dingo_description Package

The jackal_description package is the URDF robot description for Dingo

Overview

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

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