Configuration & Environment Variables

The boxer_description package is the URDF robot description for Boxer UGV.

Overview

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

Accessories

Boxer 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
BOXER_CONTROL_EXTRAS	0	If 1 then the file specified by BOXER_CONTROL_EXRAS_PATH will be loaded
BOXER_CONTROL_EXTRAS_PATH	undefined	The path to a file containing additional custom controls
BOXER_GPIO	0	If set to 1 the GPIO driver will be enabled.
BOXER_URDF_EXTRAS	empty.urdf	Path to a URDF file with additional modules connected to the robot