Merge panther and lynx description pkg

husarion · Nov 20, 2024 · 8ce1d57 · 8ce1d57
1 parent 66de8ed
commit 8ce1d57
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diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -1,6 +1,6 @@
 repos:
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.6.0
+    rev: v5.0.0
     hooks:
       - id: check-added-large-files
         # mesh files has to be taken into account
@@ -34,7 +34,7 @@ repos:
       - id: cmake-format
 
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v18.1.8
+    rev: v19.1.3
     hooks:
       - id: clang-format
 
@@ -63,7 +63,7 @@ repos:
         args: [--mapping, '2', --sequence, '4', --offset, '2', --width, '100']
 
   - repo: https://github.com/psf/black
-    rev: 24.8.0
+    rev: 24.10.0
     hooks:
       - id: black
         args: ["--line-length=99"]
@@ -87,11 +87,11 @@ repos:
 
     # Docs - RestructuredText hooks
   - repo: https://github.com/PyCQA/doc8
-    rev: v1.1.1
+    rev: v1.1.2
     hooks:
       - id: doc8
         args: ["--max-line-length=100", "--ignore=D001"]
-        exclude: ^.*\/CHANGELOG\.rst/.*$
+        exclude: ^.*\/CHANGELOG\.rst$
 
   - repo: https://github.com/tier4/pre-commit-hooks-ros
     rev: v0.10.0

diff --git a/README.md b/README.md
@@ -89,7 +89,7 @@ Launch arguments are largely common to both simulation and physical robot. Howev
 | ❌   | ✅   | `add_world_transform`        | Adds a world frame that connects the tf trees of individual robots (useful when running multiple robots). <br/> ***bool:*** `False`                                                                                                                                                                                |
 | ✅   | ✅   | `animations_config_path`     | Path to a YAML file with a description of led configuration. This file includes definition of robot panels, virtual segments and default animations. <br/> ***string:*** [`{robot_model}_animations.yaml`](./husarion_ugv_lights/config)                                                                           |
 | ❌   | ✅   | `battery_config_path`        | Path to the Ignition LinearBatteryPlugin configuration file. This configuration is intended for use in simulations only. <br/> ***string:*** `None`                                                                                                                                                                |
-| ✅   | ✅   | `components_config_path`     | Additional components configuration file. Components described in this file are dynamically included in robot's URDF. Available options are described in [the manual](https://husarion.com/manuals/panther/panther-options). <br/> ***string:*** [`components.yaml`](./panther_description/config/components.yaml) |
+| ✅   | ✅   | `components_config_path`     | Additional components configuration file. Components described in this file are dynamically included in robot's URDF. Available options are described in [the manual](https://husarion.com/manuals/panther/panther-options). <br/> ***string:*** [`components.yaml`](./husarion_ugv_description/config/components.yaml) |
 | ✅   | ✅   | `controller_config_path`     | Path to controller configuration file. A path to custom configuration can be specified here. <br/> ***string:*** [`{wheel_type}_controller.yaml`](./husarion_ugv_controller/config/)                                                                                                                               |
 | ✅   | ✅   | `disable_manager`            | Enable or disable manager_bt_node. <br/> ***bool:*** `False`                                                                                                                                                                                                                                                       |
 | ✅   | ✅   | `fuse_gps`                   | Include GPS for data fusion. <br/> ***bool:*** `False`                                                                                                                                                                                                                                                             |
@@ -111,7 +111,7 @@ Launch arguments are largely common to both simulation and physical robot. Howev
 | ❌   | ✅   | `use_rviz`                   | Run RViz simultaneously. <br/> ***bool:*** `True`                                                                                                                                                                                                                                                                                   |
 | ✅   | ✅   | `use_sim`                    | Whether simulation is used. <br/> ***bool:*** `False`                                                                                                                                                                                                                                                              |
 | ✅   | ✅   | `user_led_animations_path`   | Path to a YAML file with a description of the user-defined animations. <br/> ***string:*** `''`                                                                                                                                                                                                                    |
-| ✅   | ✅   | `wheel_config_path`          | Path to wheel configuration file. <br/> ***string:*** [`{wheel_type}.yaml`](./panther_description/config)                                                                                                                                                                                                          |
+| ✅   | ✅   | `wheel_config_path`          | Path to wheel configuration file. <br/> ***string:*** [`{wheel_type}.yaml`](./husarion_ugv_description/config)                                                                                                                                                                                                          |
 | ✅   | ✅   | `wheel_type`                 | Specify the wheel type. If the selected wheel type is not 'custom', the wheel_config_path and controller_config_path arguments will be automatically adjusted and can be omitted. <br/> ***string:*** `WH01` (for Panther), `WH05` (for Lynx) (choices: `WH01`, `WH02`, `WH04`, `WH05`, `custom`)                  |
 | ❌   | ✅   | `x`                          | Initial robot position in the global 'x' axis. <br/> ***float:*** `0.0`                                                                                                                                                                                                                                            |
 | ❌   | ✅   | `y`                          | Initial robot position in the global 'y' axis. <br/> ***float:***` -2.0`                                                                                                                                                                                                                                           |

diff --git a/husarion_ugv/CHANGELOG.rst b/husarion_ugv/CHANGELOG.rst
@@ -1,5 +1,5 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package panther
+Changelog for package husarion_ugv
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 2.1.1 (2024-09-05)

diff --git a/husarion_ugv_battery/CHANGELOG.rst b/husarion_ugv_battery/CHANGELOG.rst
@@ -1,5 +1,5 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package panther_battery
+Changelog for package husarion_ugv_battery
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 2.1.1 (2024-09-05)

diff --git a/husarion_ugv_bringup/CHANGELOG.rst b/husarion_ugv_bringup/CHANGELOG.rst
@@ -1,5 +1,5 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package panther_bringup
+Changelog for package husarion_ugv_bringup
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 2.1.1 (2024-09-05)

diff --git a/husarion_ugv_controller/CHANGELOG.rst b/husarion_ugv_controller/CHANGELOG.rst
@@ -1,5 +1,5 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package panther_controller
+Changelog for package husarion_ugv_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 2.1.1 (2024-09-05)

diff --git a/husarion_ugv_controller/CONFIGURATION.md b/husarion_ugv_controller/CONFIGURATION.md
@@ -6,4 +6,4 @@ The default drive controller is based on [diff_drive_controller](https://control
 
 ## Changing Wheel Type
 
-Changing wheel types is possible and can be done for both the real robot and the simulation. By default, three types of wheels are supported using the launch argument `wheel_type`. If you want to use custom wheels, all you need to do is point to the new wheel and controller configuration files using the `wheel_config_path` and `controller_config_path` parameters. These files should be based on the default files, i.e. [WH01_controller.yaml](./config/WH01_controller.yaml) and [WH01.yaml](../panther_description/config/WH01.yaml).
+Changing wheel types is possible and can be done for both the real robot and the simulation. By default, three types of wheels are supported using the launch argument `wheel_type`. If you want to use custom wheels, all you need to do is point to the new wheel and controller configuration files using the `wheel_config_path` and `controller_config_path` parameters. These files should be based on the default files, i.e. [WH01_controller.yaml](./config/WH01_controller.yaml) and [WH01.yaml](../husarion_ugv_description/config/WH01.yaml).
diff --git a/husarion_ugv_controller/launch/controller.launch.py b/husarion_ugv_controller/launch/controller.launch.py
@@ -48,7 +48,7 @@ def generate_launch_description():
     declare_components_config_path_arg = DeclareLaunchArgument(
         "components_config_path",
         default_value=PathJoinSubstitution(
-            [FindPackageShare("panther_description"), "config", "components.yaml"]
+            [FindPackageShare("husarion_ugv_description"), "config", "components.yaml"]
         ),
         description=(
             "Additional components configuration file. Components described in this file "
@@ -100,7 +100,7 @@ def generate_launch_description():
     declare_robot_model_arg = DeclareLaunchArgument(
         "robot_model",
         default_value=robot_model_dict[robot_model_env],
-        description="Specify robot model",
+        description="Specify robot model.",
         choices=["lynx", "panther"],
     )
 
@@ -112,20 +112,19 @@ def generate_launch_description():
         choices=["True", "true", "False", "false"],
     )
 
-    robot_description_pkg = PythonExpression(["'", robot_model, "_description'"])
     wheel_config_path = LaunchConfiguration("wheel_config_path")
     declare_wheel_config_path_arg = DeclareLaunchArgument(
         "wheel_config_path",
         default_value=PathJoinSubstitution(
             [
-                FindPackageShare(robot_description_pkg),
+                FindPackageShare("husario_ugv_description"),
                 "config",
                 PythonExpression(["'", wheel_type, ".yaml'"]),
             ]
         ),
         description=(
             "Path to wheel configuration file. By default, it is located in "
-            "'panther_description/config/{wheel_type}.yaml'. You can also specify the path "
+            "'husarion_ugv_description/config/{wheel_type}.yaml'. You can also specify the path "
             "to your custom wheel configuration file here. "
         ),
     )
@@ -143,25 +142,18 @@ def generate_launch_description():
     )
 
     # Get URDF via xacro
-    robot_description_pkg = PythonExpression(["'", robot_model, "_description'"])
-    robot_description_file = PythonExpression(["'", robot_model, ".urdf.xacro'"])
     imu_pos_x = os.environ.get("ROBOT_IMU_LOCALIZATION_X", "0.168")
     imu_pos_y = os.environ.get("ROBOT_IMU_LOCALIZATION_Y", "0.028")
     imu_pos_z = os.environ.get("ROBOT_IMU_LOCALIZATION_Z", "0.083")
     imu_rot_r = os.environ.get("ROBOT_IMU_ORIENTATION_R", "3.14")
     imu_rot_p = os.environ.get("ROBOT_IMU_ORIENTATION_P", "-1.57")
     imu_rot_y = os.environ.get("ROBOT_IMU_ORIENTATION_Y", "0.0")
+    urdf_file = PythonExpression(["'", robot_model, ".urdf.xacro'"])
     robot_description_content = Command(
         [
             PathJoinSubstitution([FindExecutable(name="xacro")]),
             " ",
-            PathJoinSubstitution(
-                [
-                    FindPackageShare(robot_description_pkg),
-                    "urdf",
-                    robot_description_file,
-                ]
-            ),
+            PathJoinSubstitution([FindPackageShare("husario_ugv_description"), "urdf", urdf_file]),
             " use_sim:=",
             use_sim,
             " wheel_config_file:=",

diff --git a/husarion_ugv_controller/package.xml b/husarion_ugv_controller/package.xml
@@ -18,14 +18,13 @@
 
   <exec_depend>controller_manager</exec_depend>
   <exec_depend>diff_drive_controller</exec_depend>
+  <exec_depend>husarion_ugv_description</exec_depend>
   <exec_depend condition="$HUSARION_ROS_BUILD_TYPE == hardware">husarion_ugv_hardware_interfaces</exec_depend>
   <exec_depend>imu_sensor_broadcaster</exec_depend>
   <exec_depend>joint_state_broadcaster</exec_depend>
   <exec_depend>launch</exec_depend>
   <exec_depend>launch_ros</exec_depend>
-  <exec_depend>lynx_description</exec_depend>
   <exec_depend>mecanum_drive_controller</exec_depend>
-  <exec_depend>panther_description</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>xacro</exec_depend>
 

diff --git a/panther_description/CHANGELOG.rst → husarion_ugv_description/CHANGELOG.rst b/panther_description/CHANGELOG.rst → husarion_ugv_description/CHANGELOG.rst
@@ -1,5 +1,5 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package panther_description
+Changelog for package husarion_ugv_description
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 2.1.1 (2024-09-05)

diff --git a/panther_description/CMakeLists.txt → husarion_ugv_description/CMakeLists.txt b/panther_description/CMakeLists.txt → husarion_ugv_description/CMakeLists.txt
@@ -1,12 +1,11 @@
 cmake_minimum_required(VERSION 3.10.2)
-project(panther_description)
+project(husarion_ugv_description)
 
 find_package(ament_cmake REQUIRED)
 
 install(DIRECTORY config launch meshes rviz urdf
         DESTINATION share/${PROJECT_NAME})
 
-ament_environment_hooks(
-  "${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.sh.in")
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/setup_envs.sh.in")
 
 ament_package()
diff --git a/panther_description/README.md → husarion_ugv_description/README.md b/panther_description/README.md → husarion_ugv_description/README.md
@@ -1,14 +1,17 @@
-# panther_description
+# husarion_ugv_description
 
 The package contains URDF files responsible for creating a representation of the robot by specifying the relationships and types of connections (joints) between individual links. It also contains information about the robot's mesh.
 
 ## Launch Files
 
 - `load_urdf.launch.py` - loads the robot's URDF and creates simple bindings to display moving joints.
+- `overwrite_robot_description.launch.py` - launch is able to change `robot_description` topic in runtime.
+- `rviz.launch.py` - launch RViz2 with basic configuration.
 
 ## Configuration Files
 
 - [`components.yaml`](./config/components.yaml): Allows you to quickly add visualization of sensors, TF connections and simulate their behavior in the simulator.
 - [`WH01.yaml`](./config/WH01.yaml): Description of physical and visual parameters for the wheel WH01.
 - [`WH02.yaml`](./config/WH02.yaml): Description of physical and visual parameters for the wheel WH02.
 - [`WH04.yaml`](./config/WH04.yaml): Description of physical and visual parameters for the wheel WH04.
+- [`WH05.yaml`](./config/WH05.yaml): Description of physical and visual parameters for the wheel WH05.
diff --git a/panther_description/config/WH01.yaml → husarion_ugv_description/config/WH01.yaml b/panther_description/config/WH01.yaml → husarion_ugv_description/config/WH01.yaml
@@ -4,6 +4,6 @@ wheel_separation: 0.697
 mass: 3.0
 inertia: { ixx: 0.022510, iyy: 0.034850, izz: 0.022510 }
 inertia_y_offset: 0.0
-mesh_package: panther_description
+mesh_package: husarion_ugv_description
 folder_path: meshes/WH01
 mecanum: False
diff --git a/panther_description/config/WH02.yaml → husarion_ugv_description/config/WH02.yaml b/panther_description/config/WH02.yaml → husarion_ugv_description/config/WH02.yaml
@@ -4,6 +4,6 @@ wheel_separation: 0.6785
 mass: 2.4
 inertia: { ixx: 0.010050, iyy: 0.016496, izz: 0.010068 }
 inertia_y_offset: 0.0
-mesh_package: panther_description
+mesh_package: husarion_ugv_description
 folder_path: meshes/WH02
 mecanum: True
diff --git a/panther_description/config/WH04.yaml → husarion_ugv_description/config/WH04.yaml b/panther_description/config/WH04.yaml → husarion_ugv_description/config/WH04.yaml
@@ -4,6 +4,6 @@ wheel_separation: 0.616
 mass: 0.85
 inertia: { ixx: 0.003099, iyy: 0.005849, izz: 0.003101 }
 inertia_y_offset: 0.0
-mesh_package: panther_description
+mesh_package: husarion_ugv_description
 folder_path: meshes/WH04
 mecanum: False
diff --git a/lynx_description/config/WH05.yaml → husarion_ugv_description/config/WH05.yaml b/lynx_description/config/WH05.yaml → husarion_ugv_description/config/WH05.yaml
@@ -5,6 +5,6 @@ wheel_separation: 0.45
 mass: 2.5
 inertia: { ixx: 0.014738, iyy: 0.0261, izz: 0.014738 }
 inertia_y_offset: 0.0
-mesh_package: lynx_description
+mesh_package: husarion_ugv_description
 folder_path: meshes/WH05
 mecanum: False
diff --git a/panther_description/config/components.yaml → ...on_ugv_description/config/components.yaml b/panther_description/config/components.yaml → ...on_ugv_description/config/components.yaml
@@ -1,4 +1,4 @@
-# By default panther is loaded without any components.
+# By default Husarion UGV is loaded without any components.
 
 components: []
 

diff --git a/..._description/hooks/lynx_description.sh.in → ...on_ugv_description/hooks/setup_envs.sh.in b/..._description/hooks/lynx_description.sh.in → ...on_ugv_description/hooks/setup_envs.sh.in
diff --git a/lynx_description/launch/load_urdf.launch.py → ...gv_description/launch/load_urdf.launch.py b/lynx_description/launch/load_urdf.launch.py → ...gv_description/launch/load_urdf.launch.py
@@ -56,13 +56,11 @@ def generate_launch_description():
     declare_components_config_path_arg = DeclareLaunchArgument(
         "components_config_path",
         default_value=PathJoinSubstitution(
-            [FindPackageShare("lynx_description"), "config", "components.yaml"]
+            [FindPackageShare("husarion_ugv_description"), "config", "components.yaml"]
         ),
         description=(
-            "Additional components configuration file. Components described in this file "
-            "are dynamically included in Lynx's urdf."
-            "Lynx options are described here "
-            "https://husarion.com/manuals/lynx/lynx-options/"
+            "Specify file which contains components. These components will be included in URDF."
+            "Available options can be found in manuals: https://husarion.com/manuals"
         ),
     )
 
@@ -91,6 +89,16 @@ def generate_launch_description():
         description="Add namespace to all launched nodes.",
     )
 
+    robot_model = LaunchConfiguration("robot_model")
+    robot_model_dict = {"LNX": "lynx", "PTH": "panther"}
+    robot_model_env = os.environ.get("ROBOT_MODEL", default="PTH")
+    declare_robot_model_arg = DeclareLaunchArgument(
+        "robot_model",
+        default_value=robot_model_dict[robot_model_env],
+        description="Specify robot model.",
+        choices=["lynx", "panther"],
+    )
+
     use_sim = LaunchConfiguration("use_sim")
     declare_use_sim_arg = DeclareLaunchArgument(
         "use_sim",
@@ -104,27 +112,28 @@ def generate_launch_description():
         "wheel_config_path",
         default_value=PathJoinSubstitution(
             [
-                FindPackageShare("lynx_description"),
+                FindPackageShare("husarion_ugv_description"),
                 "config",
                 PythonExpression(["'", wheel_type, ".yaml'"]),
             ]
         ),
         description=(
             "Path to wheel configuration file. By default, it is located in "
-            "'lynx_description/config/{wheel_type}.yaml'. You can also specify the path "
+            "'husarion_ugv_description/config/{wheel_type}.yaml'. You can also specify the path "
             "to your custom wheel configuration file here. "
         ),
     )
 
+    default_wheel_type = {"lynx": "WH05", "panther": "WH01"}
     declare_wheel_type_arg = DeclareLaunchArgument(
         "wheel_type",
-        default_value="WH05",
+        default_value=PythonExpression([f"{default_wheel_type}['", robot_model, "']"]),
         description=(
             "Specify the wheel type. If the selected wheel type is not 'custom', "
             "the 'wheel_config_path' and 'controller_config_path' arguments will be "
             "automatically adjusted and can be omitted."
         ),
-        choices=["WH05", "custom"],
+        choices=["WH01", "WH02", "WH04", "WH05", "custom"],
     )
 
     # Get URDF via xacro
@@ -134,13 +143,12 @@ def generate_launch_description():
     imu_rot_r = os.environ.get("ROBOT_IMU_ORIENTATION_R", "3.14")
     imu_rot_p = os.environ.get("ROBOT_IMU_ORIENTATION_P", "-1.57")
     imu_rot_y = os.environ.get("ROBOT_IMU_ORIENTATION_Y", "0.0")
+    urdf_file = PythonExpression(["'", robot_model, ".urdf.xacro'"])
     robot_description_content = Command(
         [
             PathJoinSubstitution([FindExecutable(name="xacro")]),
             " ",
-            PathJoinSubstitution(
-                [FindPackageShare("lynx_description"), "urdf", "lynx.urdf.xacro"]
-            ),
+            PathJoinSubstitution([FindPackageShare("husario_ugv_description"), "urdf", urdf_file]),
             " use_sim:=",
             use_sim,
             " wheel_config_file:=",
@@ -185,6 +193,7 @@ def generate_launch_description():
         declared_add_wheel_joints_arg,
         declare_battery_config_path_arg,
         declare_components_config_path_arg,
+        declare_robot_model_arg,  # robot_model is used by wheel_type
         declare_wheel_type_arg,  # wheel_type is used by controller_config_path
         declare_controller_config_path_arg,
         declare_namespace_arg,