Adding Payloads

Dingo’s base platform does not include any sensors by default, though Dingo can support a wide array of ROS-capable peripherals.

This section is not intended to be an exhaustive list of all supported payloads, but rather offer general guidance on how payloads should be connected to the robot.

Powering Payloads

Many payloads, such as sensors, arms, and network switches require external power. Dingo’s MCU is equipped with 3 auxiliary outputs which can be used to power these payloads:

AUX #

Voltage

Current Limit

AUX1

12-14V (unregulated)

20A

AUX2

12V (regulated)

10A total, 8A per pin

AUX3

5V (regulated)

5A

AUX1 is connected directly to Dingo’s batteries, like VBATT. This will provide 12-14V when the batteries are fully-charged, but can be expected to drop steadily as the robot is used. Payloads that are not tolerant to variable input voltage should not be connected to AUX1.

Payloads may also be connected to PWR1 or PWR2:

Pin #

Pinout

Current Limit

1

12V

10A total, 8A per pin

2

5V

5A

3

gnd

4

gnd

Dingo's MCU

The image above shows Dingo’s MCU. PWR1 and PWR2 are the large white connectors in the middle. The 3 black connectors below them are AUX1-3. VBATT is the large, black, 2-pin connector located near at the bottom, near the 10A and 20A fuses.

To access the MCU, remove Dingo’s rear center channel cover. Note that there will be several cables connected already to provide power to the motors, computer, and any other payloads already installed.

Enabling AUX Power

By default the 3 AUX power outputs are disabled. To enable them you must publish a message to the /mcu/aux_output topic. This topic accepts a single integer used as a bit-mask to enable/disable each of the 3 AUX power outputs:

AUX #

Bit

1

0

2

1

3

2

To turn on one or more AUX outputs, simply publish a single message with the appropriate bits set to 1 to turn the output on and 0 to turn it off. For example:

# turn off all AUX output
# Binary: 00000000 = Decimal: 0
rostopic pub /mcu/aux_output std_msgs/UInt8 "data: 0"

# turn on all AUX output
# Binary: 00000111 = Decimal: 7
rostopic pub /mcu/aux_output std_msgs/UInt8 "data: 7"

# turn off 2 & 3, turn on 1
# Binary: 00000001 = Decimal: 1
rostopic pub /mcu/aux_output std_msgs/UInt8 "data: 1"

# turn on 2 & 3, turn off 1
# Binary: 00000110 = Decimal: 6
rostopic pub /mcu/aux_output std_msgs/UInt8 "data: 6"

Mounting Payloads

The center channel covers of Dingo-O and Dingo-D feature multiple mounting points for payloads. Each mounting point is a square 80mm mount with 4 M5 threaded holes in the corners. These mounting points are accessible through Dingo’s URDF:

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

See dingo_description for more information about Dingo’s URDF

Mobile Manipulation

Dingo can be equipped with a Kinova Gen3 Lite arm to provide mobile manipulation. Please see Mobile Manipulation for more information on how to install and configure the arm.