heron_description Package

The heron_description package is the URDF robot description for Heron USV.

Overview

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

Accessories

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

Variable	Default	Description
HERON_URDF_EXTRAS	empty.urdf	Path to a URDF file to add additional joints/links/accessories to Heron's model
HERON_IMU_UM6_PORT	/dev/clearpath/imu	The file that the Heron's UM6 IMU is mapped to
HERON_IMU_UM6_XYZ	-0.1397 0 0	XYZ offset of the IMU relative to its mount
HERON_IMU_UM6_RPY	0 0 -0	RPY offset of the IMU relative to its mount
HERON_NAVSAT_UBLOX_PORT	/dev/ublox	The file that the Heron's GPS is mapped to
HERON_NAVSAT_UBLOX_BAUD	115200	The baud rate the Heron's GPS uses
HERON_NAVSAT_UBLOX_SOCKET	0	If true (1), enable communicating with the GPS over a socket instead of serial
HERON_NAVSAT_UBLOX_SOCKET_PORT	2525/tt>	The network port to use for communicating with the GPS if HERON_NAVSAT_UBLOX_SOCKET is set to 1
HERON_NAVSAT_UBLOX_RTCM	false	???
HERON_NAVSAT_UBLOX_XYZ	0.015 0.050 0.072	XYZ offset of the Ublox GPS to its mount
HERON_NAVSAT_UBLOX_RPY	0 0 -0	RPY offset of the Ublox GPS relative to its mount
HERON_NAVSAT_SMART6	0	Set to 1 if Heron is equipped with a Smart6 GPS
HERON_NAVSAT_SMART6_PORT	/dev/clearpath/gps	The file the Smart6 GPS is mapped to
HERON_NAVSAT_SMART6_BAUD	57600	The baud rate the Smart6 GPS uses
HERON_NAVSAT_SMART6_MOUNT	rear	Prepended to _navsat to indicate what link the Smart6 GPS is connected to on the robot
HERON_NAVSAT_SMART6_OFFSET	-0.25 0 0.08	XYZ offsets for the Smart6 GPS relative to its mount
HERON_NAVSAT_SMART6_RPY	0 0 0	RPY offsets for the Smart6 GPS relative to its mount
HERON_NAVSAT_SMART6_RTK	0	???
HERON_NAVSAT_SMART6_RTK_DEVICE	wlan0	???
HERON_LASER	0	Set to 1 if Heron is equipped with a lidar unit
HERON_LASER_HOST	192.168.131.14	The internal IP address of the Heron's lidar
HERON_LASER_MOUNT	front	Prepended to _laser to indicate the link the lidar is mounted to
HERON_LASER_OFFSET	0.0575 0 0.0115	XYZ offsets for the lidar relative to its mount
HERON_LASER_RPY	0 0 0	RPY offsets for the lidar relative to its mount
HERON_LASER_TOPIC	front/scan	The ROS topic the lidar data is published to
HERON_AXIS_PTZ	0	Set to 1 if Heron is equipped with PTZ camera
HERON_AXIS_PTZ_NAME	axis_ptz	ROS namespace for topics published by the PTZ camera
HERON_AXIS_PTZ_HOST	192.168.131.13	Internal IP address of the PTZ camera
HERON_AXIS_PTZ_WIDTH	1280	Horizontal resolution of the PTZ camera
HERON_AXIS_PTZ_HEIGHT	720	Vertical resolution of the PTZ camera
HERON_AXIS_PTZ_ENABLE_PTZ	1	Set to 0 to disable the PTZ controls and use a fixed-position camera
HERON_AXIS_PTZ_ENABLE_THEORA	0	Set to 1 to enable Ogg/Theora video streaming from the camera
HERON_AXIS_PTZ_ENABLE_TELEOP	1	Set to 0 to disable remote teleop control of the PTZ functions
HERON_PTZ_MOUNT	axis_ptz	Prepended to _camera_link to indicate the link the PTZ camera is mounted to
HERON_PTZ_OFFSET	-0.124 0 0.078	XYZ offsets for the PTZ camera relative to its mount
HERON_PTZ_RPY	0 0 0	RPY offsets for the PTZ camera relative to its mount
HERON_SONAR	0	Set to 1 if Heron is equipped with underwater sonar
HERON_SONAR_PORT	/dev/ttyS4	The serial port the sonar is connected to
HERON_SONAR_BAUD	19200	The baud rate the sonar uses
HERON_SONAR_ROS	1	Set to 0 to disable publishing sonar data as ROS topics
HERON_SONAR_MOUNT	rear	Indicates where the sonar is mounted to the robot
HERON_SONAR_OFFSET	0 0 -0.1	XYZ offset of the sonar relative to its mount
HERON_SONAR_RPY	0 0 -0	RPY offset of the sonar relative to its mount