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Questions tagged [husky]

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getting contact force on gazebo

I am running a husky robot on gazebo with ROS1. How to get the contact force for the wheels? I tried this tutorial. But it does not give contact forces. I need something like given here.
AMT's user avatar
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63 views

Spawning a second robot using the clearpath_gz simulation

OS: Ubuntu 22.04 ROS 2 Distro: Humble Built from source or installed: Installed followin this : https://docs.clearpathrobotics.com/docs/ros/tutorials/simulator/install Expected behaviour I am ...
Mechaick's user avatar
1 vote
2 answers
58 views

About Husky UGV Connection

Somehow a Husky UGV came into the lab without any sensors or onboard PC. Fortunately, there is a laptop with ROS2 Humble installed and a PS4 controller. Q1. What do I need to do to act as an Onboard ...
Lee Jin's user avatar
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1 answer
23 views

husky simulation installation, but there is an error about joystick

I installed the husky simulation desktop as follows (refer to the clearpath website): sudo apt-get install ros-noetic-husky-simulator ros-noetic-husky-desktop then,...
han han's user avatar
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1 answer
520 views

How can I use Clearpath Husky Simulations on ROS2 Humble?

I'm relatively new to the ROS community and recently wanted to try out ROS2. I was using Clearpath's Husky to test and learn about ROS, Gazebo, RViz etc. on ROS using Husky's model, simulations, ...
Mustafa Osman Dilmaç's user avatar
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0 answers
328 views

A geometry element of a collision file could not be created

I'm trying to use the Husky robot from the fuel store, but one specific element from the collision file could not be created, does anyone know how to fix this? I've tried loading this in my own and ...
Lizzy Van Sterkenburg's user avatar
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1 answer
68 views

Controllers not found when simulating ur5 arm attached to husky in gazebo

I am trying to simulate a Husky robot with a UR5 Arm attached using this tutorial. I've managed to get the Husky with the UR5 attached in gazebo, but when I plan and execute an instruction to move the ...
Vivek A's user avatar
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1 answer
23 views

Error husky simulation in ros noetic

Hello everyone, i am using husky navigation in ros noetic according to this tutorial husky navigation tutorial. However, when i run the command ...
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1 answer
13 views

Gazebo Simulation: Person and Robot model interaction

I have a Gazebo simulation where a Husky robot is looking for a person using its camera. Now that I manage to get this part working, I want the Husky robot to interact with the person it found. Here ...
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1 answer
63 views

How to use ros-noetic-husky?

I am currently following the first tutorial of clearpath to learn ROS. The tutorial is already a bit outdated and uses Ros Kinetic. However, I installed Ros Noetic on my computer. In section 'Drive a ...
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1 answer
2 views

Output update of robot position coordiantes

Hi all, I did a mapping of my static area with hector_slam using RP-Lidar 2D scanner and then i finished path planning using husky_slam, now i'm about to make my robot navigate through the map. The ...
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1 answer
14 views

Unable to subscribe to topics published by Husky

I'm fairly confident this is a networking issue, but not sure exactly how to fix it. If I publish to a topic myself on the Husky, I can subscribe to it from a client. However, I can't subscribe to ...
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1 answer
14 views

husky spawns successfully but spawn_model node not found

I am running the husky_empty_world.launch file (see below) inside the husky_gazebo package. Inside this launch file is call to <...
skpro19's user avatar
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1 answer
24 views

navsat_transform_node to find pose coordinates for a given GPS lat/long

I'm working on a robotic convoy setup entirely in simulation, and want to do the following: Vehicle 1 - Send its GPS coordinates to follower vehicle (called Vehicle 2) Vehicle 2- Take the GPS ...
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1 answer
16 views

Where is the topic "imu/data" defined?

I am running the Clearpath Husky ROS simulation (https://github.com/husky/husky) and need to change the header frame ID of the topic "imu/data" from "base_link" to add a transform ...
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1 answer
85 views

rviz_imu_plugin/imu failed to load

I am trying to make the husky robot automatically explore a map with the explore_lite package. I use melodic on 18.04 and the melodic-devel branches of each package. In new terminals, running source ...
user avatar
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1 answer
115 views

Error with robot localization and global costmap

I am trying to make the husky robot automatically explore a map with the explore_lite package. I use melodic on 18.04 and the melodic-devel branches of each package. In new terminals, running source ...
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0 votes
1 answer
4 views

Why does the Global planner in connection with amcl not create a new plan when a new obstacle is added in gazebo?

Hello, i use ros kinetic and the husky robot (version 0.3.6). I have created a map with the GlobalPlaner, teb_local_planer and gmapping. Then I used the map together with amcl (1.14.7) and without ...
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0 votes
1 answer
20 views

Xacro in-order processing for husky_gazebo

After trying to run the following command roslaunch husky_gazebo husky_playpen.launch from this tutorial: http://wiki.ros.org/husky_navigation/Tutorials/Husky%...
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0 votes
1 answer
12 views

Husky Gazebo robot_state_publisher not broadcasting transforms

I'm trying to record a bag from the Husky Gazebo simulation for Cartographer SLAM on Kinetic and Ubuntu 18.04 VM. The problem I'm facing is that some of the TF transforms are not being included in the ...
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1 answer
37 views

Configuring startup files (robot_upstart)

Hello guys. We have just received a husky uvg at my lab and I am humbly trying to step out of the simulating world and set up the platform. I would like to test some of the nodes I developed in ...
smarn's user avatar
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1 answer
23 views

What is the purpose of environment variables in launch files and how can we use them correctly (optenv in husky)?

Hello! I have trouble grasping the necessity as long as the way of usage of the three environment variables in the husky_gazebo/launch/spawn_husky.launch file as shown in the code below. What would be ...
smarn's user avatar
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0 votes
1 answer
8 views

Adjusting Initial Position of /map Frame for Gazebo and Local Costmap

Hello everybody, this is my first question :) So, i just started using the husky_navigation package in order to simulate and navigate the Husky a200 in a field. I work on melodic. After I used ...
smarn's user avatar
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1 answer
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how can i add ultrasonic sensor to husky simulation in gazebo?

i want to permanently add sensors to husky and want to know the methodology generally for any sensor and if there special cases to deal with it? Originally posted by Ahmed Ezz on ROS Answers with ...
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1 answer
25 views

Robot Rotating relative to odom in RViz when it is stationary

Hi, I'm using a Clearpath Husky A200 with a sick LMS111 LIDAR. When I open RVIZ I can see the points generated by the LIDAR and they are in the correct position relative to the husky. However, both ...
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1 answer
5 views

Errors when following Husky UR5 Mobile Manipulation Demo (Simulation) tutorial for ROS indigo

Hi, Ubuntu 14.04 ROS indigo It is in Simulation I am following your great tutorial on Husky UR5 Mobile Manipulation Demo (Simulation) ...
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1 answer
12 views

What is the max linear acceleration of Husky A200?

Dear all, I am not experienced in doing robotics. I have been trying to find the max linear acceleration of Husky A200 in order to set real constraint for simulation purposes. What I did was to find ...
user avatar
0 votes
1 answer
24 views

which file implements the husky_velocity_controller?

When I controll the husky simulator, the motion of husky is driven by the /husky_velocity_controller/cmd_vel, I send a cmd_vel topic as expected velocity, the robot moves. But from physics, we know ...
user avatar
0 votes
1 answer
9 views

Error while adding UR5 manipulator on Husky and ROS Kinetic, using "husky_manipulation" package [SOLVED]

[SOLVED] I'm trying to add a UR5 manipulator on Husky, which is supported only in Indigo, and I'm using Kinetic. But, I found the package "husky_manipulation" on Github ([https://github.com/...
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0 votes
1 answer
8 views

How to make ekf localization node for multiple ridgeback robots

Hi all, Now I'm running with Ubuntu 16.04, ROS kinetic (ROS1) I also working with my Gazebo multi ridgeback robots by modifying the ridgeback_simulation But the problem is I don't know how to let EKF ...
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1 answer
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ros-kinetic-husky-simulator installation failed

I try to install ros-kinetic-husky-simulator by commanding: $ sudo apt-get install ros-kinetic-husky-simulator as is said in the tutorial at http://wiki.ros.org/...
user avatar
0 votes
1 answer
6 views

nav2d Operator does not update with laser scan on real Clearpath Husky

Hy there, i am trying to use the nav2d package with a real Husky but have problems with getting the costmap updated according to a lidar-measurement. The setup looks like: PC running ROS Kinetic ...
user avatar
0 votes
2 answers
7 views

What robot should I use for SLAM?

I am in algorithm development and I just need a robot to test on in Gazebo simulation. I have tried several robots I found online and none seem to work quite right, so I am looking for advice about a ...
user avatar
0 votes
1 answer
3 views

husky exploration demo in melodic

Although Husky is not technically supported yet for ROS melodic, it did work to run the Husky demos 1-3 here so I am hopeful I can get the 4th demo to run, frontier exploration. But in running that ...
user avatar
0 votes
1 answer
11 views

way-points drift away everytime for amcl navigation

Running in the simulation with the clearpath husky. I have husky gazebo running at the background. What I intend is to have a set of waypoints and send it as goals through move base. I tried ...
user avatar
0 votes
1 answer
26 views

octomap_frame in Moveit

Hi, I am trying to map an area with a 3D Lidar and Husky. I hope to build an Octomap of the area and use Moveit to plan movements of the UR5 to prevent collisions. I am following the Husky UR5 Demo ...
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0 votes
1 answer
27 views

move_base not executing, robot does not receive the goal

Hello, I am doing SLAM using HUSKY A200, (ros1 kinetic on both end - robot and remote pc). I am using hector mapping for my mapping. I want to do SLAM without saving the map, just by using the 2D Nav ...
user avatar
0 votes
1 answer
8 views

Roscore and Sensors node are not starting on boot [Clearpath Husky]

Hello, I have recently got a husky from clearpath. When I boot the system the general behavior was to launch all the rosnodes on boot. I added my own laser scanner, and wanted to add it to the upstart ...
user avatar
0 votes
1 answer
3 views

navSat with hectorMapping for outdoor navigation

Hello, I'm trying to configure a robot with GPS for outdoor navigation. For that I'm using robot_localization package with the navSat transform and I want to fuse hectorMapping for pathPlanning and ...
user avatar
0 votes
1 answer
1 view

Husky simulator on Lunar: source code

Where can I find husky simulator package source code to compile it to Lunar distribution? There are other questions about it, telling that we can compile from source, but they don't tell where the ...
user avatar
0 votes
1 answer
20 views

Robot is not moving to goal

I have a simulation in gazebo with two robots. I launch navigation file so i can send goals to a robot. I use this command to move robot to a goal ...
user avatar
0 votes
1 answer
6 views

Change from position_controllers to effort_controllers Altered Manipulator's Initial Position in JointTrajectoryController

Hi, I am currently on Ubuntu 16.04 LTS and ROS Kinetic, working on the integration of a Husky and a Robotis Manipulator-H in the Gazebo simulator. Right now I have the manipulator working with MoveIt! ...
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0 votes
1 answer
10 views

Problem with AllowedCollisionMatrix and octomap in MoveIt!

Hi, I am on Ubuntu 16.04 LTS and ROS Kinetic. I am now working with the manipulator Robotis Manipulator-H standing on top of a Husky robot and I intend to do path planning with the manipulator using ...
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0 votes
1 answer
31 views

robot_localization: unable to use odometry/filtered as input

Hi, I'm using ROS Kinetic and a Clearpath Husky robot. I have an already running ekf_localization_node on my robot that gives me the base_link -> odom and outputs an odometry/filtered topic. Now, ...
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0 votes
1 answer
5 views

husky urdf can't be customized

I am working on husky A200 and follow the instruction from this manual to get Husky run outdoor with GPS http://www.clearpathrobotics.com/assets/guides/husky/HuskyGPSWaypointNav.html . There are ...
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0 votes
1 answer
6 views

Husky Simulator in kinetic

I've simulated Husky in Ubuntu 16. But there is something seems to be wrong. The Husky packages for Kinetic are downloaded from here. When I execute ...
user avatar
0 votes
1 answer
16 views

How can i use multi-husky robots with laser scanner in gazebo?

I am new to ROS and Gazebo. I am using ros indigo and gazebo 2. I am using husky to simulate the system in gazebo simulator. I have used your package for multi-husky mentioned here: https://www....
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0 votes
1 answer
30 views

gmapping doesn't publish the tf from map->odom

I recently try to run SLAM gmapping on Husky robot. I build the map successfully but don't get the tf from map to odom. Even the frame "map" doesn't exist. I have some the questions. ...
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0 votes
1 answer
5 views

Invalid parameter "robot_namespace" when running Husky Robot

Hi everyone. I want to run Husky Robot (http://wiki.ros.org/Robots/Husky) in my Gazebo simulator. Current version for Husky in ROS is still in Indigo, and Kinetic version is still not released yet. So ...
user avatar
0 votes
1 answer
28 views

change Gazebo initial position of the arm

I don't know how to change the arm(Jaco2) starting position in Gazebo. Currently the only thing that I do is to execute the move_robot.py script (modified with my desired position), but this represent ...
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