jackal_description Package

The jackal_description package is the URDF robot description for Jackal UGV.

Overview

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

_images/jackal-urdf.png

Accessories

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

Variable

Default

Description

JACKAL_LASER

0

Enable primary laser scanner.

JACKAL_LASER_MOUNT

front

Where to attach primary laser scanner on Jackal.

JACKAL_LASER_OFFSET

"0 0 0"

XYZ offset from the mount.

JACKAL_LASER_RPY

"0 0 0"

RPY offset from the mount (eg, to face it backward).

JACKAL_LASER_HOST

192.168.1.14

IP address of real scanner (used by jackal_bringup)

JACKAL_NAVSAT

0

Enable upgraded NovAtel satellite navigation receiver.

JACKAL_NAVSAT_MOUNT

rear

Where to attach upgraded GNSS to Jackal.

JACKAL_NAVSAT_HEIGHT

0.1

Height of GNSS receiver from mount point (metres).

JACKAL_NAVSAT

0

Enable upgraded NovAtel satellite navigation receiver.

JACKAL_NAVSAT_MOUNT

rear

Where to attach upgraded GNSS to Jackal.

JACKAL_NAVSAT_HEIGHT

0.1

Height of GNSS receiver from mount point (metres).

JACKAL_FLEA3

0

Enable a Pointgrey Flea3 camera.

JACKAL_FLEA3_MOUNT

front

Where to attach the camera on Jackal.

JACKAL_FLEA3_OFFSET

"0 0 0"

XYZ offset from the mount.

JACKAL_FLEA3_RPY

"0 0 0"

RPY offset from the mount (eg, to face it backward).

JACKAL_FLEA3_TILT

"0.5236"

The angle in radians of the camera where positive is down.

JACKAL_BB2

0

Enable a Pointgrey Bumblebee2 camera.

JACKAL_BB2_MOUNT

front

Where to attach the camera on Jackal.

JACKAL_BB2_OFFSET

"0 0 0"

XYZ offset from the mount.

JACKAL_BB2_RPY

"0 0 0"

RPY offset from the mount (eg, to face it backward).

JACKAL_BB2_TILT

0

The angle in radians of the camera where positive is down.

JACKAL_BB2_CALIBRATION

0

If the camera has a calibration.

JACKAL_BB2_SERIAL

0

The serial of the camera which is used for determining the calibration file name.

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 Jackal, includes IMU and GPS
front_laser Include front-facing LMS1xx LIDAR.
front_bumblebee2 Includes front-facing Pointgrey Bumblebee2
front_flea3 Includes front-facing Pointgrey Flea3

Please see jackal_simulator for more information on simulating Jackal.