MMP Husky UR5e + Robotiq 2F-140
===============================

To power-on the UR5e and Robotiq 2F-140 completely, run:

.. code:: bash

    ros2 service call /a200_1025/ur5e/activation/hsky_nano/srv/SerialBoolean "{data: true}"

Launch ROS2 driver for UR5e as well as Robotiq 2F-140:

.. code:: bash

    ros2 launch hsky_manipulation ur5e_robotiq.launch.py

To test the UR5e and gripper you can use **Moveit2**:

.. code:: bash

    ros2 launch hsky_ur_moveit ur_moveit.launch.py

To power-off the UR5e and Robotiq 2F-140 completely, run:

.. code:: bash

    ros2 run hsky_manipulation remote_shutdown.py

.. figure:: media/pictures/husky_be/usage_ur5e.gif
   :width: 40%
   :align: center   
   :class: mbsrounded 

|

.. Important:: 
        
        The **hsky_manipulation** driver should be running when executing the shutdown procedure.

MMP Husky Viz
=============

To visualize the Husky, you can run:

.. code:: bash

    ros2 launch hsky_viz view_robot.launch

.. figure:: media/pictures/husky_be/rviz2.png
   :width: 100%
   :align: center
   :class: mbsrounded 

|

MMP Husky Hokuyo
================

The Hokuyo is on by default from the startup job. To launch the Hokuyo only:

.. code:: bash

    ros2 launch hsky_lidars system.launch.py

.. figure:: media/pictures/husky_be/hokuyo_mbs.jpg
   :width: 50%
   :align: center
   :class: mbsrounded 

   Hokuyo

.. Warning:: 
    
    Do not run this command, as this is running in the background on startup via the **hsky** startup job.

MMP Husky Navigation
====================

Navi2 — Odom Navigation
-----------------------

Navigate in the global frame of **map**

.. code:: bash

    ros2 launch hsky_nav2 odom_navi.launch.py

.. figure:: media/pictures/husky_be/odom_based_navi.png
   :width: 100%
   :align: center
   :class: mbsrounded 

   Odom Based Navigation: After launching the drivers and commands, providing a 2D navigation goal in RViz initiates the navigation process. The brown arrow indicates the 2D navigation goal, while the small orange line represents the global planner and the green arrows depict the local planner. The green box surrounding the robot signifies the bounding box. In the map, blue areas represent the local cost map, and the grey area corresponds to the global cost map

Navi2 — Mapping
---------------

.. figure:: media/pictures/husky_be/maping_area.png
   :width: 100%
   :align: center
   :class: mbsrounded 

   Mapping

1. Mapping can begin using the **joystick controller**:

.. code:: bash

    ros2 launch hsky_nav2 slam.launch.py

2. Once you are satisfied with your map you can export it by running the following command in one of the Huskys terminals:

.. code:: bash

    ros2 run nav2_map_server map_saver_cli -f /home/administrator/ros2_ws/src/mybotshop/hsky_nav2/maps/custom_map

3. Rebuild the husky nav2 so that the maps can be installed in the **install** folder:

.. code:: bash

    colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

.. Note::
    
    The rebuilding step is not required if the filename is not changed.

Navi2 — Map Navigation
----------------------

.. code:: bash

    ros2 launch hsky_nav2 map_navi.launch.py

.. figure:: media/pictures/husky_be/map_based_navi.png
   :width: 100%
   :align: center
   :class: mbsrounded 

   Map Based Navigation: After launching the drivers and commands, providing a 2D pose estimate in RViz in the Map frame initiates map navigation