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Package Summary

URDF robot description for Ridgeback

  • Maintainer status: maintained
  • Maintainer: Tony Baltovski <tbaltovski AT clearpathrobotics DOT com>
  • Author: Mike Purvis <mpurvis AT clearpathrobotics DOT com>
  • License: BSD
  • Source: git https://github.com/ridgeback/ridgeback.git (branch: indigo-devel)

Package Summary

URDF robot description for Ridgeback

  • Maintainer status: maintained
  • Maintainer: Tony Baltovski <tbaltovski AT clearpathrobotics DOT com>
  • Author: Mike Purvis <mpurvis AT clearpathrobotics DOT com>
  • License: BSD
  • Source: git https://github.com/ridgeback/ridgeback.git (branch: kinetic-devel)

Overview

This package provides a URDF model of Ridgeback. For an example launchfile to use in visualizing this model, see ridgeback_viz.

ridgeback-urdf.png

Accessories

Ridgeback has a suite of optional payloads called accessories. These payloads can be enabled and placed on Ridgeback using environment variables specified at the time the xacro is rendered to URDF. Available accessory vars are:

Variable

Default

Description

RIDGEBACK_FRONT_LASER

0

Enable primary laser scanner.

RIDGEBACK_FRONT_LASER_MOUNT

front

Where to attach primary laser scanner on Ridgeback.

RIDGEBACK_FRONT_LASER_OFFSET

"0 0 0"

XYZ offset from the mount.

RIDGEBACK_FRONT_LASER_RPY

"0 0 0"

RPY offset from the mount (eg, to face it backward).

RIDGEBACK_FRONT_LASER_HOST

192.168.131.14

IP address of real scanner (used by ridgeback_bringup)

RIDGEBACK_REAR_LASER

0

Enable secondary laser scanner.

RIDGEBACK_REAR_LASER_MOUNT

rear

Where to attach secondary laser scanner on Ridgeback.

RIDGEBACK_REAR_LASER_OFFSET

"0 0 0"

XYZ offset from the mount.

RIDGEBACK_REAR_LASER_RPY

"0 0 0"

RPY offset from the mount (eg, to face it backward).

RIDGEBACK_REAR_LASER_HOST

192.168.131.13

IP address of real scanner (used by ridgeback_bringup)

Configurations

As an alternative to individually specifying each accessory, some fixed configurations are provided in the package. These can be specified using the config arg to description.launch, and are intended especially as a convenience for simulation launch.

Config

Description

base

Base Ridgeback, includes a IMU and a front-facing LMS1xx LIDAR.

dual_laser

Includes a front and rear-facing LMS1xx LIDAR.


2019-06-15 13:03