husarion-ugv-autonomy

A collection of packages containing autonomous functionalities for Husarion UGV vehicles.

🛠️ Setup Repository

Create Workspace

mkdir ~/husarion_ws
cd ~/husarion_ws
git clone https://github.com/husarion/husarion_ugv_autonomy_ros.git src/husarion_ugv_autonomy_ros

Build

vcs import src < src/husarion_ugv_autonomy_ros/husarion_ugv_autonomy/autonomy_deps.repos

sudo rosdep init
rosdep update --rosdistro $ROS_DISTRO
rosdep install --from-paths src -y -i

source /opt/ros/$ROS_DISTRO/setup.bash
colcon build --symlink-install --packages-up-to husarion_ugv_autonomy --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF

🚀 Demo

Below are two articles describing how to run the autonomy demo — one in simulation and the other on a physical robot. We recommend starting with the simulation demo, as it lets you explore the autonomy features without the need to configure or interact with the actual hardware.

• Simulation Demo
• Hardware Demo

📚 Documentation

Launch Arguments

Argument	Description Type: Default
autostart	Automatically startup the nav2 stack. bool: True
log_level	Logging level. string info (choices: debug, info, warning, error)
map	Path to map yaml file to load. string: /maps/map.yaml
namespace	Add namespace to all launched nodes. string: env(ROBOT_NAMESPACE)
observation_topic	Topic name for LaserScan or PointCloud2 observation messages type. ''
observation_topic_type	Observation topic type. string: pointcloud (choices: laserscan, pointcloud)
params_file	Path to the parameters file to use for all nav2 related nodes. string: `nav2_params.yaml
slam	Whether run a SLAM. bool: False
use_composition	Whether to use composed bringup. bool: True
use_respawn	Whether to respawn if a node crashes. Applied when composition is disabled. bool: False
use_sim_time	Use simulation (Gazebo) clock if true. bool: False