Husky

Software

• Computer: Dell optiplex 3070 i7.
• Switch: Netgear GS308E

Network

Currently the switch, with the camera connected to it is not plugged in !

Diagram saved at : Husky_network.drawio

Workspace

.
├── Desktop
│   └── credentials.txt
├── libraries
│   ├── libnabo
│   ├── libpointmatcher
│   ├── norlab_controllers
│   └── norlab_icp_mapper
└── ros2_ws
    ├── build
    ├── install
    ├── log
    └── src
         ├── audio_common
         ├── drive
         ├── husky
         ├── imu_tools
         ├── joint_speed_filter
         ├── libpointmatcher_ros
         ├── LSC16
         ├── norlab_controllers_ros
         ├── norlab_icp_mapper_ros
         ├── norlab_imu_tools
         ├── norlab_robot
         ├── norlab_xsens_driver
         ├── odom_to_pose_converter
         ├── pointcloud_motion_deskew
         ├── service_caller
         └── wiln

Norlab robot is a general package that's shared between all robots using ROS in the Northern Robotics Laboratory: norlab_robot.

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Sensors

Sensor	Brand	Model
Lidar	Leishen	LS-C16
IMU	Xsens	MTI-100
Camera (x6)	Basler	a2a1920-51gcpro
Microphone	Audio-Technica	ATR4650-USB
Depth Camera	Intel Realsense	D435

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Mechanical

Motors

The Husky utilizes MMP S22-346F-24V GP52-079 motors with the following parameters :

Encoders

The motors are sharing a shaft with these encoders. These encoders have the reference US Digital E2-1024-375-IE-D-G-B

Drivers

The Husky is equipped two MDL-BDC24 motor drivers in a controller / device configuration. Communication between both drivers is done through a CAN bus (120 ohm resistors are plugged on each side), while communication with the main onboard computer is done through a serial port.

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Mechanical Details

• Baseline: 0.55 m
• Wheel radius: 0.165 m

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