Configuration & Environment Variables¶
The ridgeback_description package is the URDF robot description for Ridgeback UGV.
Overview¶
This package provides a URDF model of Ridgeback. For an example launchfile to use in visualizing this model, see ridgeback_viz.
Accessories¶
Ridgeback 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 |
RIDGEBACK_CONTROL_EXTRAS |
0 |
If 1 then the file specified by RIDGEBACK_CONTROL_EXRAS_PATH will be loaded |
RIDGEBACK_CONTROL_EXTRAS_PATH |
undefined |
The path to a file containing additional custom controls |
RIDGEBACK_USE_MCU |
0 |
Set to 1 if the robot is equipped with an MCU |
RIDGEBACK_FRONT_HOKUYO_LASER |
0 |
Set to 1 if the robot is equipped with a front-facing Hokuyo LIDAR unit (e.g. UST10) |
RIDGEBACK_FRONT_SICK_LASER |
0 |
Set to 1 if the robot is equipped with a front-facing SICK LIDAR unit |
RIDGEBACK_FRONT_LASER_HOST |
192.168.131.20 |
The IP address of the front-facing LIDAR unit. If using an S300 sensor, which does not communicate over TCP/IP, see below |
RIDGEBACK_FRONT_S300_LASER |
0 |
Set to 1 if the robot is equipped with a front-facing S300 sensor |
RIDGEBACK_FRONT_S300_LASER_PORT |
/dev/clearpath/s300_front |
The port that the front-facing S300 is connected to |
RIDGEBACK_REAR_HOKUYO_LASER |
0 |
Set to 1 if the robot is equipped with a rear-facing Hokuyo LIDAR unit (e.g. UST10) |
RIDGEBACK_REAR_SICK_LASER |
0 |
Set to 1 if the robot is equipped with a rear-facing SICK LIDAR unit |
RIDGEBACK_REAR_LASER_HOST |
192.168.131.21 |
The IP address of the rear-facing LIDAR unit. If using an S300 sensor, which does not communicate over TCP/IP, see below |
RIDGEBACK_REAR_S300_LASER |
0 |
Set to 1 if the robot is equipped with a rear-facing S300 sensor |
RIDGEBACK_REAR_S300_LASER_PORT |
/dev/clearpath/s300_rear |
The port that the rear-facing S300 sensor is connected to |
RIDGEBACK_MICROTRAIN_IMU |
0 |
Set to 1 if the robot is equipped with a Microstrain IMU |
RIDGEBACK_MICROTRAIN_IMU_LINK |
upgraded |
Prepended to _imu_link to define the link the IMU is physically connected to |
RIDGEBACK_MICROTRAIN_IMU_PORT |
/dev/microstrain |
The port that the IMU is connected to |
RIDGEBACK_MICROTRAIN_IMU_TOPIC |
upgraded |
Prepended to _imu to define the topic the IMU publishes to |
RIDGEBACK_MICROSTRAIN_IMU_MOUNT |
mid |
Prepended to _mount to define the mount point that the IMU link is connected to |
RIDGEBACK_MICROSTRAIN_IMU_OFFSET |
0 0 0 |
The XYZ offset of the IMU relative to its mounting point (in meters) |
RIDGEBACK_MICROSTRAIN_IMU_RPY |
0 0 0 |
The Roll/Pitch/Yaw offset of the IMU relative to its mounting point (in radians) |
RIDGEBACK_PS3 |
0 |
Set to 1 to enable teleoperation via PS3 controller |
RIDGEBACK_URDF_EXTRAS |
empty.urdf |
Path to a URDF file with additional modules connected to the robot |