Description Package¶

The warthog_description package provides a URDF model of Warthog.

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

roslaunch warthog_viz view_model.launch

Accessories¶

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

Variable	Default	Description
`WARTHOG_ARM_MOUNT`	`0`	If enabled, a link called "arm_mount_link" will be created on the bulkhead
`WARTHOG_BULKHEAD`	`0`	Switch for enabling a large, rigid bulkhead on the front of the warthog for mount accessories like arms
`WARTHOG_IMU_RPY`	`0 0 0`	Compound rotations in radians of the IMU
`WARTHOG_IMU_XYX`	`0 0 0`	Position of the IMU in meters
`WARTHOG_JOY_TELEOP`	`0`	Switch to enable teleop control of the platform
`WARTHOG_NAVSAT_SMART6`	`0`	Is the platform equipped with a Smart7 GPS?
`WARTHOG_NAVSAT_SMART6_BAUD`	`57600`	Sets the baud rate for serial communication with the GPS module
`WARTHOG_NAVSAT_SMART6_MOUNT`	`navsat`	The mount on the robot model that the GPS antenna is mounted to. See the Warthog URDF and `WARTHOG_URDF_EXTRAS` for more details on mount points.
`WARTHOG_NAVSAT_SMART6_OFFSET`	`0 0 0`	Position of the Smart 6 GPS in meters
`WARTHOG_NAVSAT_SMART6_PORT`	`/dev/ttyS1`	The serial port that the GPS module communicates over
`WARTHOG_NAVSAT_SMART6_RPY`	`0 0 0`	Compound rotations in radians of the Smart 6 GPS
`WARTHOG_OFFBOARD_STOP`	`false`	Is a remote e-stop setup on the platform?
`WARTHOG_TRACKS`	`0`	Used to specify that Warthog is equipped with tracks instead of wheels.
`WARTHOG_TWIST_MUX_EXTRAS`	`0`	Add additional sources to be controlled by the twise mux of the platform
`WARTHOG_URDF_EXTRAS`	`empty.urdf`	Path to a URDF file with additional modules connected to the robot

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 Warthog, includes IMU and GPS
arm_mount	Includes mounting points for am arm payload
bulkhead	Includes a mounting point for additional payload options
empty	Includes no accessories at all