husarion_ugv_manager

Set of nodes used for high level management of Husarion UGV

README

husarion_ugv_manager

A package containing nodes responsible for high-level control of Husarion UGV.

Launch Files

This package contains:

  • manager.launch.py: Responsible for launching behavior trees responsible for safety and LED animations scheduling.

Configuration Files

ROS Nodes

lights_manager_node

Node responsible for managing Bumper Lights animation scheduling.

Subscribers

  • battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.

  • hardware/e_stop [std_msgs/Bool]: State of emergency stop.

Service Clients (for Default Trees)

  • ~/lights/set_animation [husarion_ugv_msgs/SetLEDAnimation]: Allows setting animation on Bumper Lights based on animation ID.

Parameters

  • battery.anim_period.critical [float, default: 15.0]: Time in [s] to wait before repeating animation, indicating a critical Battery state.

  • battery.anim_period.low [float, default: 30.0]: Time in [s] to wait before repeating the animation, indicating a low Battery state.

  • battery.charging_anim_step [float, default: 0.1]: This parameter defines the minimum change in battery percentage required to trigger an update in the battery charging animation.

  • battery.percent.threshold.critical [float, default: 0.1]: If the Battery percentage drops below this value, an animation indicating a critical Battery state will start being displayed.

  • battery.percent.threshold.low [float, default: 0.4]: If the Battery percentage drops below this value, the animation indicating a low Battery state will start being displayed.

  • battery.percent.window_len [int, default: 6]: Moving average window length used to smooth out Battery percentage readings.

  • bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.

  • plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.

  • ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.

  • ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.

  • ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.

  • timer_frequency [float, default: 10.0]: Frequency [Hz] at which lights tree will be ticked.

safety_manager_node

Node responsible for managing safety features, and software shutdown of components.

Subscribers

  • battery/battery_status [sensor_msgs/BatteryState]: State of the internal Battery.

  • hardware/e_stop [std_msgs/Bool]: State of emergency stop.

  • hardware/io_state [husarion_ugv_msgs/IOState]: State of IO pins.

  • hardware/robot_driver_state [husarion_ugv_msgs/RobotDriverState]: State of motor controllers.

  • system_status [husarion_ugv_msgs/SystemStatus]: Built-in computer system status, includes the most important computation-related parameters.

Service Clients (for Default Trees)

  • ~/hardware/aux_power_enable [std_srvs/SetBool]: Enables Aux Power output.

  • ~/hardware/e_stop_trigger [std_srvs/Trigger]: Triggers E-stop.

  • ~/hardware/fan_enable [std_srvs/SetBool]: Enables fan.

Parameters

  • battery.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Battery.

  • bt_project_path [string, default: $(find husarion_ugv_manager)/config/PantherBT.btproj]: Path to a BehaviorTree project.

  • cpu.temp.fan_off [float, default: 60.0]: Temperature in [°C] of the Built-in Computer’s CPU, below which the fan is turned off.

  • cpu.temp.fan_on [float, default: 70.0]: Temperature in [°C] of the Built-in Computer’s CPU, above which the fan is turned on.

  • cpu.temp.window_len [int, default: 6]: Moving average window length used to smooth out temperature readings of the Built-in Computer’s CPU.

  • driver.temp.fan_off [float, default: 35.0]: Temperature in [°C] of any drivers below which the fan is turned off.

  • driver.temp.fan_on [float, default: 45.0]: Temperature in [°C] of any drivers above which the fan is turned on.

  • driver.temp.window_len [int, default: 6]: Moving average window length used to smooth out the temperature readings of each driver.

  • fan_turn_off_timeout [float, default: 60.0]: Minimal time in [s], after which the fan may be turned off.

  • plugin_libs [list, default: Empty list]: List with names of plugins that are used in the BT project.

  • ros_communication_timeout.availability [float, default: 1.0]: Timeout [s] to wait for a service/action while initializing BT node.

  • ros_communication_timeout.response [float, default: 1.0]: Timeout [s] to receive a service/action response after call.

  • ros_plugin_libs [list, default: Empty list]: List with names of ROS plugins that are used in a BT project.

  • shutdown_hosts_path [string, default: None]: Path to a YAML file containing a list of hosts to request shutdown. To correctly format the YAML file, include a hosts field consisting of a list with the following fields:

    • ip [string, default: None]: IP of a host to shutdown using HTTP request.

    • port [string, default: 3003]: HTTP communication port.

    • secret [string, default: husarion]: Secret to sign HTTP request with.

    • timeout [string, default: 5.0]: Time in [s] to wait for the host to shutdown. The Built-in Computer will turn off after all computers are shutdown or reached timeout. Keep in mind that hardware will cut power off after a given time after pressing the power button. Refer to the hardware manual for more information.

  • timer_frequency [float, default: 10.0]: Frequency [Hz] at which safety tree will be ticked.