Description Package¶

The dingo_description package provides a URDF model of Dingo.

Dingo’s URDF model can be visualized in rviz. In terminal, run:

roslaunch dingo_viz view_model.launch

Mounting Points¶

Dingo-D has 6 evenly-spaced mounting points along its center channel for mounting sensors and other accessories. Dingo-O has 7 similar mounting points. The centers of these mounting points are represented as links in the URDF to facilitate adding sensors to simulated robots & modelling collisions when planning arm motions for mobile manipulation.

Link (front to back)	Dingo-D	Dingo-O
`front_mount`	Yes	Yes
`front_b_mount`	Yes	Yes
`front_c_mount`	Yes	Yes
`mid_mount`	No	Yes
`rear_c_mount`	Yes	Yes
`rear_b_mount`	Yes	Yes
`rear_mount`	Yes	Yes

Dingo-D mount points:

Dingo-O mount points:

Both versions of Dingo also provide a front_bumper_mount, located directly on the front of the robot. While the physical robot does not have any mounting holes here, lightweight sensors (e.g. small cameras) can be placed here using double-sided adhesive if required.

Environment Variables¶

Dingo can be customized & extended through the use of several enviroment variables. These variables are listed below, along with a summary of their effects and default values

Variable	Default	Description
`DINGO_OMNI`	`0`	Set to 1 to switch from Dingo-D to Dingo-O (with omni-directional mecanum wheels)
`DINGO_URDF_EXTRAS`	`emptyu.urdf`	Specifies the path to a URDF file with which to extend the robot's physical configuraiton
`DINGO_CONTROL_EXTRAS`	`0`	Set to 1 to enable loading `DINGO_CONTROL_EXTRAS_PATH`
`DINGO_CONTROL_EXTRAS_PATH`	undefined	Path to a YAML file on-disk that can be used to override or extend Dingo's default controls
`DINGO_CONFIG`	`base`	Specifies what pre-made sensor/mission configuration to load (see below)
`DINGO_LASER`	`0`	Set to 1 to equip Dingo with a primary lidar unit, normally front-facing
`DINGO_LASER_MODEL`	`lms1xx`	Sets the model of lidar sensor on the robot. Ignored if `DINGO_LASER` is `0`. Allowed values are: `lms1xx` - Sick LMS-1xx (default) `ust10` - Hokuyo UST-10
`DINGO_LASER_MOUNT`	`front`	Defines the mount point the Dingo's laser is connected to. Allowed values are: `front[_b\|_c]` `mid` (Dingo-O only) `rear[_b\|_c]`
`DINGO_LASER_TOPIC`	`front/scan`	The ROS topic that Dingo's lidar publishes on
`DINGO_LASER_OFFSET`	`0.11 0 0`	XYZ offset for Dingo's lidar
`DINGO_LASER_RPY`	`0 0 0`	RPY offset for Dingo's lidar
`DINGO_LASER_SECONDARY`	`0`	Set to 1 to equip Dingo with a secondary lidar unit, normally rear-facing
`DINGO_LASER_SECONDARY_MODEL`	`lms1xx`	Sets the model of secondary lidar sensor on the robot. Ignored if `DINGO_LASER_SECONDARY` is `0`. Allowed values are: `lms1xx` - Sick LMS-1xx (default) `ust10` - Hokuyo UST-10
`DINGO_LASER_SECONDARY_MOUNT`	`rear`	Defines the mount point the Dingo's secondary laser is connected to. Allowed values are: `front[_b\|_c]` `mid` (Dingo-O only) `rear[_b\|_c]`
`DINGO_LASER_SECONDARY_TOPIC`	`rear/scan`	The ROS topic that Dingo's secondary lidar publishes on
`DINGO_LASER_SECONDARY_OFFSET`	`-0.11 0 0`	XYZ offset for Dingo's secondary lidar
`DINGO_LASER_SECONDARY_RPY`	`0 0 3.14159`	RPY offset for Dingo's secondary lidar
`DINGO_LASER_3D`	`0`	Set to 1 to equip Dingo with a primary 3D lidar unit, normally front-facing
`DINGO_LASER_3D_MODEL`	`vlp16`	Sets the model of lidar sensor on the robot. Ignored if `DINGO_LASER_3D` is `0`. Allowed values are: `vlp16` - Velodyne VLP-16 (default) No other models supported yet, but may be expanded in future
`DINGO_LASER_3D_MOUNT`	`front`	Defines the mount point the Dingo's 3D laser is connected to. Allowed values are: `front[_b\|_c]` `mid` (Dingo-O only) `rear[_b\|_c]`
`DINGO_LASER_3D_TOPIC`	`front/points`	The ROS topic that Dingo's 3D lidar publishes on
`DINGO_LASER_3D_OFFSET`	`0 0 0`	XYZ offset for Dingo's 3D lidar
`DINGO_LASER_3D_RPY`	`0 0 0`	RPY offset for Dingo's 3D lidar
`DINGO_REALSENSE`	`0`	Set to 1 to equip Dingo with a RealSense depth camera
`DINGO_REALSENSE_MODEL`	`d435`	Sets the model of RealSense camera on the robot. Ignored if `DINGO_REALSENSE` is `0`. Allowed values are: `d435` (default) `d435i` `d415` `d455` Note: this camera is not supported by the `realsense2_camera` package yet; it is included or future compatibility `l515`
`DINGO_REALSENSE_MOUNT`	`front`	Defines the mount point the Dingo's RealSense is connected to `front` `mid` `rear` `front_bumper`
`DINGO_REALSENSE_TOPIC`	`realsense`	The ROS namespace that Dingo's Realsense topics publish in. e.g. pointcloud data will be in `$(DINGO_REALSENSE_TOPIC)/depth/color/points`
`DINGO_REALSENSE_OFFSET`	`0 0 0`	XYZ offset for Dingo's RealSense
`DINGO_REALSENSE_RPY`	`0 0 0`	RPY offset for Dingo's RealSense

Mobile Manipulaton Environment Variables¶

The following variables are only supported when the mobile manipulation package is in-use.

Variable	Default	Description
`DINGO_ARM_MODEL`	`gen3_lite`	The model of arm mounted to the Dingo
`DINGO_ARM_GRIPPER`	`gen3_lite_2f`	The type of gripper mounted to the end of the arm
`DINGO_ARM_DOF`	`6`	The number of degrees of freedom in the arm
`DINGO_ARM_MOUNT`	`front_b_mount`	Specifies the link that the arm is attached to in the URDF
`DINGO_ARM_XYZ`	`0 0 0`	XYZ offset for Dingo's arm relative to its mounting point
`DINGO_ARM_RPY`	`0 0 0`	RPY offset for Dingo's arm relative to its mounting point
`DINGO_ARM_HOST`	`192.168.131.40`	IP address of the Dingo's arm
`DINGO_ARM_EXTERNAL_POWER`	`0`	Set to 1 to add the arm's power regulator to the robot's URDF
`DINGO_ARM_EXTERNAL_POWER_MOUNT`	`rear_b_mount`	Specifies the link the external power regulator is attached to
`DINGO_ARM_EXTERNAL_POWER_XYZ`	`0 0 0`	The XYZ offset for the external power regulator relative to its mount point
`DINGO_ARM_EXTERNAL_POWER_RPY`	`0 0 0`	The RPY offset for the external power regulator relative to its mount point

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 Dingo
front_laser	Adds a SICK LMS1xx lidar to the Dingo’s front mount

Note

Additional configurations coming soon