husarion_ugv_controller

ros2 controllers configuration for Husarion UGV

README

husarion_ugv_controller

The package contains the default configuration and launch files necessary to start all the basic functionalities of the Husarion UGV.

Launch Files

  • controller.launch.py: Establishes communication with the hardware by loading the robot’s URDF with plugins and configures the controllers to exchange information between the engine driver and the IMU.

Configuration Files

  • WH01_controller.yaml: Configures imu_broadcaster, joint_state_broadcaster and drive_controller controllers for default WH01 wheels.

  • WH02_controller.yaml: Configures imu_broadcaster, joint_state_broadcaster and drive_controller controllers for mecanum WH02 wheels.

  • WH04_controller.yaml: Configures imu_broadcaster, joint_state_broadcaster and drive_controller controllers for small pneumatic WH04 wheels.

  • WH05_controller.yaml: Configures imu_broadcaster, joint_state_broadcaster and drive_controller controllers for Lynx pneumatic wheels.