husarion_components_description repository

Repository Summary

Description	URDF models for sensors and hardware components used with Husarion mobile robots.
Checkout URI	https://github.com/husarion/husarion_components_description.git
VCS Type	git
VCS Version	ros2
Last Updated	2025-07-10
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
husarion_components_description	0.0.1

README

husarion_components_description

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 | | CAM05 | StereoLabs ZED M | | 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 husarion_components_description
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/husarion_components_description.git src/husarion_components_description

# 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 husarion_components_description)/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.

CONTRIBUTING