husarion-ugv-autonomy

A GitHub template for Husarion UGVs: creating a map using Slam Toolbox and navigation with localization using Nav2.

📋 Requirement

Justfile

To simplify the execution of this project, we are utilizing just. Install it with:

curl --proto '=https' --tlsv1.2 -sSf https://just.systems/install.sh | sudo bash -s -- --to /usr/bin

Robot Configuration

The provided example is configured for the Panther robot and supports any LIDAR that publishes PointCloud2 or LaserScan data type by setting the appropriate environment variable.

Important

Before running the navigation demo, ensure the following:

• This demo should be run on User Computer with IP address: 10.15.20.3/24.
• a LIDAR publishes messages of type: PointCloud2 or LaserScan.
• A static transformation between a LIDAR and a robot frame is provided. The value of the frame_id field inside the published message must connect to the robot's base_link.

🚀 Quick Start

🔧 Step 1: Environment configuration

Download this repository:

git clone https://github.com/husarion/panther-navigation

Setup environment:

cd panther-navigation

# The following configuration is only needed for the physical robot
export OBSERVATION_TOPIC={point_cloud_topic} # absolute topic name to match your LIDAR pointcloud2 topic (e.g. /scan)
export OBSERVATION_TOPIC_TYPE={msg_type} # Specify: `laserscan`, `pointcloud`

Note

Additional arguments are detailed in the Launch Arguments section.

🧭 Step 2: Run navigation

🤖 Run Navigation on the Physical Robot:

just start-hardware

🖥️ Run Navigation in Simulation:

just start-simulation

🕹️ Step 3: Control the robot from a Web Browser

1. Install and run husarion-webui

   just start-visualization

2. Open the your browser on your laptop and navigate to:

   • http://{ip_address}:8080/ui (devices in the same LAN)
   • http://{hostname}:8080/ui (devices in the same Husarnet Network)

Launch Arguments

Argument	Description Type: Default
autostart	Automatically startup the nav2 stack. bool: True
log_level	Logging level. string info (choices: debug, info, warning, error, custom)
map	Path to map yaml file to load. string: /maps/map.yaml
namespace	Add namespace to all launched nodes. string: env(ROBOT_NAMESPACE)
observation_topic	Topic name for LaserScan or PointCloud2 observation messages type. ''
observation_topic_type	Observation topic type. string: pointcloud (choices: laserscan, pointcloud)
params_file	Path to the parameters file to use for all nav2 related nodes. string: `nav2_params.yaml
pc2ls_params_file	Path to the parameters file to use for pointcloud_to_laserscan node. string: `pc2ls_params.yaml
slam	Whether run a SLAM. bool: False
use_composition	Whether to use composed bringup. bool: True
use_respawn	Whether to respawn if a node crashes. Applied when composition is disabled. bool: False
use_sim_time	Use simulation (Gazebo) clock if true. bool: False