tower_body.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/r100/attachments/tower_body_collision.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/r100/attachments/tower_shoulder.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/r100/attachments/tower_shoulder_collision.stl create mode 100755 src/external_dependencies/clearpath_platform_description/meshes/r100/axle.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/r100/body-collision.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/r100/body.stl create mode 100755 src/external_dependencies/clearpath_platform_description/meshes/r100/end-cover.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/r100/lights.stl create mode 100755 src/external_dependencies/clearpath_platform_description/meshes/r100/rocker.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/r100/side-cover.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/r100/top.stl create mode 100755 src/external_dependencies/clearpath_platform_description/meshes/r100/wheels/mecanum.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/w200/arm-mount-plate.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/w200/bulkhead-collision.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/w200/bulkhead.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/w200/chassis-collision.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/w200/chassis.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/w200/diff-link.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/w200/e-stop.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/w200/fenders.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/w200/generator.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/w200/light.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/w200/rocker.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/w200/susp-link.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/w200/wheels/outdoor.stl create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/w200/wheels/tracks.dae create mode 100644 src/external_dependencies/clearpath_platform_description/meshes/w200/wheels/tracks_collision.stl create mode 100644 src/external_dependencies/clearpath_platform_description/package.xml create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/a200/a200.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/a200/attachments/bumper.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/a200/attachments/observer_backpack.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/a200/attachments/sensor_arch.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/a200/attachments/top_plate.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/a200/drivetrain/wheels.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/a200/drivetrain/wheels/indoor.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/a200/drivetrain/wheels/outdoor.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/a300/a300.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/a300/attachments/amp_enclosure.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/a300/attachments/amp_sensor_arch.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/a300/attachments/bumper.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/a300/attachments/spotlight.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/a300/attachments/top_plate.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/a300/attachments/wireless_charger.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/caster_flange.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/motor.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/suspension_beam.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/wheels.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/wheels/caster.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/wheels/indoor.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/wheels/mecanum.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/wheels/outdoor.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/common.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/dd100/attachments/top_plate.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/dd100/dd100.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/dd100/drivetrain/wheels.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/dd100/drivetrain/wheels/caster.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/dd100/drivetrain/wheels/indoor.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/dd150/attachments/top_plate.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/dd150/dd150.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/do100/attachments/top_plate.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/do100/do100.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/do100/drivetrain/wheels.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/do100/drivetrain/wheels/mecanum.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/do150/attachments/top_plate.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/do150/do150.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/generic/drivetrain/control/diff_4wd.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/generic/drivetrain/control/diff_fwd.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/generic/drivetrain/control/diff_rwd.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/generic/drivetrain/control/omni_4wd.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/generic/drivetrain/drivetrain.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/generic/empty.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/generic/gazebo.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/j100/attachments/fender.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/j100/attachments/top_plate.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/j100/drivetrain/wheels.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/j100/drivetrain/wheels/outdoor.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/j100/j100.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/links/box.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/links/cylinder.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/links/frame.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/links/mesh.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/links/sphere.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/r100/attachments/fams.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/r100/attachments/hams.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/r100/attachments/legs.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/r100/attachments/tower.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/r100/drivetrain/wheels.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/r100/drivetrain/wheels/mecanum.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/r100/r100.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/r100/rocker.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/w200/attachments/arm_plate.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/w200/attachments/bulkhead.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/w200/attachments/generator.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/w200/diff_unit.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/w200/drivetrain/wheels.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/w200/drivetrain/wheels/outdoor.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/w200/drivetrain/wheels/tracks.urdf.xacro create mode 100644 src/external_dependencies/clearpath_platform_description/urdf/w200/w200.urdf.xacro create mode 100644 src/husky_a300_mock/CMakeLists.txt create mode 100644 src/husky_a300_mock/LICENSE create mode 100644 src/husky_a300_mock/README.md create mode 100644 src/husky_a300_mock/config/config.yaml create mode 100644 src/husky_a300_mock/config/control/husky_a300.ros2_control.yaml create mode 100644 src/husky_a300_mock/config/moveit/husky_a300.srdf create mode 100644 src/husky_a300_mock/config/moveit/joint_jog.yaml create mode 100644 src/husky_a300_mock/config/moveit/kinematics.yaml create mode 100644 src/husky_a300_mock/config/moveit/pose_jog.yaml create mode 100644 src/husky_a300_mock/description/husky_a300_blank_world.xacro create mode 100644 src/husky_a300_mock/launch/runtime.launch.xml create mode 100644 src/husky_a300_mock/package.xml create mode 100644 src/husky_a300_mock/waypoints/waypoints.yaml diff --git a/README.md b/README.md index 154a72cd2..823899d1c 100644 --- a/README.md +++ b/README.md @@ -26,6 +26,7 @@ git submodule foreach --recursive git lfs pull - `factory_sim` - `grinding_sim` - `hangar_sim` +- `husky_a300_mock` - `kitchen_sim` - `lab_sim` - `lunar_sim` diff --git a/src/external_dependencies/clearpath_platform_description/CHANGELOG.rst b/src/external_dependencies/clearpath_platform_description/CHANGELOG.rst new file mode 100644 index 000000000..65b857ad8 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/CHANGELOG.rst @@ -0,0 +1,577 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package clearpath_platform_description +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +2.9.15 (2026-08-18) +------------------- + +2.9.14 (2026-08-12) +------------------- +* Update hams.urdf.xacro (`#373 `_) + Fixed the HAMS mount plate rotation by setting parent to hams_base_link instead of default_mount +* Added Github PR templates, precommit and contributing notes. Also, updated CI, updated issue templates and README. (`#372 `_) +* Contributors: Tony Baltovski, thickey-cpr + +2.9.13 (2026-08-07) +------------------- + +2.9.12 (2026-07-24) +------------------- +* Added support for A300 witn indoor tires. (`#362 `_) +* Contributors: Tony Baltovski + +2.9.11 (2026-07-14) +------------------- + +2.9.10 (2026-07-02) +------------------- + +2.9.9 (2026-06-02) +------------------ + +2.9.8 (2026-05-28) +------------------ + +2.9.7 (2026-05-21) +------------------ +* Change a200 and w200 control parameter default from 'diff_fwd' to 'diff_4wd' (`#338 `_) +* Change j100 control parameter from 'diff_fwd' to 'diff_4wd' (`#336 `_) +* Contributors: Steve Macenski, Tony Baltovski + +2.9.6 (2026-04-14) +------------------ + +2.9.5 (2026-03-25) +------------------ +* Re-added vertical off-set for A200 wheels. (`#318 `_) +* Contributors: Tony Baltovski + +2.9.4 (2026-03-13) +------------------ + +2.9.3 (2026-02-26) +------------------ +* Added use_platform_controllers for R100. (`#313 `_) +* Contributors: Tony Baltovski + +2.9.2 (2026-02-26) +------------------ + +2.9.1 (2026-02-11) +------------------ + +2.9.0 (2026-02-11) +------------------ +* Fix: Update cmake version to 3.20 and fixed CI (`#295 `_) + * Update cmake version to 3.20 + * Switch to ubuntu:noble container + * Use updated repos update action + * Install python and pip + * Add apt update + * Update repos update action version +* Contributors: luis-camero + +2.8.5 (2026-01-30) +------------------ + +2.8.4 (2025-12-22) +------------------ + +2.8.3 (2025-12-16) +------------------ +* Add missing Gazebo IMU topic tags for omnidirectional platforms (`#286 `_) + * Add missing Gazebo IMU topic tags for omnidirectional platforms + Fixes missing tag in IMU sensor definitions for R100, DO100, + and DO150 platforms. Without this tag, Gazebo publishes IMU data on + default topic names instead of the namespace-aware topics expected by + ros_gz_bridge, causing IMU data to not reach ROS 2 in simulation. + This issue only affected omnidirectional platforms (mecanum wheel + configurations). Differential drive platforms (J100, W200, DD100, DD150) + were already fixed in v0.2.10. + Tested on R100 platform with Gazebo Harmonic and ROS 2 Jazzy. + IMU data now successfully bridges to /r100_0000/sensors/imu_0/data_raw + and is consumed by ekf_localization_node for sensor fusion. + * Fixed indent. + --------- + Co-authored-by: Michael Wescott +* Replaced ignition references with gz (`#283 `_) +* Fix: Generic (`#280 `_) + * Check for generic before creating drivetrain parameters + * Add teleop_joy default parameter file for generic robot + * Generic teleop values + * Generic control file without a controller + * Generic empty robot + * Update path to cvontrol in empty generic URDF +* Contributors: Roni Kreinin, Tony Baltovski, luis-camero + +2.8.2 (2025-11-06) +------------------ + +2.8.1 (2025-10-28) +------------------ +* Add guard to include zed only once +* Contributors: Luis Camero + +2.8.0 (2025-10-23) +------------------ + +2.7.4 (2025-09-18) +------------------ + +2.7.3 (2025-09-16) +------------------ + +2.7.2 (2025-09-08) +------------------ +* Fix: Use Platform Controllers (`#257 `_) + Add ros2_control only when use_platform_controllers is true +* Contributors: luis-camero + +2.7.1 (2025-09-08) +------------------ +* Fix: Ridgeback rear lights and cover colors (`#254 `_) +* Contributors: SyZbidi + +2.7.0 (2025-08-25) +------------------ +* Drivetrains (`#237 `_) + * Moved meshes to wheels folder + Mecanum drivetrain for do100 + * Generic drivetrain URDFs + * Pass hardware plugin string rather than block + * Added drivetrain control parameters + * Removed 2WD for Dingo-O + * DO150 + * Dingo-D + * R100 + * A300 urdf + * Fixed xacro generate print + * Generic teleop configs per controller + Platform specific teleop only defines velocity limits + * A200 drivetrain changes + * W200 drivetrain urdf + * Updated A300 meshes + Mecanum and caster support + * Separated caster wheel into swivel and wheel links + * Fixed joystick axis mapping + * Updated wheel_separation_multiplier for fwd and rwd on A300 + * URDF structure changes for J100 + Updated A200 and W200 to be 4WD + * Linting +* Add the mounting link for the charger's 2D lidar (`#241 `_) +* Contributors: Chris Iverach-Brereton, Roni Kreinin + +2.6.4 (2025-07-29) +------------------ + +2.6.3 (2025-07-18) +------------------ +* Fix: Disable Platform Controllers in Manipulator Controllers (`#239 `_) + Add flag to disable platform controllers for manipulation controller manager +* Contributors: luis-camero + +2.6.2 (2025-07-14) +------------------ + +2.6.1 (2025-07-07) +------------------ + +2.6.0 (2025-07-04) +------------------ +* Add the third antenna (bluetooth) to the top of the AMP frame (`#231 `_) +* Add A300 AMP attachments (`#200 `_) + * Add meshes, URDFs for the A300 AMP and AMP Observer attachments + * Add spotlight attachment with light plugin for simulation + * Add Seyond description with lower-than-reality resolution & correct FoV for simulation. Fix math for calculating the number of samples + * Add GPS plugins for the Fixposition description +* Contributors: Chris Iverach-Brereton + +2.5.1 (2025-06-17) +------------------ + +2.5.0 (2025-05-29) +------------------ +* Fix: PACS Limits (`#215 `_) +* Contributors: luis-camero + +2.3.2 (2025-04-30) +------------------ + +2.3.1 (2025-04-16) +------------------ +* [clearpath_platform_description] Updated Ridgeback R100 raiser height to 0.07m from 0.055m. (`#201 `_) +* Contributors: Tony Baltovski + +2.3.0 (2025-04-11) +------------------ + +2.2.2 (2025-04-09) +------------------ + +2.2.1 (2025-04-07) +------------------ + +2.2.0 (2025-03-11) +------------------ + +2.1.0 (2025-01-31) +------------------ + +2.0.3 (2025-01-21) +------------------ + +2.0.2 (2025-01-20) +------------------ + +2.0.1 (2025-01-17) +------------------ + +2.0.0 (2025-01-16) +------------------ +* Add the A200 Observer backpack attachment (`#122 `_) + * Add the A200 Observer backpack attachment +* [clearpath_platform_description] Fixed Ridgeback R100 rear light colour. (`#127 `_) +* Add PTZ sim support (`#125 `_) + * Now that axis_camera is released via OSRF, depend on the official package, remove duplicate meshes + * Rename Gazebo plugins for Jazzy compatibility + * Modify Axis camera URDFs to using the axis_camera meshes. This lets us control the gazebo topics. Fix the GZ topic names. Camera data is now visible in the simulation + * Add joint controllers for the pan & tilt actuators. This provides velocity control over the simulated camera +* Add a placeholer URDF for the AMP mount, update meshes (`#123 `_) + * Add a placeholer URDF for the AMP mount; STL & final dimensions to come at a later date + * Default to treaded wheels, flip all the wheel models so the treads visually go in the correct direction + * Update the top plate, chassis, livery, smooth wheel, and status light meshes. Closes CPE87-2102 + * Catch unsupported platforms/accessories in vcan generation tests +* A300 (`#118 `_) + * Add A300 meshes + * Move A300 meshes + * Add A300 URDF + * Added A300 control configuration files + * Remove unstamped parameter, deprecated + * Use clearpath_hardware_interface LynxHardware + --------- + Co-authored-by: Luis Camero +* Add collision tags for MoveIt to avoid these objects (`#108 `_) +* Remove all references to clearpath_platform +* Add collision tags for MoveIt to avoid these objects (`#108 `_) +* Update simulation support for Jazzy (`#117 `_) + * Rename gazebo plugins to use new gz nomenclature instead of ign/ignition. Use stamped velocity messages. + * Restructure the twist_mux yaml file to be more legible, remove the parameters that are overwritten by the launch file anyway + * Put use_stamped back just for the sake of being explicit. Add use_stamped directly to the launch file + * Fix the tests to catch unsupported platforms & accessories +* Rename ign\_ -> gz\_ for gazebo dependencies, comment-out missing jazzy dependencies (for now) +* Contributors: Chris Iverach-Brereton, Luis Camero, Roni Kreinin, Tony Baltovski, luis-camero + +1.0.0 (2024-11-25) +------------------ +* [clearpath_platform_description] Fixed gazebo_controllers param file. (`#107 `_) +* Remove all references to clearpath_platform +* Add collision tags for MoveIt to avoid these objects (`#108 `_) +* [clearpath_platform_description] Fixed gazebo_controllers param file. (`#107 `_) +* Contributors: Luis Camero, Tony Baltovski, luis-camero + +0.3.4 (2024-10-08) +------------------ + +0.3.3 (2024-10-04) +------------------ + +0.3.2 (2024-09-29) +------------------ +* Fix outstanding merge conflict +* Contributors: Luis Camero + +0.3.1 (2024-09-23) +------------------ + +0.3.0 (2024-09-19) +------------------ +* Changes. +* Add PACS mounting locations to Dingo top plate +* Standard mesh names and height parameter for tower shoulder +* R100 attachment rework +* Add dingo top plate URDF +* 0.3.0 Release Candidate with Main Changes (`#81 `_) + * Added tests + * Added action to build from release and source + * Generator linting erros + * Customization linting errors + * Linting + * Fix: Remove IP address from discovery server launch so it listens on all NICs + * Changes. + * 0.2.8 + * Add sysctl config file that changes ipfrag settings to support receiving large messages + * Added Zed URDF + * Added Zed to description generator + * Modified common parameter generation to always flatten + * Changes. + * 0.2.9 + * Missing important remapping to mirror hardware topics + * Added topic to gazebo plugins + * Updated topic names to match gazebo message types + * Topics of simulated onboard sensors + * Realsense adds optical links when in simulator + * Changes. + * 0.2.10 + * Modifies platform param to add GQ7 IMU data to ekf_localization and adds GQ7 URDF + * Fixes styling issues + * Set spawner as super client + * Changes. + * 0.2.11 + * Removed duplicate class + * Use ROS1 covariance values + * Updated renamed macanum drive controller + * Enable gazebo friction plugin on DingoO + --------- + Co-authored-by: Hilary Luo + Co-authored-by: Tony Baltovski + Co-authored-by: Steve Macenski + Co-authored-by: robbiefish +* Set PumaHardware in R100 +* URDF Mecanum Updates +* Switched to puma_hardware +* DingoD 1.5 Puma Hardware +* 0.2.8 +* Changes. +* 0.2.7 +* Changes. +* All Warthog attachments default to 0 +* Aligned attachment links +* Added argument to prevent platform hardware from loading +* Define inertial box xacro in the arm plate urdf to be used by other platforms +* Added argument to toggle manipulator controllers +* 0.2.6 +* Changes. +* 0.2.5 +* Changes. +* switch finding meshes to use the package:// command +* 0.2.4 +* Changes. +* 0.2.3 +* Changes. +* 0.2.2 +* Changes.xx +* 0.2.1 +* Changes. +* PACS top plate was not centred with generated frames +* Added Ridgeback attachments +* Added do150 as copy of do100 +* R100 mecanum +* Only load mecanum wheels in simulation +* Removed wheel slip plugin +* Dingo O mecanum wheels +* Fixed rocker and small covariance +* Initial Ridgeback +* Initial add do100 +* Contributors: Hilary Luo, Luis Camero, Tony Baltovski, luis-camero + +* Add PACS mounting locations to Dingo top plate +* Standard mesh names and height parameter for tower shoulder +* R100 attachment rework +* Add dingo top plate URDF +* Added tests +* Added action to build from release and source +* Generator linting erros +* Customization linting errors +* Linting +* Fix: Remove IP address from discovery server launch so it listens on all NICs +* Add sysctl config file that changes ipfrag settings to support receiving large messages +* Added Zed URDF +* Added Zed to description generator +* Modified common parameter generation to always flatten +* Missing important remapping to mirror hardware topics +* Added topic to gazebo plugins +* Updated topic names to match gazebo message types +* Topics of simulated onboard sensors +* Realsense adds optical links when in simulator +* Modifies platform param to add GQ7 IMU data to ekf_localization and adds GQ7 URDF +* Fixes styling issues +* Set spawner as super client +* Removed duplicate class +* Use ROS1 covariance values +* Updated renamed macanum drive controller +* Enable gazebo friction plugin on DingoO +* Contributors: Hilary Luo, Luis Camero, Tony Baltovski, luis-camero + +0.2.11 (2024-08-08) +------------------- + +0.2.10 (2024-07-25) +------------------- +* Topics of simulated onboard sensors +* Missing important remapping to mirror hardware topics +* Contributors: Luis Camero, Steve Macenski + +0.2.9 (2024-05-28) +------------------ + +0.2.8 (2024-05-14) +------------------ + +0.2.7 (2024-04-08) +------------------ +* All Warthog attachments default to 0 +* Aligned attachment links +* Contributors: Luis Camero + +0.2.6 (2024-01-18) +------------------ + +0.2.5 (2024-01-15) +------------------ +* switch finding meshes to use the package:// command +* Contributors: Hilary Luo + +0.2.4 (2024-01-11) +------------------ + +0.2.3 (2024-01-08) +------------------ + +0.2.2 (2024-01-04) +------------------ + +0.2.1 (2023-12-21) +------------------ +* PACS top plate was not centred with generated frames +* Contributors: Hilary Luo + +0.2.0 (2023-12-08) +------------------ +* Added W200 Hardware interface. +* Use path substitution +* Removed testing visual for track virtual wheel +* Added wheel parameters to all robot +* Color and wheel are now parameters +* Updated collision model +* Added w200 tracks +* First pass +* Removed serial from URDF +* Accurate mounts shift +* Added DD150 +* Re-add caster +* Added default mount +* Removed friction on rear_caster +* Added dd100 +* Removed transmission and cleaned up URDF +* Removed erroneaous change +* Removed print +* Updated gazebo simulation +* Changed default parent to default_mount +* Set color appropriately +* Arm Mount at base +* Mounts re-numbering +* Formatted W200 attachment URDF +* Changed top_chassis_link to default_mount +* Changed mid_mount to default_mount +* Renamed sensor_arch namespace +* Changed sensor arch parent +* Added mid_mount +* Origin to bumper +* Added to materials +* Attachment URDF match changes +* Add gazebo controller to URDF without macro +* Moved gazebo controller to common +* Fixes to control parameters and naming +* Base diff drive hardware and hardware interface class + J100 and W200 inherit from diff drive + Moved each platform into its own folder +* Fixed package names and added w200 urdf macro +* Initial Warthog addition +* Contributors: Hilary Luo, Luis Camero, Roni Kreinin, Tony Baltovski + +0.1.3 (2023-11-03) +------------------ +* [clearpath_platform_description] Removed un-used ros2_control params. +* Contributors: Tony Baltovski + +0.1.2 (2023-10-02) +------------------ + +0.1.1 (2023-08-25) +------------------ +* Update gps and imu names to fix generated topic +* Added Ignition frame names to simulate the real robot +* Contributors: Hilary Luo + +0.1.0 (2023-08-17) +------------------ +* Added fenders for J100 +* Contributors: Roni Kreinin + +0.0.9 (2023-07-31) +------------------ + +0.0.8 (2023-07-24) +------------------ +* Updated J100 imu and navsat links +* Contributors: Roni Kreinin + +0.0.7 (2023-07-19) +------------------ +* Renamed URDF and meshes directories +* Contributors: Luis Camero + +0.0.6 (2023-07-13) +------------------ + +0.0.5 (2023-07-12) +------------------ +* [clearpath_platform_description] Fixed unused dependency in CMakeLists.txt. +* Contributors: Tony Baltovski + +0.0.4 (2023-07-07) +------------------ + +0.0.3 (2023-07-05) +------------------ +* Updated husky track value +* Wheel slip plugin + Significantly improved jackal odom in sim +* Contributors: Roni Kreinin + +0.0.2 (2023-07-04) +------------------ + +0.0.1 (2023-06-21) +------------------ +* Updated launch writer make writing different object types easier + Localization parameter fixes + Updated gazebo wheel friction +* Added namespacing support +* Increased J100 navsat update rate to 10hz +* Jackal sim support +* Added GPS + Added realsense gazebo parameters +* Added gazebo IMU plugin +* use_sim_time support + Added lidar gazebo plugins +* Sim fixes +* Fixed dependencies +* Moved description generator to clearpath_generators + Added accessory urdf's + Use launch arg for choosing controller +* [clearpath_platform_description] Made the serial_port an arg for the a200 and reduced polling timeout. +* Moved IMU filter to platform launch + Moved localization into a separate launch file + Updated decoration urdfs + Added structure urdf +* Remapped topics to match API +* Bishop sensors/mounts +* Added velodyne +* [clearpath_platform_description] Fixed hardware plugin for A200. +* control launch fixes + Added ark enclosure for j100 top_plate +* J100 support +* Standard urdf and yaml file name and path + Fixed spacing in urdfs +* Description classes +* PACS mounts + Common PACS Riser + Hokuyo and novatel description fixes +* Initial commit with platform, decoration and mounts generating +* [clearpath_platform_description] Fixed mesh paths. +* [clearpath_sensors_description] Moved Novatel and Hokuyo into sensors from J100. +* [clearpath_platform_description] Renamed all dashes to underscores. +* [clearpath_platform_description] Fixed incorrect path. +* Move clearpath_description to clearpath_platform_description and switched robot names to robot model number. +* Contributors: Roni Kreinin, Tony Baltovski diff --git a/src/external_dependencies/clearpath_platform_description/CMakeLists.txt b/src/external_dependencies/clearpath_platform_description/CMakeLists.txt new file mode 100644 index 000000000..aa4e6bcfa --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/CMakeLists.txt @@ -0,0 +1,10 @@ +cmake_minimum_required(VERSION 3.20) +project(clearpath_platform_description) + +find_package(ament_cmake REQUIRED) + +install(DIRECTORY launch meshes urdf + DESTINATION share/${PROJECT_NAME} +) + +ament_package() diff --git a/src/external_dependencies/clearpath_platform_description/LICENSE b/src/external_dependencies/clearpath_platform_description/LICENSE new file mode 100644 index 000000000..6080cef2f --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/LICENSE @@ -0,0 +1,28 @@ +BSD 3-Clause License + +Copyright (c) 2023, clearpathrobotics + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/src/external_dependencies/clearpath_platform_description/launch/description.launch.py b/src/external_dependencies/clearpath_platform_description/launch/description.launch.py new file mode 100644 index 000000000..6cc95ecb8 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/launch/description.launch.py @@ -0,0 +1,123 @@ + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, GroupAction +from launch.substitutions import (Command, FindExecutable, + PathJoinSubstitution, LaunchConfiguration) +from launch_ros.actions import Node +from launch_ros.parameter_descriptions import ParameterValue + + +def generate_launch_description(): + # Launch Configurations + setup_path = LaunchConfiguration('setup_path') + robot_description_command = LaunchConfiguration('robot_description_command') + use_sim_time = LaunchConfiguration('use_sim_time') + namespace = LaunchConfiguration('namespace') + use_fake_hardware = LaunchConfiguration('use_fake_hardware') + use_manipulation_controllers = LaunchConfiguration('use_manipulation_controllers') + use_platform_controllers = LaunchConfiguration('use_platform_controllers') + + # Launch Arguments + arg_setup_path = DeclareLaunchArgument( + 'setup_path', + default_value='/etc/clearpath/' + ) + + arg_namespace = DeclareLaunchArgument( + 'namespace', + default_value='', + description='Robot namespace' + ) + + arg_use_fake_hardware = DeclareLaunchArgument( + 'use_fake_hardware', + default_value='false', + description='Use fake hardware if true' + ) + + arg_use_manipulation_controllers = DeclareLaunchArgument( + 'use_manipulation_controllers', + default_value='false', + description='Use manipulation controllers if true' + ) + + arg_use_platform_controllers = DeclareLaunchArgument( + 'use_platform_controllers', + default_value='true', + description='Use platform controllers if true' + ) + + # Paths + robot_urdf = PathJoinSubstitution([ + setup_path, 'robot.urdf.xacro']) + config_control = PathJoinSubstitution([ + setup_path, 'platform/config/control.yaml']) + + # Get URDF via xacro + arg_robot_description_command = DeclareLaunchArgument( + 'robot_description_command', + default_value=[ + PathJoinSubstitution([FindExecutable(name='xacro')]), + ' ', + robot_urdf, + ' ', + 'is_sim:=', + use_sim_time, + ' ', + 'gazebo_controllers:=', + config_control, + ' ', + 'namespace:=', + namespace, + ' ', + 'use_fake_hardware:=', + use_fake_hardware, + ' ', + 'use_manipulation_controllers:=', + use_manipulation_controllers, + ' ', + 'use_platform_controllers:=', + use_platform_controllers, + ] + ) + + arg_use_sim_time = DeclareLaunchArgument( + 'use_sim_time', + choices=['true', 'false'], + default_value='false', + description='Use simulation time' + ) + + robot_description_content = ParameterValue( + Command(robot_description_command), + value_type=str + ) + + group_action_state_publishers = GroupAction([ + # Robot State Publisher + Node( + package='robot_state_publisher', + executable='robot_state_publisher', + parameters=[{ + 'robot_description': robot_description_content, + 'use_sim_time': use_sim_time, + }], + remappings=[ + ('/tf', 'tf'), + ('/tf_static', 'tf_static'), + ('joint_states', 'platform/joint_states')] + ), + ]) + + ld = LaunchDescription() + # Args + ld.add_action(arg_use_sim_time) + ld.add_action(arg_setup_path) + ld.add_action(arg_namespace) + ld.add_action(arg_use_fake_hardware) + ld.add_action(arg_use_manipulation_controllers) + ld.add_action(arg_use_platform_controllers) + ld.add_action(arg_robot_description_command) + # Nodes + ld.add_action(group_action_state_publishers) + return ld diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a200/accessories/lidar_mount.stl b/src/external_dependencies/clearpath_platform_description/meshes/a200/accessories/lidar_mount.stl new file mode 100755 index 000000000..e28113c71 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a200/accessories/lidar_mount.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2adb38323508694bf5ca4a0b2fa68a15016ab6489a41cfc3075c9dd63910105e +size 45684 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a200/accessories/lms1xx_mount.dae b/src/external_dependencies/clearpath_platform_description/meshes/a200/accessories/lms1xx_mount.dae new file mode 100644 index 000000000..fd52be4a8 --- 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b/src/external_dependencies/clearpath_platform_description/meshes/w200/light.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:619a641723120da44bd00b94c3a17a3457d5197dff6374d833e2b8a7eeeba11a +size 10684 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/w200/rocker.stl b/src/external_dependencies/clearpath_platform_description/meshes/w200/rocker.stl new file mode 100644 index 000000000..d48811f65 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/w200/rocker.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8cb34b80b97409813ac93d2b6897b30b9fe5c7529f0a41292910685fe424a1b +size 23084 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/w200/susp-link.stl b/src/external_dependencies/clearpath_platform_description/meshes/w200/susp-link.stl new file mode 100644 index 000000000..533efa628 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/w200/susp-link.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:96cfe881ee02749c193de154df0a807da6d76101d7c43ea902986e056ca357f6 +size 66984 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/w200/wheels/outdoor.stl b/src/external_dependencies/clearpath_platform_description/meshes/w200/wheels/outdoor.stl new file mode 100644 index 000000000..86f7c9c80 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/w200/wheels/outdoor.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7507f7cde1194f6b0725e4f2d4728f6229c87a6ac9022c4fb8ca24fb429050ca +size 634084 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/w200/wheels/tracks.dae b/src/external_dependencies/clearpath_platform_description/meshes/w200/wheels/tracks.dae new file mode 100644 index 000000000..2a997450b --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/w200/wheels/tracks.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2830ebb1786836f8f6e1f28e7278927f4d223f707b487160352ffcd7e8130ebd +size 78199 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/w200/wheels/tracks_collision.stl b/src/external_dependencies/clearpath_platform_description/meshes/w200/wheels/tracks_collision.stl new file mode 100644 index 000000000..8000e45de --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/w200/wheels/tracks_collision.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:86b5383840baeaba4e1bfa7e7737e24724aa9694320b0206a29c42d284a418ad +size 4684 diff --git a/src/external_dependencies/clearpath_platform_description/package.xml b/src/external_dependencies/clearpath_platform_description/package.xml new file mode 100644 index 000000000..c173a7ab3 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/package.xml @@ -0,0 +1,31 @@ + + + + clearpath_platform_description + 2.9.15 + Clearpath Platform URDF descriptions + + Ryan Gariepy + Prasenjit Mukherjee + Mike Purvis + Paul Bovbel + Luis Camero + Roni Kreinin + Tony Baltovski + + Luis Camero + Roni Kreinin + Tony Baltovski + + BSD + + ament_cmake + + robot_state_publisher + urdf + xacro + + + ament_cmake + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a200/a200.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a200/a200.urdf.xacro new file mode 100644 index 000000000..a627866d9 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a200/a200.urdf.xacro @@ -0,0 +1,173 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + gz_ros2_control/GazeboSimSystem + + + clearpath_hardware_interfaces/A200Hardware + ${front_wheel_radius * 2} + 5.0 + 1.0 + 0.1 + $(arg serial_port) + + + + + -1 + 1 + + + + + + + -1 + 1 + + + + + + + -1 + 1 + + + + + + + -1 + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a200/attachments/bumper.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a200/attachments/bumper.urdf.xacro new file mode 100644 index 000000000..184d13e39 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a200/attachments/bumper.urdf.xacro @@ -0,0 +1,85 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a200/attachments/observer_backpack.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a200/attachments/observer_backpack.urdf.xacro new file mode 100644 index 000000000..1e986292c --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a200/attachments/observer_backpack.urdf.xacro @@ -0,0 +1,145 @@ + + + + + + + + + + + + + + + + + + + + + + Gazebo/DarkYellow + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Black + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a200/attachments/sensor_arch.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a200/attachments/sensor_arch.urdf.xacro new file mode 100644 index 000000000..3b3f2466e --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a200/attachments/sensor_arch.urdf.xacro @@ -0,0 +1,70 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a200/attachments/top_plate.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a200/attachments/top_plate.urdf.xacro new file mode 100644 index 000000000..72c633913 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a200/attachments/top_plate.urdf.xacro @@ -0,0 +1,190 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a200/drivetrain/wheels.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a200/drivetrain/wheels.urdf.xacro new file mode 100644 index 000000000..127e2a6d6 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a200/drivetrain/wheels.urdf.xacro @@ -0,0 +1,76 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a200/drivetrain/wheels/indoor.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a200/drivetrain/wheels/indoor.urdf.xacro new file mode 100644 index 000000000..98cb121ce --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a200/drivetrain/wheels/indoor.urdf.xacro @@ -0,0 +1,51 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1.0 + 1.0 + 113 + ${a200_indoor_wheel_radius} + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a200/drivetrain/wheels/outdoor.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a200/drivetrain/wheels/outdoor.urdf.xacro new file mode 100644 index 000000000..b7b4f10f0 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a200/drivetrain/wheels/outdoor.urdf.xacro @@ -0,0 +1,51 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1.0 + 1.0 + 113 + ${a200_outdoor_wheel_radius} + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a300/a300.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a300/a300.urdf.xacro new file mode 100644 index 000000000..ff1823986 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a300/a300.urdf.xacro @@ -0,0 +1,188 @@ + + + + + + + + + + + + + + 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a/src/external_dependencies/clearpath_platform_description/urdf/a300/attachments/amp_sensor_arch.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a300/attachments/amp_sensor_arch.urdf.xacro new file mode 100644 index 000000000..b1b646dae --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a300/attachments/amp_sensor_arch.urdf.xacro @@ -0,0 +1,139 @@ + + + + + + + + + + + + + + + + + + + + + + Gazebo/DarkYellow + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a300/attachments/bumper.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a300/attachments/bumper.urdf.xacro new file mode 100644 index 000000000..71c3fb86f --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a300/attachments/bumper.urdf.xacro @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a300/attachments/spotlight.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a300/attachments/spotlight.urdf.xacro new file mode 100644 index 000000000..2aa349a36 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a300/attachments/spotlight.urdf.xacro @@ -0,0 +1,74 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0 0 0 0 0 0 + 1 1 1 0.5 + .1 .1 .1 1 + + 20 + 0.8 + 0.75 + 0.01 + + 0 0 0 + + 1.0471975511965976 + 2.0943951023931953 + 1.0 + + true + false + + + ${name}_light_link + + 0 0 0 0 0 0 + ${name}_light + + + false + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a300/attachments/top_plate.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a300/attachments/top_plate.urdf.xacro new file mode 100644 index 000000000..885b3da43 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a300/attachments/top_plate.urdf.xacro @@ -0,0 +1,80 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a300/attachments/wireless_charger.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a300/attachments/wireless_charger.urdf.xacro new file mode 100644 index 000000000..4c6766c86 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a300/attachments/wireless_charger.urdf.xacro @@ -0,0 +1,39 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/caster_flange.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/caster_flange.urdf.xacro new file mode 100644 index 000000000..2700dde7f --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/caster_flange.urdf.xacro @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/motor.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/motor.urdf.xacro new file mode 100644 index 000000000..56d048bcd --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/motor.urdf.xacro @@ -0,0 +1,38 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/suspension_beam.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/suspension_beam.urdf.xacro new file mode 100644 index 000000000..11ec391c4 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/suspension_beam.urdf.xacro @@ -0,0 +1,67 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/wheels.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/wheels.urdf.xacro new file mode 100644 index 000000000..3e93131f5 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/wheels.urdf.xacro @@ -0,0 +1,127 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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b/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/wheels/indoor.urdf.xacro new file mode 100644 index 000000000..d7d22d059 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/wheels/indoor.urdf.xacro @@ -0,0 +1,51 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1.0 + 1.0 + 113 + ${a300_indoor_wheel_radius} + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/wheels/mecanum.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/wheels/mecanum.urdf.xacro new file mode 100644 index 000000000..b508f18bb --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/wheels/mecanum.urdf.xacro @@ -0,0 +1,68 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1.0 + 1.0 + 113 + ${a300_mecanum_wheel_radius} + + + + + + + + + + 1.0 + 0.0 + 1 ${fdir_side} 0 + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/wheels/outdoor.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/wheels/outdoor.urdf.xacro new file mode 100644 index 000000000..02217442b --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/wheels/outdoor.urdf.xacro @@ -0,0 +1,51 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0.75 + 0.75 + 113 + ${a300_outdoor_wheel_radius} + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/common.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/common.urdf.xacro new file mode 100644 index 000000000..9dc28ea12 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/common.urdf.xacro @@ -0,0 +1,126 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/dd100/attachments/top_plate.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/dd100/attachments/top_plate.urdf.xacro new file mode 100644 index 000000000..cc8ddf4a0 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/dd100/attachments/top_plate.urdf.xacro @@ -0,0 +1,93 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/dd100/dd100.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/dd100/dd100.urdf.xacro new file mode 100644 index 000000000..889618a1d --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/dd100/dd100.urdf.xacro @@ -0,0 +1,163 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + 50 + true + imu_0_link + $(arg namespace)/sensors/imu_0/data_raw + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/dd100/drivetrain/wheels.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/dd100/drivetrain/wheels.urdf.xacro new file mode 100644 index 000000000..c31f965cd --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/dd100/drivetrain/wheels.urdf.xacro @@ -0,0 +1,39 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/dd100/drivetrain/wheels/caster.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/dd100/drivetrain/wheels/caster.urdf.xacro new file mode 100644 index 000000000..fa2422938 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/dd100/drivetrain/wheels/caster.urdf.xacro @@ -0,0 +1,62 @@ + + + + + + + + + + + + + + + + + + + + + + + + + 0.0 + 0.0 + 1.0 + 1.0 + + + + + + + + + + + + + + + + + + + + false + 1000000.0 + 100.0 + 0.2 + 0.2 + 1 0 0 + 0.00 + 1 + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/dd100/drivetrain/wheels/indoor.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/dd100/drivetrain/wheels/indoor.urdf.xacro new file mode 100644 index 000000000..5bdb866b3 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/dd100/drivetrain/wheels/indoor.urdf.xacro @@ -0,0 +1,60 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1.0 + 1.0 + 39.2 + ${dd100_indoor_wheel_radius} + + + + + + Gazebo/DarkGrey + false + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/dd150/attachments/top_plate.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/dd150/attachments/top_plate.urdf.xacro new file mode 100644 index 000000000..0a5f405fc --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/dd150/attachments/top_plate.urdf.xacro @@ -0,0 +1,4 @@ + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/dd150/dd150.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/dd150/dd150.urdf.xacro new file mode 100644 index 000000000..6b454f163 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/dd150/dd150.urdf.xacro @@ -0,0 +1,163 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + 50 + true + imu_0_link + $(arg namespace)/sensors/imu_0/data_raw + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/do100/attachments/top_plate.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/do100/attachments/top_plate.urdf.xacro new file mode 100644 index 000000000..0a5f405fc --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/do100/attachments/top_plate.urdf.xacro @@ -0,0 +1,4 @@ + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/do100/do100.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/do100/do100.urdf.xacro new file mode 100644 index 000000000..01560a4f6 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/do100/do100.urdf.xacro @@ -0,0 +1,169 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + 50 + true + imu_0_link + $(arg namespace)/sensors/imu_0/data_raw + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/do100/drivetrain/wheels.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/do100/drivetrain/wheels.urdf.xacro new file mode 100644 index 000000000..d066a4424 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/do100/drivetrain/wheels.urdf.xacro @@ -0,0 +1,40 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/do100/drivetrain/wheels/mecanum.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/do100/drivetrain/wheels/mecanum.urdf.xacro new file mode 100644 index 000000000..a7e561180 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/do100/drivetrain/wheels/mecanum.urdf.xacro @@ -0,0 +1,66 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1.0 + 1.0 + 20 + ${do100_mecanum_wheel_radius} + + + + + + + + + + 1.0 + 0.0 + 1 ${side} 0 + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/do150/attachments/top_plate.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/do150/attachments/top_plate.urdf.xacro new file mode 100644 index 000000000..0a5f405fc --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/do150/attachments/top_plate.urdf.xacro @@ -0,0 +1,4 @@ + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/do150/do150.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/do150/do150.urdf.xacro new file mode 100644 index 000000000..c2329bd4e --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/do150/do150.urdf.xacro @@ -0,0 +1,170 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + 50 + true + imu_0_link + $(arg namespace)/sensors/imu_0/data_raw + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/generic/drivetrain/control/diff_4wd.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/generic/drivetrain/control/diff_4wd.urdf.xacro new file mode 100644 index 000000000..5223dfd8a --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/generic/drivetrain/control/diff_4wd.urdf.xacro @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/generic/drivetrain/control/diff_fwd.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/generic/drivetrain/control/diff_fwd.urdf.xacro new file mode 100644 index 000000000..2b74f75e2 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/generic/drivetrain/control/diff_fwd.urdf.xacro @@ -0,0 +1,27 @@ + + + + + + + + + + + + ${hardware_plugin} + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/generic/drivetrain/control/diff_rwd.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/generic/drivetrain/control/diff_rwd.urdf.xacro new file mode 100644 index 000000000..091ebdb6d --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/generic/drivetrain/control/diff_rwd.urdf.xacro @@ -0,0 +1,27 @@ + + + + + + + + + + + + ${hardware_plugin} + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/generic/drivetrain/control/omni_4wd.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/generic/drivetrain/control/omni_4wd.urdf.xacro new file mode 100644 index 000000000..c6b4384a2 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/generic/drivetrain/control/omni_4wd.urdf.xacro @@ -0,0 +1,37 @@ + + + + + + + + + + + + ${hardware_plugin} + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/generic/drivetrain/drivetrain.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/generic/drivetrain/drivetrain.urdf.xacro new file mode 100644 index 000000000..3d15a0540 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/generic/drivetrain/drivetrain.urdf.xacro @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/generic/empty.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/generic/empty.urdf.xacro new file mode 100644 index 000000000..63338f9a1 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/generic/empty.urdf.xacro @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/generic/gazebo.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/generic/gazebo.urdf.xacro new file mode 100644 index 000000000..435652cfd --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/generic/gazebo.urdf.xacro @@ -0,0 +1,31 @@ + + + + + + $(arg gazebo_controllers) + + ~/odom:=platform/odom + ~/cmd_vel:=platform/cmd_vel + /tf:=tf + /tf_static:=tf_static + /diagnostics:=diagnostics + /dynamic_joint_states:=platform/dynamic_joint_states + joint_states:=platform/joint_states + ~/reference:=platform/cmd_vel + ~/odometry:=platform/odom + $(arg namespace) + + + + + + + true + true + true + 50 + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/j100/attachments/fender.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/j100/attachments/fender.urdf.xacro new file mode 100644 index 000000000..24fb58f01 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/j100/attachments/fender.urdf.xacro @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/j100/attachments/top_plate.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/j100/attachments/top_plate.urdf.xacro new file mode 100644 index 000000000..d3255660a --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/j100/attachments/top_plate.urdf.xacro @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/j100/drivetrain/wheels.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/j100/drivetrain/wheels.urdf.xacro new file mode 100644 index 000000000..de0ee278b --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/j100/drivetrain/wheels.urdf.xacro @@ -0,0 +1,40 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/j100/drivetrain/wheels/outdoor.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/j100/drivetrain/wheels/outdoor.urdf.xacro new file mode 100644 index 000000000..047900be1 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/j100/drivetrain/wheels/outdoor.urdf.xacro @@ -0,0 +1,59 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1.0 + 1.0 + 40 + ${j100_outdoor_wheel_radius} + + + + + + Gazebo/DarkGrey + false + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/j100/j100.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/j100/j100.urdf.xacro new file mode 100644 index 000000000..76873e7c4 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/j100/j100.urdf.xacro @@ -0,0 +1,147 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + 50 + true + imu_0_link + $(arg namespace)/sensors/imu_0/data_raw + + + + + + + + + + + + + + + + + + + + + 1 + 10 + gps_0_link + $(arg namespace)/sensors/gps_0/navsat + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/links/box.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/links/box.urdf.xacro new file mode 100644 index 000000000..aa65d8807 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/links/box.urdf.xacro @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/links/cylinder.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/links/cylinder.urdf.xacro new file mode 100644 index 000000000..6dcc4caed --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/links/cylinder.urdf.xacro @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/links/frame.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/links/frame.urdf.xacro new file mode 100644 index 000000000..f73a44710 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/links/frame.urdf.xacro @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/links/mesh.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/links/mesh.urdf.xacro new file mode 100644 index 000000000..4b175ff59 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/links/mesh.urdf.xacro @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/links/sphere.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/links/sphere.urdf.xacro new file mode 100644 index 000000000..5f57fe3a1 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/links/sphere.urdf.xacro @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/r100/attachments/fams.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/r100/attachments/fams.urdf.xacro new file mode 100644 index 000000000..05d9c0b76 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/r100/attachments/fams.urdf.xacro @@ -0,0 +1,71 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/r100/attachments/hams.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/r100/attachments/hams.urdf.xacro new file mode 100644 index 000000000..ed60f1eb0 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/r100/attachments/hams.urdf.xacro @@ -0,0 +1,95 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/r100/attachments/legs.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/r100/attachments/legs.urdf.xacro new file mode 100644 index 000000000..0d80d0066 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/r100/attachments/legs.urdf.xacro @@ -0,0 +1,38 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/r100/attachments/tower.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/r100/attachments/tower.urdf.xacro new file mode 100644 index 000000000..7b204014a --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/r100/attachments/tower.urdf.xacro @@ -0,0 +1,97 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/r100/drivetrain/wheels.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/r100/drivetrain/wheels.urdf.xacro new file mode 100644 index 000000000..6ed9a24f3 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/r100/drivetrain/wheels.urdf.xacro @@ -0,0 +1,63 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/r100/drivetrain/wheels/mecanum.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/r100/drivetrain/wheels/mecanum.urdf.xacro new file mode 100644 index 000000000..4092887f0 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/r100/drivetrain/wheels/mecanum.urdf.xacro @@ -0,0 +1,65 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1.0 + 1.0 + 200 + ${r100_mecanum_wheel_radius} + + + + + + + + + + 1.0 + 0.0 + 1 ${side} 0 + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/r100/r100.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/r100/r100.urdf.xacro new file mode 100644 index 000000000..5954f8cfa --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/r100/r100.urdf.xacro @@ -0,0 +1,281 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + 50 + true + imu_0_link + $(arg namespace)/sensors/imu_0/data_raw + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/r100/rocker.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/r100/rocker.urdf.xacro new file mode 100644 index 000000000..14b8b06de --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/r100/rocker.urdf.xacro @@ -0,0 +1,32 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/w200/attachments/arm_plate.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/w200/attachments/arm_plate.urdf.xacro new file mode 100644 index 000000000..2ced8acf3 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/w200/attachments/arm_plate.urdf.xacro @@ -0,0 +1,42 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/w200/attachments/bulkhead.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/w200/attachments/bulkhead.urdf.xacro new file mode 100644 index 000000000..afb99e7e4 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/w200/attachments/bulkhead.urdf.xacro @@ -0,0 +1,45 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/w200/attachments/generator.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/w200/attachments/generator.urdf.xacro new file mode 100644 index 000000000..e5aa6dd81 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/w200/attachments/generator.urdf.xacro @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/w200/diff_unit.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/w200/diff_unit.urdf.xacro new file mode 100644 index 000000000..ec89a2478 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/w200/diff_unit.urdf.xacro @@ -0,0 +1,116 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0.9 0.9 0.9 1 + 0.9 0.9 0.9 1 + 0.9 0.9 0.9 1 + 0.9 0.9 0.9 1 + + + + + + + + + + + + + + + + + + + + + + 0.9 0 0 1 + 0.9 0 0 1 + 0.9 0 0 1 + 0.9 0 0 1 + + + + + + false + + + 0.1 0.1 0.1 1 + 0 0 0 0 + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/w200/drivetrain/wheels.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/w200/drivetrain/wheels.urdf.xacro new file mode 100644 index 000000000..012adff0f --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/w200/drivetrain/wheels.urdf.xacro @@ -0,0 +1,75 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/w200/drivetrain/wheels/outdoor.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/w200/drivetrain/wheels/outdoor.urdf.xacro new file mode 100644 index 000000000..1c6980dbd --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/w200/drivetrain/wheels/outdoor.urdf.xacro @@ -0,0 +1,63 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1.0 + 1.0 + 686 + ${w200_outdoor_wheel_radius} + + + + + + false + 0.5 + 0.5 + + Gazebo/DarkGrey + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/w200/drivetrain/wheels/tracks.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/w200/drivetrain/wheels/tracks.urdf.xacro new file mode 100644 index 000000000..31c893305 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/w200/drivetrain/wheels/tracks.urdf.xacro @@ -0,0 +1,80 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1.0 + 1.0 + 686 + ${w200_tracks_radius} + + + + + + false + 0.5 + 0.5 + + Gazebo/DarkGrey + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/w200/w200.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/w200/w200.urdf.xacro new file mode 100644 index 000000000..e4dc2f132 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/w200/w200.urdf.xacro @@ -0,0 +1,207 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + 50 + true + imu_0_link + $(arg namespace)/sensors/imu_0/data_raw + + + + + + + + + + + + gz_ros2_control/GazeboSimSystem + + + clearpath_hardware_interfaces/W200Hardware + 0.6 + + + + + -25 + 25 + + + + + + + -25 + 25 + + + + + + + -25 + 25 + + + + + + + -25 + 25 + + + + + + + + + diff --git a/src/husky_a300_mock/CMakeLists.txt b/src/husky_a300_mock/CMakeLists.txt new file mode 100644 index 000000000..a67ddb973 --- /dev/null +++ b/src/husky_a300_mock/CMakeLists.txt @@ -0,0 +1,21 @@ +cmake_minimum_required(VERSION 3.22) +project(husky_a300_mock) + +find_package(ament_cmake REQUIRED) + +install( + DIRECTORY + config + description + launch + waypoints + DESTINATION + share/${PROJECT_NAME} +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/src/husky_a300_mock/LICENSE b/src/husky_a300_mock/LICENSE new file mode 100644 index 000000000..574ef0790 --- /dev/null +++ b/src/husky_a300_mock/LICENSE @@ -0,0 +1,25 @@ +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + + * Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +POSSIBILITY OF SUCH DAMAGE. diff --git a/src/husky_a300_mock/README.md b/src/husky_a300_mock/README.md new file mode 100644 index 000000000..69982b162 --- /dev/null +++ b/src/husky_a300_mock/README.md @@ -0,0 +1,18 @@ +# husky_a300_mock + +A minimal MoveIt Pro configuration for a Clearpath Husky A300 in a blank world: no sensors, no +environment assets, mock hardware. Built for fast iteration, decoupled from a full simulated +environment. + +The robot description composes the real A300 platform body from +[`clearpath_platform_description`](../external_dependencies/clearpath_platform_description) +(vendored from [`clearpathrobotics/clearpath_common@jazzy`](https://github.com/clearpathrobotics/clearpath_common), +BSD-licensed) with a `mock_components/GenericSystem` ros2_control block and a stock +[`diff_drive_controller`](https://control.ros.org/jazzy/doc/ros2_controllers/diff_drive_controller/doc/userdoc.html) +named `platform_velocity_controller`, matching the real robot's controller naming and calibration +(`wheel_separation: 0.562`, `wheel_separation_multiplier: 1.75`, `wheel_radius: 0.1625`, +`wheels_per_side: 2`). `/cmd_vel` (`geometry_msgs/TwistStamped`) and `/odom` +(`nav_msgs/Odometry`) are remapped to those plain top-level topic names from +`platform_velocity_controller`'s own namespaced topics. + +For detailed documentation see: [MoveIt Pro Documentation](https://docs.picknik.ai/) diff --git a/src/husky_a300_mock/config/config.yaml b/src/husky_a300_mock/config/config.yaml new file mode 100644 index 000000000..6051113f0 --- /dev/null +++ b/src/husky_a300_mock/config/config.yaml @@ -0,0 +1,112 @@ +############################################################### +# +# This configures the robot to work with MoveIt Pro +# +############################################################### + +runtime_launch_file: + package: "husky_a300_mock" + path: "launch/runtime.launch.xml" + +# Baseline hardware configuration parameters for MoveIt Pro. +# [Required] +hardware: + # If the MoveIt Pro Agent should launch the ros2 controller node. + # [Optional, default=True] + launch_control_node: True + + # If the MoveIt Pro Agent should launch the robot state publisher. + # [Optional, default=True] + launch_robot_state_publisher: True + + # Parameters used to configure the robot description through XACRO. + # A URDF and SRDF are both required. + # [Required] + robot_description: + urdf: + package: "husky_a300_mock" + path: "description/husky_a300_blank_world.xacro" + srdf: + package: "husky_a300_mock" + path: "config/moveit/husky_a300.srdf" + # Specify any additional parameters required for the URDF. + # [Optional] + urdf_params: + # clearpath_platform_description's a300.urdf.xacro declares this arg with a default that + # resolves $(find clearpath_control) - a package this config never uses (no Gazebo) and + # does not vendor. Any override value skips evaluating that default. + - gazebo_controllers: "unused" + +# Sets ROS global params for launch. +# [Optional] +ros_global_params: + # Whether or not to use simulated time. + # [Optional, default=False] + use_sim_time: False + +# Configuration files for MoveIt. +# [Required] +moveit_params: + # Used by the Waypoint Manager to save joint states from this joint group. + joint_group_name: "base" + + kinematics: + package: "husky_a300_mock" + path: "config/moveit/kinematics.yaml" + pose_jog: + package: "husky_a300_mock" + path: "config/moveit/pose_jog.yaml" + joint_jog: + package: "husky_a300_mock" + path: "config/moveit/joint_jog.yaml" + + publish: + planning_scene: True + geometry_updates: True + state_updates: True + transforms_updates: True + +# Configuration for launching ros2_control processes. +# [Required, if using ros2_control] +ros2_control: + config: + package: "husky_a300_mock" + path: "config/control/husky_a300.ros2_control.yaml" + # MoveIt Pro will load and activate these controllers at start up to ensure they are available. + # [Optional, default=[]] + controllers_active_at_startup: + - "joint_state_broadcaster" + - "platform_velocity_controller" + controllers_inactive_at_startup: [] + controllers_not_managed: [] + # platform_velocity_controller's topics are namespaced under its own controller name (Jazzy + # default). Remap them to the plain /cmd_vel and /odom names Nav2 expects, so no rework is + # needed downstream. + # [Optional, default=[]] + controller_shared_topics: + /cmd_vel: + - "/platform_velocity_controller/cmd_vel" + /odom: + - "/platform_velocity_controller/odom" + +# Configuration for loading behaviors and objectives. +# [Required] +objectives: + # List of plugins for loading custom behaviors. + # [Required] + behavior_loader_plugins: + core: + - "moveit_pro::behaviors::CoreBehaviorsLoader" + - "moveit_pro::behaviors::ConverterBehaviorsLoader" + - "moveit_pro::behaviors::VisionBehaviorsLoader" + # Specify source folder for objectives + # [Required] + objective_library_paths: + core_objectives: + package_name: "moveit_pro_objectives" + relative_path: "objectives/core" + # Specify the location of the saved waypoints file. + # [Required] + waypoints_file: + package_name: "husky_a300_mock" + relative_path: "waypoints/waypoints.yaml" diff --git a/src/husky_a300_mock/config/control/husky_a300.ros2_control.yaml b/src/husky_a300_mock/config/control/husky_a300.ros2_control.yaml new file mode 100644 index 000000000..b5c3be0ef --- /dev/null +++ b/src/husky_a300_mock/config/control/husky_a300.ros2_control.yaml @@ -0,0 +1,50 @@ +controller_manager: + ros__parameters: + update_rate: 100 # Hz + + joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + + platform_velocity_controller: + type: diff_drive_controller/DiffDriveController + +# Husky A300 is a 4-wheel skid-steer base: two wheels per side driven together. Controller name +# and calibration values match the real robot's controllers_a300.yaml, not the URDF geometry: +# wheel_separation/wheel_radius here are the loaded rolling-radius calibration (0.562/0.1625), +# not the wheel's physical dimensions (0.1651 in the URDF). +platform_velocity_controller: + ros__parameters: + left_wheel_names: ["front_left_wheel_joint", "rear_left_wheel_joint"] + right_wheel_names: ["front_right_wheel_joint", "rear_right_wheel_joint"] + wheels_per_side: 2 + + wheel_separation: 0.562 + wheel_separation_multiplier: 1.75 + wheel_radius: 0.1625 + left_wheel_radius_multiplier: 1.0 + right_wheel_radius_multiplier: 1.0 + + publish_rate: 50.0 + odom_frame_id: odom + base_frame_id: base_link + # A state estimator (fuse, matching hangar_sim's config) will own odom->base_link once the + # sensor port lands; until then keep the controller's own TF so it is not broken mid-port. + enable_odom_tf: true + + # Mock hardware has no independent wheel-slip dynamics to feed back, so run open loop: + # command velocity integrates directly into published odometry. + open_loop: true + + cmd_vel_timeout: 0.5 + + linear.x.has_velocity_limits: true + linear.x.has_acceleration_limits: true + linear.x.max_velocity: 0.8 + # Real robot has separate forward/reverse accel (2.0) and decel (4.0) limits; + # stock diff_drive_controller only exposes one symmetric max_acceleration. + linear.x.max_acceleration: 2.0 + + angular.z.has_velocity_limits: true + angular.z.has_acceleration_limits: true + angular.z.max_velocity: 2.0 + angular.z.max_acceleration: 4.0 diff --git a/src/husky_a300_mock/config/moveit/husky_a300.srdf b/src/husky_a300_mock/config/moveit/husky_a300.srdf new file mode 100644 index 000000000..6941bb345 --- /dev/null +++ b/src/husky_a300_mock/config/moveit/husky_a300.srdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/husky_a300_mock/config/moveit/joint_jog.yaml b/src/husky_a300_mock/config/moveit/joint_jog.yaml new file mode 100644 index 000000000..1c65fd269 --- /dev/null +++ b/src/husky_a300_mock/config/moveit/joint_jog.yaml @@ -0,0 +1,7 @@ +# diff_drive_controller is a kinematics controller, not a per-joint velocity controller, so the +# "base" group's wheel joints are not joint-joggable - Nav2 drives the base directly via /cmd_vel. +# An empty planning_groups/controllers pair crashes MoveIt Pro's launch (evaluates to an untyped +# empty parameter tuple), so this points at "base" inertly instead - Joint Jog is never invoked +# for this robot. +planning_groups: ["base"] +controllers: ["platform_velocity_controller"] diff --git a/src/husky_a300_mock/config/moveit/kinematics.yaml b/src/husky_a300_mock/config/moveit/kinematics.yaml new file mode 100644 index 000000000..f5d1cde17 --- /dev/null +++ b/src/husky_a300_mock/config/moveit/kinematics.yaml @@ -0,0 +1,2 @@ +# The "base" group has no IK-capable chain (wheel joints only), so no solver is configured. +{} diff --git a/src/husky_a300_mock/config/moveit/pose_jog.yaml b/src/husky_a300_mock/config/moveit/pose_jog.yaml new file mode 100644 index 000000000..2d290eb1c --- /dev/null +++ b/src/husky_a300_mock/config/moveit/pose_jog.yaml @@ -0,0 +1,6 @@ +# The base has no arm and no IK-capable group, so Cartesian pose jogging does not apply here - +# Nav2 drives the base directly via /cmd_vel. An empty planning_groups/controllers pair crashes +# MoveIt Pro's launch (evaluates to an untyped empty parameter tuple), so this points at "base" +# inertly instead - Pose Jog is never invoked for this robot. +planning_groups: ["base"] +controllers: ["platform_velocity_controller"] diff --git a/src/husky_a300_mock/description/husky_a300_blank_world.xacro b/src/husky_a300_mock/description/husky_a300_blank_world.xacro new file mode 100644 index 000000000..9b70d084a --- /dev/null +++ b/src/husky_a300_mock/description/husky_a300_blank_world.xacro @@ -0,0 +1,65 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + mock_components/GenericSystem + true + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/husky_a300_mock/launch/runtime.launch.xml b/src/husky_a300_mock/launch/runtime.launch.xml new file mode 100644 index 000000000..b2aa75434 --- /dev/null +++ b/src/husky_a300_mock/launch/runtime.launch.xml @@ -0,0 +1,6 @@ + + + + diff --git a/src/husky_a300_mock/package.xml b/src/husky_a300_mock/package.xml new file mode 100644 index 000000000..7cae0fa23 --- /dev/null +++ b/src/husky_a300_mock/package.xml @@ -0,0 +1,29 @@ + + + husky_a300_mock + 9.5.0 + + + Minimal MoveIt Pro configuration for a Clearpath Husky A300 in a blank world, for fast + iteration decoupled from a full simulated environment. + + + MoveIt Pro Maintainer + + BSD-3-Clause + + ament_cmake + + clearpath_platform_description + diff_drive_controller + joint_state_broadcaster + moveit_studio_agent + moveit_pro_behavior + moveit_pro_objectives + + ament_lint_auto + + + ament_cmake + + diff --git a/src/husky_a300_mock/waypoints/waypoints.yaml b/src/husky_a300_mock/waypoints/waypoints.yaml new file mode 100644 index 000000000..fe51488c7 --- /dev/null +++ b/src/husky_a300_mock/waypoints/waypoints.yaml @@ -0,0 +1 @@ +[] From f84d23fd365139a2611f1e9059f4557c4f2d1b2a Mon Sep 17 00:00:00 2001 From: Griswald Brooks Date: Thu, 20 Aug 2026 13:14:21 -0400 Subject: [PATCH 02/10] no-mistakes(review): fix A300 mock SRDF adjacency, decel limits, public comments --- src/husky_a300_mock/README.md | 4 ++++ src/husky_a300_mock/config/config.yaml | 7 ------- .../control/husky_a300.ros2_control.yaml | 10 ++++++++-- .../config/moveit/husky_a300.srdf | 10 ++++++++-- .../description/husky_a300_blank_world.xacro | 20 ++++++++++++------- 5 files changed, 33 insertions(+), 18 deletions(-) diff --git a/src/husky_a300_mock/README.md b/src/husky_a300_mock/README.md index 69982b162..88cebac34 100644 --- a/src/husky_a300_mock/README.md +++ b/src/husky_a300_mock/README.md @@ -15,4 +15,8 @@ named `platform_velocity_controller`, matching the real robot's controller namin (`nav_msgs/Odometry`) are remapped to those plain top-level topic names from `platform_velocity_controller`'s own namespaced topics. +The Pose Jog and Joint Jog UI panels are wired to the `base` group only to avoid a MoveIt Pro +launch crash on an empty jog config; neither is functionally usable on this robot (no IK-capable +group, no per-joint velocity controller). + For detailed documentation see: [MoveIt Pro Documentation](https://docs.picknik.ai/) diff --git a/src/husky_a300_mock/config/config.yaml b/src/husky_a300_mock/config/config.yaml index 6051113f0..696cef24e 100644 --- a/src/husky_a300_mock/config/config.yaml +++ b/src/husky_a300_mock/config/config.yaml @@ -29,13 +29,6 @@ hardware: srdf: package: "husky_a300_mock" path: "config/moveit/husky_a300.srdf" - # Specify any additional parameters required for the URDF. - # [Optional] - urdf_params: - # clearpath_platform_description's a300.urdf.xacro declares this arg with a default that - # resolves $(find clearpath_control) - a package this config never uses (no Gazebo) and - # does not vendor. Any override value skips evaluating that default. - - gazebo_controllers: "unused" # Sets ROS global params for launch. # [Optional] diff --git a/src/husky_a300_mock/config/control/husky_a300.ros2_control.yaml b/src/husky_a300_mock/config/control/husky_a300.ros2_control.yaml index b5c3be0ef..b1d1794ff 100644 --- a/src/husky_a300_mock/config/control/husky_a300.ros2_control.yaml +++ b/src/husky_a300_mock/config/control/husky_a300.ros2_control.yaml @@ -40,11 +40,17 @@ platform_velocity_controller: linear.x.has_velocity_limits: true linear.x.has_acceleration_limits: true linear.x.max_velocity: 0.8 - # Real robot has separate forward/reverse accel (2.0) and decel (4.0) limits; - # stock diff_drive_controller only exposes one symmetric max_acceleration. + # Asymmetric accel/decel limits carried from the real robot. Sign convention is the + # controller's: max_acceleration/max_deceleration_reverse are >= 0, the other two <= 0. linear.x.max_acceleration: 2.0 + linear.x.max_deceleration: -4.0 + linear.x.max_acceleration_reverse: -2.0 + linear.x.max_deceleration_reverse: 4.0 angular.z.has_velocity_limits: true angular.z.has_acceleration_limits: true angular.z.max_velocity: 2.0 angular.z.max_acceleration: 4.0 + angular.z.max_deceleration: -4.0 + angular.z.max_acceleration_reverse: -4.0 + angular.z.max_deceleration_reverse: 4.0 diff --git a/src/husky_a300_mock/config/moveit/husky_a300.srdf b/src/husky_a300_mock/config/moveit/husky_a300.srdf index 6941bb345..f45cbad7f 100644 --- a/src/husky_a300_mock/config/moveit/husky_a300.srdf +++ b/src/husky_a300_mock/config/moveit/husky_a300.srdf @@ -15,8 +15,14 @@ - - + + + + + + + + diff --git a/src/husky_a300_mock/description/husky_a300_blank_world.xacro b/src/husky_a300_mock/description/husky_a300_blank_world.xacro index 9b70d084a..bfa9f76b4 100644 --- a/src/husky_a300_mock/description/husky_a300_blank_world.xacro +++ b/src/husky_a300_mock/description/husky_a300_blank_world.xacro @@ -1,19 +1,25 @@ + (public, BSD-licensed) clearpath_platform_description package. No customer-specific + description source is vendored or copied here; the macro composition below was confirmed to + match the vendor description this platform ships with, differing only in an unused xacro arg + and in which drivetrain file supplies the ros2_control block - irrelevant here, since + use_platform_controllers:=false skips that include entirely and this file declares its own + mock ros2_control block below. --> + + + arch), for visual/body fidelity with the real robot. No sensors are mounted - sensors are out + of scope for this configuration. --> From 25d72ed24215dcce5df38861c999de7b5da957a1 Mon Sep 17 00:00:00 2001 From: Griswald Brooks Date: Thu, 20 Aug 2026 13:39:33 -0400 Subject: [PATCH 03/10] no-mistakes(review): fix A300 mock SRDF collision matrix against measured geometry --- .../config/moveit/husky_a300.srdf | 19 ++++++++++++++----- 1 file changed, 14 insertions(+), 5 deletions(-) diff --git a/src/husky_a300_mock/config/moveit/husky_a300.srdf b/src/husky_a300_mock/config/moveit/husky_a300.srdf index f45cbad7f..f09f8e848 100644 --- a/src/husky_a300_mock/config/moveit/husky_a300.srdf +++ b/src/husky_a300_mock/config/moveit/husky_a300.srdf @@ -11,7 +11,7 @@ - + @@ -23,10 +23,6 @@ - - - - @@ -34,4 +30,17 @@ + + + + + + + + + + + + + From 69f93d490d7763afe5f1754e4268fb7be60d3867 Mon Sep 17 00:00:00 2001 From: Griswald Brooks Date: Thu, 20 Aug 2026 14:31:32 -0400 Subject: [PATCH 04/10] no-mistakes(test): add in-workspace objectives dir so agent launch resolves --- src/husky_a300_mock/CMakeLists.txt | 1 + src/husky_a300_mock/config/config.yaml | 5 +++++ src/husky_a300_mock/objectives/.gitkeep | 0 3 files changed, 6 insertions(+) create mode 100644 src/husky_a300_mock/objectives/.gitkeep diff --git a/src/husky_a300_mock/CMakeLists.txt b/src/husky_a300_mock/CMakeLists.txt index a67ddb973..1d82fed3d 100644 --- a/src/husky_a300_mock/CMakeLists.txt +++ b/src/husky_a300_mock/CMakeLists.txt @@ -8,6 +8,7 @@ install( config description launch + objectives waypoints DESTINATION share/${PROJECT_NAME} diff --git a/src/husky_a300_mock/config/config.yaml b/src/husky_a300_mock/config/config.yaml index 696cef24e..c739a28ec 100644 --- a/src/husky_a300_mock/config/config.yaml +++ b/src/husky_a300_mock/config/config.yaml @@ -98,6 +98,11 @@ objectives: core_objectives: package_name: "moveit_pro_objectives" relative_path: "objectives/core" + # This config adds no custom Objectives, but the last entry must resolve to a + # package source directory inside the user workspace, so keep it in-workspace. + husky_a300_mock_objectives: + package_name: "husky_a300_mock" + relative_path: "objectives" # Specify the location of the saved waypoints file. # [Required] waypoints_file: diff --git a/src/husky_a300_mock/objectives/.gitkeep b/src/husky_a300_mock/objectives/.gitkeep new file mode 100644 index 000000000..e69de29bb From 7ddc66bfb022a17312df5db07a7aa4b4af5d7aed Mon Sep 17 00:00:00 2001 From: Griswald Brooks Date: Thu, 20 Aug 2026 14:48:15 -0400 Subject: [PATCH 05/10] no-mistakes(document): fix prettier formatting in husky_a300_mock package.xml --- src/husky_a300_mock/package.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/husky_a300_mock/package.xml b/src/husky_a300_mock/package.xml index 7cae0fa23..3e9832409 100644 --- a/src/husky_a300_mock/package.xml +++ b/src/husky_a300_mock/package.xml @@ -4,8 +4,8 @@ 9.5.0 - Minimal MoveIt Pro configuration for a Clearpath Husky A300 in a blank world, for fast - iteration decoupled from a full simulated environment. + Minimal MoveIt Pro configuration for a Clearpath Husky A300 in a blank + world, for fast iteration decoupled from a full simulated environment. MoveIt Pro Maintainer From 6df90171d0204f1edd7264e657e6ca74c726b178 Mon Sep 17 00:00:00 2001 From: Griswald Brooks Date: Thu, 20 Aug 2026 17:20:34 -0400 Subject: [PATCH 06/10] feat(husky_a300_mock): default 3D Visualizer to the odom frame This blank-world mock ships no localization, so its TF tree roots at odom, not the frontend's default world. Without this override the 3D Visualizer shows an empty scene until the Fixed Frame is switched manually. --- src/husky_a300_mock/config/frontend_settings.yaml | 4 ++++ 1 file changed, 4 insertions(+) create mode 100644 src/husky_a300_mock/config/frontend_settings.yaml diff --git a/src/husky_a300_mock/config/frontend_settings.yaml b/src/husky_a300_mock/config/frontend_settings.yaml new file mode 100644 index 000000000..ac2cc3427 --- /dev/null +++ b/src/husky_a300_mock/config/frontend_settings.yaml @@ -0,0 +1,4 @@ +# This blank-world mock ships no localization, so its TF tree roots at +# `odom`, not the frontend's default `world`. Override so the 3D Visualizer +# renders the robot without a manual Fixed Frame change. +referenceFrame: odom From 8a71cff01dcf44e9af0e416cf132e5913f8c521c Mon Sep 17 00:00:00 2001 From: Griswald Brooks Date: Thu, 20 Aug 2026 17:43:57 -0400 Subject: [PATCH 07/10] no-mistakes(review): register MTCCoreBehaviorsLoader in husky_a300_mock config --- src/husky_a300_mock/config/config.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/src/husky_a300_mock/config/config.yaml b/src/husky_a300_mock/config/config.yaml index c739a28ec..a04b93a3d 100644 --- a/src/husky_a300_mock/config/config.yaml +++ b/src/husky_a300_mock/config/config.yaml @@ -90,6 +90,7 @@ objectives: behavior_loader_plugins: core: - "moveit_pro::behaviors::CoreBehaviorsLoader" + - "moveit_pro::behaviors::MTCCoreBehaviorsLoader" - "moveit_pro::behaviors::ConverterBehaviorsLoader" - "moveit_pro::behaviors::VisionBehaviorsLoader" # Specify source folder for objectives From f2aa1a6ee72d9ffadbd9e2cf74cdabaee6656c1a Mon Sep 17 00:00:00 2001 From: Griswald Brooks Date: Sun, 23 Aug 2026 19:03:13 -0400 Subject: [PATCH 08/10] fix(husky_a300_mock): correct ground-contact frame and lint test_depends Captain-ruled fix for the base-footprint-above-ground finding: the vendored A300 description's own base_footprint_joint sits 0.30 m above true ground contact (an upstream clearpath_common authoring bug, not introduced here). Keep the vendored file byte-identical to upstream; add a workspace-local "footprint" frame as base_link's parent, carrying the FK-measured 0.13597 m ground-contact offset, and repoint platform_velocity_controller's base_frame_id at it so TF, the 3D Visualizer, and future Nav2 costmaps all agree the wheels sit on the grid. Also declares the sibling-package-convention lint test_depends (ament_cmake_copyright, ament_cmake_lint_cmake, ament_flake8, picknik_ament_copyright) so the BUILD_TESTING lint block isn't inert. --- .../control/husky_a300.ros2_control.yaml | 7 +++++-- .../description/husky_a300_blank_world.xacro | 19 +++++++++++++++++++ src/husky_a300_mock/package.xml | 4 ++++ 3 files changed, 28 insertions(+), 2 deletions(-) diff --git a/src/husky_a300_mock/config/control/husky_a300.ros2_control.yaml b/src/husky_a300_mock/config/control/husky_a300.ros2_control.yaml index b1d1794ff..f5741aa70 100644 --- a/src/husky_a300_mock/config/control/husky_a300.ros2_control.yaml +++ b/src/husky_a300_mock/config/control/husky_a300.ros2_control.yaml @@ -26,8 +26,11 @@ platform_velocity_controller: publish_rate: 50.0 odom_frame_id: odom - base_frame_id: base_link - # A state estimator (fuse, matching hangar_sim's config) will own odom->base_link once the + # base_link sits above true ground contact (see husky_a300_blank_world.xacro's footprint_joint + # comment), so the controller publishes odom->footprint - the REP105 ground frame the xacro + # wrapper adds as base_link's parent - not odom->base_link directly. + base_frame_id: footprint + # A state estimator (fuse, matching hangar_sim's config) will own odom->footprint once the # sensor port lands; until then keep the controller's own TF so it is not broken mid-port. enable_odom_tf: true diff --git a/src/husky_a300_mock/description/husky_a300_blank_world.xacro b/src/husky_a300_mock/description/husky_a300_blank_world.xacro index bfa9f76b4..0c1fbebb3 100644 --- a/src/husky_a300_mock/description/husky_a300_blank_world.xacro +++ b/src/husky_a300_mock/description/husky_a300_blank_world.xacro @@ -17,6 +17,25 @@ + + + + + + + + diff --git a/src/husky_a300_mock/package.xml b/src/husky_a300_mock/package.xml index 3e9832409..60bccbbd1 100644 --- a/src/husky_a300_mock/package.xml +++ b/src/husky_a300_mock/package.xml @@ -21,7 +21,11 @@ moveit_pro_behavior moveit_pro_objectives + ament_cmake_copyright + ament_cmake_lint_cmake + ament_flake8 ament_lint_auto + picknik_ament_copyright ament_cmake From 9d06777cc2e0cd09c63f7deee2cb755ae90eb5a1 Mon Sep 17 00:00:00 2001 From: Griswald Brooks Date: Sun, 23 Aug 2026 19:44:41 -0400 Subject: [PATCH 09/10] no-mistakes(review): document footprint frame split, reword xacro provenance comments --- src/husky_a300_mock/README.md | 12 ++++++ .../description/husky_a300_blank_world.xacro | 38 +++++++++---------- 2 files changed, 31 insertions(+), 19 deletions(-) diff --git a/src/husky_a300_mock/README.md b/src/husky_a300_mock/README.md index 88cebac34..128fcf65c 100644 --- a/src/husky_a300_mock/README.md +++ b/src/husky_a300_mock/README.md @@ -15,6 +15,18 @@ named `platform_velocity_controller`, matching the real robot's controller namin (`nav_msgs/Odometry`) are remapped to those plain top-level topic names from `platform_velocity_controller`'s own namespaced topics. +## Frames + +The ground-contact frame is **`footprint`**, not `base_footprint`. `platform_velocity_controller` +publishes `odom` -> `footprint` (`odom_frame_id: odom`, `base_frame_id: footprint`), and anything +consuming a REP-105 ground frame - TF, the UI reference frame, Nav2 - must use `footprint`. + +The vendored description also publishes a `base_footprint` link, but upstream's +`base_footprint_joint` places it 0.30 m above the ground plane rather than on it, so it is unused +here. The correction lives in `description/husky_a300_blank_world.xacro`, which adds `footprint` as +`base_link`'s parent at the FK-measured offset (0.13597 m below `base_link`) while keeping the +vendored package byte-identical to upstream. + The Pose Jog and Joint Jog UI panels are wired to the `base` group only to avoid a MoveIt Pro launch crash on an empty jog config; neither is functionally usable on this robot (no IK-capable group, no per-joint velocity controller). diff --git a/src/husky_a300_mock/description/husky_a300_blank_world.xacro b/src/husky_a300_mock/description/husky_a300_blank_world.xacro index 0c1fbebb3..196da1638 100644 --- a/src/husky_a300_mock/description/husky_a300_blank_world.xacro +++ b/src/husky_a300_mock/description/husky_a300_blank_world.xacro @@ -1,12 +1,9 @@ - + + From 0b34094bd12b73d17fad35ed16732e99e8504d0b Mon Sep 17 00:00:00 2001 From: Griswald Brooks Date: Sun, 23 Aug 2026 21:12:04 -0400 Subject: [PATCH 10/10] no-mistakes(document): fix stale UI reference frame claim in husky_a300_mock docs --- src/husky_a300_mock/README.md | 7 ++++++- .../description/husky_a300_blank_world.xacro | 5 +++-- 2 files changed, 9 insertions(+), 3 deletions(-) diff --git a/src/husky_a300_mock/README.md b/src/husky_a300_mock/README.md index 128fcf65c..be2042fd3 100644 --- a/src/husky_a300_mock/README.md +++ b/src/husky_a300_mock/README.md @@ -19,7 +19,8 @@ named `platform_velocity_controller`, matching the real robot's controller namin The ground-contact frame is **`footprint`**, not `base_footprint`. `platform_velocity_controller` publishes `odom` -> `footprint` (`odom_frame_id: odom`, `base_frame_id: footprint`), and anything -consuming a REP-105 ground frame - TF, the UI reference frame, Nav2 - must use `footprint`. +consuming a REP-105 ground frame - TF consumers, Nav2, the controller's own `base_frame_id` - must +use `footprint`. The vendored description also publishes a `base_footprint` link, but upstream's `base_footprint_joint` places it 0.30 m above the ground plane rather than on it, so it is unused @@ -27,6 +28,10 @@ here. The correction lives in `description/husky_a300_blank_world.xacro`, which `base_link`'s parent at the FK-measured offset (0.13597 m below `base_link`) while keeping the vendored package byte-identical to upstream. +The 3D Visualizer's fixed frame is a different thing and is `odom`: with no localization there is +nothing above `odom` in the TF tree, so `config/frontend_settings.yaml` sets `referenceFrame: odom` +to override the frontend's `world` default. + The Pose Jog and Joint Jog UI panels are wired to the `base` group only to avoid a MoveIt Pro launch crash on an empty jog config; neither is functionally usable on this robot (no IK-capable group, no per-joint velocity controller). diff --git a/src/husky_a300_mock/description/husky_a300_blank_world.xacro b/src/husky_a300_mock/description/husky_a300_blank_world.xacro index 196da1638..333e18741 100644 --- a/src/husky_a300_mock/description/husky_a300_blank_world.xacro +++ b/src/husky_a300_mock/description/husky_a300_blank_world.xacro @@ -15,8 +15,9 @@