Husarion UGV ROS 2 driver released!
We’re excited to announce a major update to the Husarion UGV (Unmanned Ground Vehicle) ROS 2 driver, rebranded and upgraded from Panther ROS 2 driver to accommodate multiple Husarion robotic platforms. This enhancement is not just a name change, it's an evolution into a more versatile and universally applicable driver across all Husarion UGV platforms. Whether you're already using the Panther or exploring the new Husarion Lynx, this enhanced driver brings powerful improvements designed to support the full range of our UGVs.
Continue reading to explore the key features of the Husarion UGV ROS 2 driver, including:
- Support for multiple platforms, including Husarion Lynx mobile platform.
- New, more versatile, visually appealing, and informative LED animations.
- Simplified configuration management of the ROS driver.
- WebUI, now available by default, with new features like AUX power and motor torque management.
- Switch to gamepad controller XInput mode.
One Repository, Multiple Platforms
You may be familiar with our Panther ROS 2 driver, which we have now renamed and updated for a more generic approach. This strategic update was designed to support multiple Husarion robotic platforms, not just one. With this upgrade, whenever a new feature or update is released, it will immediately be available across all Husarion UGV platforms, ensuring your robot is always equipped with the latest enhancements and capabilities. So rest assured, your robot won't miss out on any cool new features! 😎
📌 To upgrade the Operating System and start using new ROS 2 driver on your Panther, please follow the steps from OS reinstallation guide in the Built-in Computer.
Lynx Mobile Platform
As mentioned, the husarion_ugv_ros GitHub repository now extends its support to several robotic platforms, including the latest addition to our lineup, the Husarion Lynx. The Lynx is a versatile mobile platform designed to navigate various terrains and environments, making it an excellent option for both indoor and outdoor applications. With its IP54/66-rated tough alloy chassis, is built to endure extreme environments and measures only 54 cm in width, enabling it to effortlessly maneuver through narrow spaces and standard doorways. It features a modular design, equipped with a hot-swappable battery system and a customizable user compartment, which provides flexibility for users to adapt the robot to their particular requirements without making the configuration too complex. To learn more about this robot visit Lynx Manual
New Features of the Husarion UGV ROS 2 Driver
New Enhanced LED animations
We have redesigned the way animations are displayed on LED panels. Animations can now overlap each other, allowing multiple pieces of information about the platform to be displayed at the same time. For instance, it is now possible to view an animation indicating the state of the robot while displaying another animation that shows the platform is charging.
This transformation unlocked a whole new range of opportunities, allowing us to create animations that are not only more visually appealing but also significantly more informative. Below, you can see representations of the most important animations. To view the full list of animations, please visit Husarion UGV Lighst.
📌 If you are transitioning from the old system, make sure to get familiar with the new animations.
| NAME | ANIMATION |
|---|---|
| E_STOP |  |
| READY |  |
| MANUAL_ACTION |  |
| LOW_BATTERY |  |
| CRITICAL_BATTERY |  |
| CHARGING_BATTERY |  |
| BATTERY_CHARGED |  |
| CHARGER_INSERTED |  |
| AUTONOMOUS_READY |  |
| AUTONOMOUS_ACTION |  |
| GOAL_ACHIEVED |  |
Configuration Directory
Previously, editing parameters for robot drivers could be a bit complicated. With our latest update, all user configuration files are conveniently located in the ~/config directory on the Built-in Computer. Now, tweaking the behavior of your robot's driver is as easy as editing a file in the config directory and restarting the driver.
But wait, there's more! We are also excited to announce the upcoming release of Husarion UGV Configurator, a powerful Terminal User Interface (TUI) that will allow you to effortlessly manage the driver, including the ability to load custom configurations. This tool will revolutionize how you interact with your robot's settings, but we’ll dive deeper into this topic in a future blog post.
Easily modifiable configurations include:
- Controller parameters such as maximum velocity and acceleration.
- Definition of custom user animations to bring your robot to life.
- Modification of lighting behaviors to suit different needs.
- Fine-tuning of
ekf_filterparameters to enhance odometry estimation. - Adding supported components to robot's URDF.
Updated WebUI Now Available by Default
The new version of the WebUI for the Husarion UGV platform is now the default interface in the system. No additional steps are required to run it. Simply connect to the robot's network and visit http://10.15.20.2:8080/ui. This interface allows you to manage the robot's emergency stop, navigate the robot, and monitor basic parameters like battery percentage, and more.
Two exciting new features have been added to the WebUI. In the Services section, you can now manage AUX power and motors torque. Need to enable AUX power for your robotic arm? Want to disable motor torque to manually move the robot? There's no need to call a ROS service anymore - a simple button click on the WebUI will do the job.
Gamepad Controller XInput Mode
We have decided to switch from the legacy DirectInput mode to the modern XInput mode. XInput is optimized for controllers, providing a robust and straightforward implementation. It standardizes the button layout across all gamepad controllers with XInput support, ensuring compatibility. This means that any device with XInput support can be used to control the robot without requiring any changes to the configuration.
If you are upgrading from a previous release and are using a Logitech F710 gamepad, please make sure to switch the control on the top of the controller to X to activate the XInput mode.
Summary
The release of the Husarion UGV ROS 2 driver marks a significant milestone in enhancing the capabilities of Husarion's robotic platforms. This update introduces a unified driver for multiple platforms, including the new Lynx mobile platform, ensuring consistent access to the latest features and improvements. Key highlights include:
- Multiple robot support: Driver now supports multiple Husarion platforms, including Panther and Lynx, ensuring all platforms benefit from the latest updates and features.
- Simplified Configuration: User-friendly configuration files in the
~/configdirectory and the upcoming Husarion UGV Configurator for effortless driver management. - Enhanced WebUI: Available out of the box and redesigned interface with new features like AUX power and motor torque management, accessible with a simple button click.
- Improved LED Animations: Redesigned animations with overlapping capabilities to display multiple states simultaneously, providing better visual feedback.
- Gamepad Controller XInput Mode: Transition to the
XInputmode for better compatibility and standardized gamepad control.
These updates make the Husarion UGV platforms more versatile, easier to use, and better suited for a wide range of applications. Whether you're working with the Panther or the Lynx, this release ensures your platform is supported by a reliable and well-integrated driver.