Configuration & Environment Variables

The moose_description package is the URDF robot description for Moose UGV.

Overview

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

Accessories

Moose 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
MOOSE_CONTROL_EXTRAS	0	File location of a yaml contining additional control paramers to be overlaid on top of the standard parameters
MOOSE_GENERATOR	0	Is the platform equipped with a generator?
MOOSE_IMU_XYZ	0 0 0	Position of the IMU in m/p>
MOOSE_JOY_TELEOP	0	Enable teleop control for a standard wireless controller
MOOSE_NAVSAT_SMART6	0	Is the platform equipped with a Smart 6 GPS?
MOOSE_NAVSAT_SMART6_BAUD	57600	Sets the baud rate for serial communication with the GPS module
MOOSE_NAVSAT_SMART6_MOUNT	navsat	The mount on the robot model that the GPS antenna is mounted to. See the Moose URDF and MOOSE_URDF_EXTRAS for more details on mount points.
MOOSE_NAVSAT_SMART6_PORT	/dev/ttyS1	The serial port that the GPS module communicates over
MOOSE_OFFBOARD_STOP	false	Is a remote e-stop setup on the platform?
MOOSE_TRACKS	0	Is the platform configured with track-drive?
MOOSE_TWIST_MUX_EXTRAS	0	Add additional sources to be controlled by the twise mux of the platform
MOOSE_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 Moose, includes IMU and GPS
arm_mount	Includes mounting points for am arm payload
bulkhead	??? TODO
empty	Includes no accessories at all