Husky Control

These are the packages related to Husky control.

Clone these packages in a workspace, e.g., Husky/src/

then catkin build && source devel/setup.bash

To launch specific packages, refer to that package's README.

Requirements

Install Husky Simulator Package and Husky RVIZ package

Run full Autonomous Control Pipeline with HuskySim

1. Ensure the whole HuskyControl package is able to build. husky_mpcc requires specific instructions for building, so follow the README instruction. You may also need to build HuskyControl multiple times before it successfully builds everything. Refer to specific package README for instructions if you face issues.
2. Run the following to begin. It'll launch HuskySim in Gazebo and RViz, so please ensure the listed requirements are installed.

roslaunch husky_mpcc slow2fast.launch

3. Open a new terminal at the base workspace, source devel/setup.bash then run the following command to simulate cone position input from SLAM. For reference, if you opened the new terminal in the base workspace folder, you can replace <directory to mapname.yaml> with src/HuskyControl/race_tracks/cones_big_map.yaml to publish cone positions of the FSG 2018 race track.

rostopic pub /mur/slam/true_cones mur_common/cone_msg -f <directory to mapname.yaml>

4. Voila, it works!

To use with Husky, remote control with Master/Slave

1. Connect to its WiFi
2. If this is your first time doing this, you'll likely need to set up the workspace, refer to Step 7: Setting up Your Workspace in "Husky_getStarted.pdf", which is in the Guide folder.

export ROS_MASTER_URI=http://cpr-umb02:11311
export ROS_HOSTNAME=<your pc hostname>

4. run rostopic list and you should see Husky's ROS topics, else check connection or do step 2.
5. roslaunch husky_viz view_robot.launch
6. source your workspace/devel/setup.bash, and you can run your own package to interact with Husksy.
7. If using roslaunch, make sure Gazebo and RVIZ is not set to launch together! Typically you'll have to gazebo:=false rviz:=false when launching package

Transfer files to and from Husky

ssh administrator@192.168.131.1
scp <directory to file to transfer> <destination directory>

husky directory would be administrator@192.168.131.1:~/

to transfer to your local directory where terminal is opened or cd to,

scp administrator@192.168.131.1:~/<directorypath> ., use -r to move folders

Husky Terminal Control

To test Husky using Terminal roslaunch husky_terminal_control husky_terminal_control

mur_common

Contains ROS msgs that MUR uses

path_follower_husky

Pure pursuit controller that tracks given reference points

path files (yaml files)

Used to manually publish pathpoints for Husky to follow as this doesnt have a path planner yet.

See path_follower_husky readme

To Do

1. Pure Pursuit with slow lap track
2. Backup whole drive of Husky