Panther wheel custom

Hardware
1

Hi there,

I can see on Github in the ugv_husarion_ros a launch argument for wheel_type which could be custom. If we were to install specific mecanum wheels (not among the listed wheels) on the Panther, what would be the files modification required? So far I can see:

  • adding a WHCustom_controller.yaml in the husraion_ugv_ros/husarion_ugv_controller/config, if using mecanum wheel copying and adapting the WH02 file
  • addint the wheel representation in a WH custom folder in the husraion_ugv_ros/husarion_ugv_description/meshes
  • making sure these modifications are launching correctly on the built-in computer

Would there be any modifications required either in the repository or at wheel motor driver level?

Thank you,

Nicolas

2

Hi @Nico2025,
Your information is correct. The only difference is that to avoid problems with selecting custom for the wheel_type argument, the files should be named:

  • custom_controller.yaml
  • custom.yaml

I’ll rewrite what you described step by step as a universal guide for future users.

  1. Add custom_controller.yaml to the husarion_ugv_controller package. Fill it in based on the remaining files. Adjust the key parameters:

    • wheel_separation
    • wheel_radius
    • wheel_separation_multiplier
    • max_velocity
    • min_velocity
    • (optional) twist_covariance_diagonal

  2. Add custom.yaml to the husarion_ugv_description package.
    Fill it in based on the remaining files. Adjust all parameters to match the actual situation. These parameters are primarily related to the robot’s visualization in RViz and simulation. If this isn’t important, you can choose them, just make a rough estimate.

  3. Add the mesh in the husarion_ugv_description package. This also involves visualization.

  4. During launch, add the wheel_type:=custom argument

ros2 launch husarion_ugv_bringup bringup.launch.py robot_model:=<robot_model> wheel_type:=custom

Regarding the modifications themselves, I think the fastest way would be to modify the files in compose.yaml itself using volumens. However, remember that new files should be added to the install folder, not the src folder.