Husky (ROS Groovy)

ROS Software Maintainer: Clearpath Robotics

Husky A200 is a rugged, outdoor-ready unmanned ground vehicle (UGV), suitable for research and rapid prototyping applications. All of Husky's basic capabilities are exposed through the clearpath_husky stack.

If you are using Fuerte you should follow the instructions here

To install the software on your control computer, first ensure that you have Groovy installed. Then grab the Husky stacks using package management:

sudo apt-get install ros-groovy-clearpath-husky-robot

Starting the Nodes

Ensure that the robot is powered on, and the USB->Serial adaptor is connected. Then run:

roslaunch clearpath_base example.launch port:=/dev/ttyUSB0

Now plug in a joystick, and in another terminal, run:

roslaunch clearpath_teleop example.launch

Hold button 1 (the deadman switch) and you should be driving.

Beyond

When you're ready to mount more sensors and equipment, the onboard 5V, 12V, and 24V power supplies will provide the necessary juice to your payloads.

For more information or to receive a quote, please visit us online.

1. Basic Configuration

Component	ROS package/stack
Robot-specific Messages	clearpath_base

2. Hardware Drivers

Component	ROS package/stack
Actuator Drivers	clearpath_base
Sensor Drivers	clearpath_sensors

3. Simulation and Support

URDF models	husky_description
Dead Reckoning	husky_bringup
rviz Interactive Markers	husky_interactive_markers
Gazebo Plugins and Examples	husky_simulator

4. High-Level Capabilities

Component	ROS package/stack
Teleop	clearpath_teleop
Basic Localization	husky_localization
Mapping, Localization, Navigation	husky_navigation