Provides quick access and useful resources for Clearpath Husky.
- Husky UGV on YouTube
- Husky UGV | Robot Setup & Configuration
- Husky UGV User Manual
- Husky Tutorial for ROS Kinetic
- Husky Tutorial for ROS Melodic
- Husky Tutorial for ROS Noetic
- Husky Examples on GitHub
Install ROS Melodic.
Check if you have a on-board MINI-ITX computer.
- If you want to control Husky through the on-board computer, follow this YouTube guide.
- If you want to control Husky directly by a Jetson board / PC (i.e. without using the on-board computer), follow the steps here.
The following step is required if the on-board computer is not used.
mkdir -p ~/husky_ws/src cd ~/husky_ws/src cd ~/husky_ws # The original script below will mess up the network configuration, so we use a modified version instead. # https://raw.githubusercontent.com/clearpathrobotics/ros_computer_setup/main/install.sh wget -c https://raw.githubusercontent.com/j3soon/ros_computer_setup/main/install.sh bash install.sh # Select the corresponding options, and reboot when finished rostopic echo /status # to confirm the installation (may encounter issue on Jetson, mentioned in the troubleshooting section) sudo apt install -y "ros-melodic-husky*" sudo apt install -y ros-melodic-joy sudo apt install -y ros-melodic-teleop-twist-joy sudo apt install -y ros-melodic-teleop-twist-joystick-drivers sudo apt install -y ros-melodic-teleop-twist-keyboard cd ~/husky_ws/ catkin_make source ./devel/setup.bash # (1) Control with keyboard rosrun teleop_twist_keyboard teleop_twist_keyboard.py # (2) Control with Husky Joystick export HUSKY_LOGITECH=1 roslaunch husky_control teleop.launch # Control with Joy Stick (Logitech, State X (not D), Mode light off. Hold L1/L2 and Left Thumb for Direction) # (3.1) Control with Default Joystick rosrun joy joy_node # (3.2) Open another terminal cd ~/husky_ws/ source ./devel/setup.bash rosrun teleop_twist_joy teleop_node # Control with Joy Stick (Logitech, State X (not D), Mode light off. Hold A and Left Thumb for Direction)
More package sources are provided in this repo.
- ROS Service Error on Jetson
- JoyStick Configuration
teleop_twist_keyboard.pysuddenly does not work, you may need to reboot Husky and run
systemctl restart ros.service.
- May need to run
systemctl restart ros.servicewhen Husky has
jstest-gtkfor testing JoyStick.
- See ROS Troubleshooting document.
If you accidentally messed up the network configuration by the default Husky script. Follow the following steps to fix it:
The script changes
auto lo br0 br0:0 iface lo inet loopback # Bridge together physical ports on machine, assign standard Clearpath Robot IP. iface br0 inet static bridge_ports regex (eth.*)|(en.*) address 192.168.131.1 netmask 255.255.255.0 bridge_maxwait 0 # Also seek out DHCP IP on those ports, for the sake of easily getting online, # maintenance, ethernet radio support, etc. # For Raspberry Pi 4, you may need to disable allow-hotplug br0:0 allow-hotplug br0:0 iface br0:0 inet dhcp
You can change it back by restoring the file.
mv /etc/network/interfaces /etc/network/interfaces.bak ls /etc/network/interfaces cp /etc/network/interfaces.bkup.<YOUT_DATE> /etc/network/interfaces.bak
Or simply edit
/etc/network/interfacesto the following:
# interfaces(5) file used by ifup(8) and ifdown(8) # Include files from /etc/network/interfaces.d: source-directory /etc/network/interfaces.d
You may need to reinstall network manager to enable the desktop toolbar GUI: (Unverified)
sudo apt install -y network-manager