psd_sensors

URDF models of sensors and other components offered alongside with Husarion robots

Available URDF Sensors

Code	Device Name
ANT02	Teltonika 003R-00253
CAM01	Orbbec Astra
CAM03	StereoLabs ZED 2
CAM04	StereoLabs ZED 2i
CAM06	StereoLabs ZED X
CAM11	Luxonis OAK-D-PRO
LDR01	RPLIDAR S1
LDR06	RPLIDAR S3
LDR10	Ouster OS0-32
LDR11	Ouster OS0-64
LDR12	Ouster OS0-128
LDR13	Ouster OS1-32
LDR14	Ouster OS1-64
LDR15	Ouster OS1-128
LDR20	Velodyne Puck
MAN01	Universal Robots UR3e
MAN02	Universal Robots UR5e
MAN04	6DoF Kinova Gen3
MAN05	6DoF Kinova Gen3 + 3D vision
MAN06	7DoF Kinova Gen3
MAN07	7DoF Kinova Gen3 + 3D vision
GRP02	Robotiq 2F-85
WCH01	Wibotic receiver

Including sensor

First build the package by running:

# create workspace folder and clone psd_sensors
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/psd_sensors.git src/psd_sensors

# in case the package will be used within simulation
export HUSARION_ROS_BUILD_TYPE=simulation

rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build

To include the sensor, use the following code:

<!-- include file with definition of xacro macro of sensor -->
<xacro:include filename="$(find psd_sensors)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />

<!-- evaluate the macro and place the sensor on robot -->
<xacro:lidar.slamtec_rplidar
  parent_link="cover_link"
  xyz="0.0 0.0 0.0"
  rpy="0.0 0.0 0.0" />

A list of parameters can be found here:

• parent_link [string, default: None] parent link to which sensor should be attached.

• xyz [float list, default: 0.0 0.0 0.0] 3 float values defining translation between base of a sensor and parent link. Values in m.

• rpy [float list, default: 0.0 0.0 0.0] 3 float values define rotation between parent link and base of a sensor. Values in rad.

• namespace [string, default: ''] global namespace common to the entire robot.

• device_namespace [string, default: ''] local namespace allowing to distinguish two identical devices from each other.

• model [string, default: ''] model argument that appears when you want to load the appropriate model from a given manufacturer.

Some sensors can define their specific parameters. Refer to their definition for more info.