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289 lynx integrate lynx simulation (#351)
* Add lynx startup to repo, only in rviz the link to map not working yet Signed-off-by: Rosalie <rosalie.van.ark@alliander.com> * Adjust controller config location in urdf lynx, but it's the panther version so the lynx version still needs to be added! Signed-off-by: Rosalie <rosalie.van.ark@alliander.com> * Fix linting Signed-off-by: Rosalie <rosalie.van.ark@alliander.com> * Move panther and lynx to new husarion package, as well as the corresponding controller config from rcdt_gazebo Signed-off-by: Rosalie <rosalie.van.ark@alliander.com> * Restore removed config value Signed-off-by: Rosalie <rosalie.van.ark@alliander.com> * Move the nav2 parts from the panther package to its own package Signed-off-by: Rosalie <rosalie.van.ark@alliander.com> * Add ouster lidar and gps configurations, tested via bringup Signed-off-by: Rosalie <rosalie.van.ark@alliander.com> * Fix linting and add Lynx tests Signed-off-by: Rosalie <rosalie.van.ark@alliander.com> * Update documentation Signed-off-by: Rosalie <rosalie.van.ark@alliander.com> * Remove joy_topics.yaml seems it does not seem to be used anymore Signed-off-by: Rosalie <rosalie.van.ark@alliander.com> * Move the gazebo.urdf.xacro files to a common folder since the panther and lynx both use the same Signed-off-by: Rosalie <rosalie.van.ark@alliander.com> * Fix bug in nav2 tests Signed-off-by: Rosalie <rosalie.van.ark@alliander.com> * Add missing license file Signed-off-by: Rosalie <rosalie.van.ark@alliander.com> * Update predefined configurations according to new features from main branch Signed-off-by: Rosalie <rosalie.van.ark@alliander.com> * Fix bug regarding local variable being uninitialized Signed-off-by: Rosalie <rosalie.van.ark@alliander.com> * Update lifecycle node management nav2 Signed-off-by: Rosalie <rosalie.van.ark@alliander.com> * Assign Lifecycle directly to dictionary Signed-off-by: Rosalie <rosalie.van.ark@alliander.com> --------- Signed-off-by: Rosalie <rosalie.van.ark@alliander.com> Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com> Signed-off-by: Rosalie van Ark <57712550+rosalievanark@users.noreply.github.com> Co-authored-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
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‎docs/content/platforms.md‎

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@@ -49,7 +49,7 @@ Regarding all vehicles, the general rule we apply for assigning IP addresses fol
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### Simulation Panther
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A Panther vehicle can be launched in simulation by creating a configuration with an *Vehicle* of type *Panther*. Note that the E-Stop is triggered by default and needs to be released before driving is possible. This can be done by a service call:
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A Panther vehicle can be launched in simulation by creating a configuration with a `Vehicle` of type `Panther`. Note that the E-Stop is triggered by default and needs to be released before driving is possible. This can be done by a service call:
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```bash
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ros2 service call /panther/hardware/e_stop_reset std_srvs/srv/Trigger {}
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- Wait until all lights are off.
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- Disable the battery (switch at the front of the robot)
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### Configuration
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### Configuration Panther
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When the Panther is started, two WiFi networks (*Panther_<serial_number>* and *Panther_5G_<serial_number>*) should be available. One can connect with one of the WiFi networks or connect using a ethernet cable directly to the Teltonika. After connecting, it should be possible to ssh into all three computers.
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\
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The *Lenovo ThinkStation P360* is a powerful computer, used to handle the camera stream. We can run our docker image on this built in computer.
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## Lynx
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![Lynx](../img/lynx/lynx.png)
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### Simulation Lynx
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A Lynx vehicle can be launched in simulation by creating a configuration with a `Vehicle` of type `Lynx`.
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### Hardware & Configuration Lynx
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This section is equivalent to the [Hardware Panther](#hardware-panther) and [Configuration Panther](#configuration-panther) sections, except for the namespace here being `lynx` and the _Lenovo ThinkStation P360_ will be replaced with a different computer.
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## Realsense
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![Realsense](../img/realsense/realsense.png)

‎docs/img/lynx/lynx.png‎

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‎docs/img/lynx/lynx.png.license‎

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SPDX-FileCopyrightText: Alliander N. V.
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SPDX-License-Identifier: Apache-2.0

‎pyproject.toml‎

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"/home/rcdt/realsense_ws/install/realsense2_camera_msgs/lib/python3.12/site-packages/",
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"ros2_ws/install/rcdt_interfaces/lib/python3.12/site-packages/",
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"ros2_ws/src/rcdt_franka/",
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"ros2_ws/src/rcdt_panther/",
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"ros2_ws/src/rcdt_husarion/",
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"ros2_ws/src/rcdt_utilities/",
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"ros2_ws/src/rcdt_gazebo/",
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"ros2_ws/src/rcdt_launch/",

‎ros2_ws/src/rcdt_gazebo/config/controllers.yaml‎

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# SPDX-License-Identifier: Apache-2.0
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# Based on:
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# https://github.com/husarion/husarion_ugv_ros/blob/ros2/husarion_ugv_controller/config/WH01_controller.yaml
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# https://github.com/frankarobotics/franka_ros2/blob/humble/franka_fr3_moveit_config/config/fr3_ros_controllers.yaml
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/**:
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gripper_action_controller:
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type: parallel_gripper_action_controller/GripperActionController
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drive_controller:
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type: diff_drive_controller/DiffDriveController
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imu_broadcaster:
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type: imu_sensor_broadcaster/IMUSensorBroadcaster
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fr3_arm_controller:
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ros__parameters:
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allow_nonzero_velocity_at_trajectory_end: true
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max_effort: 0.0
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stall_timeout: 1.0
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stall_velocity_threshold: 0.001
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# IMU specification: https://www.phidgets.com/?tier=3&catid=10&pcid=8&prodid=1025#Tab_Specifications
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imu_broadcaster:
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ros__parameters:
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sensor_name: substitute_me
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frame_id: substitute_me
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# orientation_stddev: 4.3e-2 rad determined experimentally
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static_covariance_orientation:
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[1.8e-3, 0.0, 0.0, 0.0, 1.8e-3, 0.0, 0.0, 0.0, 1.8e-3]
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# angular_velocity_stdev: 0.59 deg/s (0.01 rad/s) gyroscope white noise sigma, according to the manual
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static_covariance_angular_velocity:
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[1.0e-4, 0.0, 0.0, 0.0, 1.0e-4, 0.0, 0.0, 0.0, 1.0e-4]
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# linear_acceleration_stdev: 2.8 mg (0.0275 m/s^2) accelerometer white noise sigma, according to the manual
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static_covariance_linear_acceleration:
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[7.6e-4, 0.0, 0.0, 0.0, 7.6e-4, 0.0, 0.0, 0.0, 7.6e-4]
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drive_controller:
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ros__parameters:
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left_wheel_names: [fl_wheel_joint, rl_wheel_joint]
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right_wheel_names: [fr_wheel_joint, rr_wheel_joint]
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wheel_separation: 0.697
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wheel_radius: 0.1825
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# For skid drive kinematics it will act as ICR coefficient, kinematic model with ICR
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# coefficient isn't totally accurate and this coefficient can differ for various ground types
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wheel_separation_multiplier: 1.5
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left_wheel_radius_multiplier: 1.0
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right_wheel_radius_multiplier: 1.0
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publish_rate: 1000.0
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odom_frame_id: odom
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base_frame_id: base_link
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twist_covariance_diagonal: [5.4e-5, 5.4e-5, 0.0, 0.0, 0.0, 1.9e-4] # Values measured experimentally
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# Whether to use feedback or commands for odometry calculations
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open_loop: false
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# Update odometry from velocity
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# in sensor fusion only velocity is used and with this setting it is more accurate
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position_feedback: false
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# velocity computation filtering
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velocity_rolling_window_size: 1
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enable_odom_tf: true
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cmd_vel_timeout: 0.5
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#publish_limited_velocity: true
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use_stamped_vel: false
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# Velocity and acceleration limits
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# Whenever a min_* is unspecified, default to -max_*
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linear:
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x:
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has_velocity_limits: true
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has_acceleration_limits: true
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max_velocity: 2.0 # m/s
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# min_velocity - When unspecified `min_velocity=-max_velocity`
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max_acceleration: 2.7 # m/s^2
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# min_acceleration - When unspecified, `min_acceleration=-max_acceleration`
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max_jerk: NAN # m/s^3
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angular:
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z:
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has_velocity_limits: true
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has_acceleration_limits: true
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max_velocity: 4.0 # rad/s
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# min_velocity - When unspecified `min_velocity=-max_velocity`
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max_acceleration: 5.74 # rad/s^2
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# min_acceleration - When unspecified, `min_acceleration=-max_acceleration`
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max_jerk: NAN # rad/s^3

ros2_ws/src/rcdt_panther/CMakeLists.txt renamed to ros2_ws/src/rcdt_husarion/CMakeLists.txt

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# SPDX-License-Identifier: Apache-2.0
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cmake_minimum_required(VERSION 3.5)
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project(rcdt_panther)
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project(rcdt_husarion)
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# CMake dependencies:
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find_package(ament_cmake REQUIRED)

ros2_ws/src/rcdt_panther/README.md renamed to ros2_ws/src/rcdt_husarion/README.md

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SPDX-License-Identifier: Apache-2.0
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-->
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# RCDT Panther
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# RCDT Husarion
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This repository contains code for use with the Husarion Panther by [Husarion](https://husarion.com).
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This repository contains code for use with the Husarion Panther & Lynx by [Husarion](https://husarion.com).
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It is intended to be used alongside the other repositories in [RCDT robotics](https://github.com/alliander-opensource/rcdt_robotics).
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## License

‎ros2_ws/src/rcdt_husarion/config/lynx_controllers.yaml‎

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# SPDX-FileCopyrightText: Alliander N. V.
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#
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# SPDX-License-Identifier: Apache-2.0
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# Based on:
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# https://github.com/husarion/husarion_ugv_ros/blob/2.3.1/husarion_ugv_controller/config/WH05_controller.yaml
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/**:
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controller_manager:
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ros__parameters:
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update_rate: 1000
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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drive_controller:
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type: diff_drive_controller/DiffDriveController
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imu_broadcaster:
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type: imu_sensor_broadcaster/IMUSensorBroadcaster
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# IMU specification: https://www.phidgets.com/?tier=3&catid=10&pcid=8&prodid=1025#Tab_Specifications
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imu_broadcaster:
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ros__parameters:
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sensor_name: <namespace>/imu
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frame_id: <namespace>/imu_link
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# orientation_stddev: 4.3e-2 rad determined experimentally
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static_covariance_orientation: [1.8e-3, 0.0, 0.0, 0.0, 1.8e-3, 0.0, 0.0, 0.0, 1.8e-3]
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# angular_velocity_stdev: 0.59 deg/s (0.01 rad/s) gyroscope white noise sigma, according to the manual
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static_covariance_angular_velocity: [1.0e-4, 0.0, 0.0, 0.0, 1.0e-4, 0.0, 0.0, 0.0, 1.0e-4]
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# linear_acceleration_stdev: 2.8 mg (0.0275 m/s^2) accelerometer white noise sigma, according to the manual
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static_covariance_linear_acceleration: [7.6e-4, 0.0, 0.0, 0.0, 7.6e-4, 0.0, 0.0, 0.0, 7.6e-4]
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drive_controller:
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ros__parameters:
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left_wheel_names: [fl_wheel_joint, rl_wheel_joint]
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right_wheel_names: [fr_wheel_joint, rr_wheel_joint]
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wheel_separation: 0.45
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wheel_radius: 0.144
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# For skid drive kinematics it will act as ICR coefficient, kinematic model with ICR
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# coefficient isn't totally accurate and this coefficient can differ for various ground types
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wheel_separation_multiplier: 1.6
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# This parameter depends on wheels pressure and robot mass.
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# It was measured experimentally without load and with the pressure of 1.2 bar.
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left_wheel_radius_multiplier: 0.964
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right_wheel_radius_multiplier: 0.964
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publish_rate: 100.0
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odom_frame_id: odom
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base_frame_id: base_link
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twist_covariance_diagonal: [5.4e-5, 5.4e-5, 0.0, 0.0, 0.0, 1.9e-4] # Values measured experimentally
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# Whether to use feedback or commands for odometry calculations
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open_loop: false
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# Update odometry from velocity
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# in sensor fusion only velocity is used and with this setting it is more accurate
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position_feedback: false
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# velocity computation filtering
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velocity_rolling_window_size: 1
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enable_odom_tf: true
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cmd_vel_timeout: 0.2
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publish_limited_velocity: false
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# Velocity and acceleration limits
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linear:
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x:
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max_velocity: 1.5 # m/s
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min_velocity: -1.5 # m/s
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max_acceleration: 2.1 # m/s^2
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max_deceleration: -2.1 # m/s^2
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max_acceleration_reverse: -2.1 # m/s^2
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max_deceleration_reverse: 2.1 # m/s^2
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max_jerk: .NAN # m/s^3
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min_jerk: .NAN # m/s^3
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angular:
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z:
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max_velocity: 4.0 # rad/s
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min_velocity: -4.0 # rad/s
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max_acceleration: 5.74 # rad/s^2
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max_deceleration: -5.74 # rad/s^2
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max_acceleration_reverse: -5.74 # rad/s^2
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max_deceleration_reverse: 5.74 # rad/s^2
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max_jerk: .NAN # rad/s^3
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min_jerk: .NAN # rad/s^3

‎ros2_ws/src/rcdt_husarion/config/panther_controllers.yaml‎

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# SPDX-FileCopyrightText: Alliander N. V.
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#
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# SPDX-License-Identifier: Apache-2.0
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# Based on:
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# https://github.com/husarion/husarion_ugv_ros/blob/2.3.1/husarion_ugv_controller/config/WH01_controller.yaml
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/**:
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controller_manager:
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ros__parameters:
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update_rate: 1000
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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drive_controller:
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type: diff_drive_controller/DiffDriveController
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imu_broadcaster:
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type: imu_sensor_broadcaster/IMUSensorBroadcaster
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# IMU specification: https://www.phidgets.com/?tier=3&catid=10&pcid=8&prodid=1025#Tab_Specifications
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imu_broadcaster:
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ros__parameters:
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sensor_name: substitute_me
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frame_id: substitute_me
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# orientation_stddev: 4.3e-2 rad determined experimentally
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static_covariance_orientation:
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[1.8e-3, 0.0, 0.0, 0.0, 1.8e-3, 0.0, 0.0, 0.0, 1.8e-3]
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# angular_velocity_stdev: 0.59 deg/s (0.01 rad/s) gyroscope white noise sigma, according to the manual
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static_covariance_angular_velocity:
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[1.0e-4, 0.0, 0.0, 0.0, 1.0e-4, 0.0, 0.0, 0.0, 1.0e-4]
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# linear_acceleration_stdev: 2.8 mg (0.0275 m/s^2) accelerometer white noise sigma, according to the manual
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static_covariance_linear_acceleration:
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[7.6e-4, 0.0, 0.0, 0.0, 7.6e-4, 0.0, 0.0, 0.0, 7.6e-4]
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drive_controller:
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ros__parameters:
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left_wheel_names: [fl_wheel_joint, rl_wheel_joint]
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right_wheel_names: [fr_wheel_joint, rr_wheel_joint]
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wheel_separation: 0.697
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wheel_radius: 0.1825
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# For skid drive kinematics it will act as ICR coefficient, kinematic model with ICR
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# coefficient isn't totally accurate and this coefficient can differ for various ground types
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wheel_separation_multiplier: 1.5
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left_wheel_radius_multiplier: 1.0
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right_wheel_radius_multiplier: 1.0
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publish_rate: 1000.0
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odom_frame_id: odom
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base_frame_id: base_link
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twist_covariance_diagonal: [5.4e-5, 5.4e-5, 0.0, 0.0, 0.0, 1.9e-4] # Values measured experimentally
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# Whether to use feedback or commands for odometry calculations
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open_loop: false
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# Update odometry from velocity
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# in sensor fusion only velocity is used and with this setting it is more accurate
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position_feedback: false
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# velocity computation filtering
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velocity_rolling_window_size: 1
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enable_odom_tf: true
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cmd_vel_timeout: 0.5
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#publish_limited_velocity: true
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use_stamped_vel: false
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# Velocity and acceleration limits
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# Whenever a min_* is unspecified, default to -max_*
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linear:
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x:
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has_velocity_limits: true
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has_acceleration_limits: true
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max_velocity: 2.0 # m/s
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# min_velocity - When unspecified `min_velocity=-max_velocity`
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max_acceleration: 2.7 # m/s^2
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# min_acceleration - When unspecified, `min_acceleration=-max_acceleration`
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max_jerk: NAN # m/s^3
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angular:
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z:
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has_velocity_limits: true
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has_acceleration_limits: true
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max_velocity: 4.0 # rad/s
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# min_velocity - When unspecified `min_velocity=-max_velocity`
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max_acceleration: 5.74 # rad/s^2
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# min_acceleration - When unspecified, `min_acceleration=-max_acceleration`
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max_jerk: NAN # rad/s^3

ros2_ws/src/rcdt_panther/config/vizanti_config.json renamed to ros2_ws/src/rcdt_husarion/config/vizanti_config.json

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