dingo_description Package

The dingo_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.

Dingo model

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-D mount points

Dingo-O 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.

front_bumper_mount

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