Skip to main content
Version: ROS 2 Humble

Extras

Despite all current customization options, we still would like our users to be able to add-in their existing custom URDF to the robot platform URDF and pass in and overwrite parameters to all platform nodes. Extras have the following entries:

  • urdf:
    • package: name of the ROS 2 package that contains the extras URDF (optional).
    • path: relative path within the package or absolute path to robot extras URDF
  • ros_parameters: in YAML to pass in parameters to platform nodes. This is useful to change parameters such as the robot's velocity and acceleration.
extras:
  urdf:
    package: package_name
    path: relative/path/to/urdf/in/package.urdf.xacro # or can contain /absolute/path/to/urdf.urdf.xacro
  launch:
    package: package_name
    path: relative/path/to/launch/in/package.launch.py
  ros_parameters: {} # node parameters, see below
note

Remember, absolute paths start with / and relative paths do not.

ROS Parameters​

A common use case is to set and update the parameters to the platform_velocity_controller node. These can be used to modify the linear and angular velocity and acceleratation.

These can be passed in as follows:

note

The wheel_radius parameter only needs to be set if you have physically changed the wheels. It can be omitted if you only want to adjust velocity or acceleration limits.

A200 Husky Controller Defaults:

platform:
  extras:
    ros_parameters:
      platform_velocity_controller:
        wheel_radius: 0.1651
        linear.x.max_velocity: 1.0
        linear.x.min_velocity: -1.0
        linear.x.max_acceleration: 1.0
        linear.x.min_acceleration: -1.0
        angular.z.max_velocity: 1.0
        angular.z.min_velocity: -1.0
        angular.z.max_acceleration: 1.0
        angular.z.min_acceleration: -1.0
Last updated on