Configuration & Environment Variables

Warthog URDF

The warthog_description package is the URDF robot description for Warthog UGV.

Overview

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

Accessories

Warthog 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

WARTHOG_ARM_MOUNT

0

If enabled, a link called "arm_mount_link" will be created on the bulkhead

WARTHOG_BULKHEAD

0

Switch for enabling a large, rigid bulkhead on the front of the warthog for mount accessories like arms

WARTHOG_IMU_RPY

0 0 0

Compound rotations in radians of the IMU

WARTHOG_IMU_XYX

0 0 0

Position of the IMU in meters

WARTHOG_JOY_TELEOP

0

Switch to enable teleop control of the platform

WARTHOG_NAVSAT_SMART6

0

Is the platform equipped with a Smart7 GPS?

WARTHOG_NAVSAT_SMART6_BAUD

57600

Sets the baud rate for serial communication with the GPS module

WARTHOG_NAVSAT_SMART6_MOUNT

navsat

The mount on the robot model that the GPS antenna is mounted to. See the Warthog URDF and WARTHOG_URDF_EXTRAS for more details on mount points.

WARTHOG_NAVSAT_SMART6_OFFSET

0 0 0

Position of the Smart 6 GPS in meters

WARTHOG_NAVSAT_SMART6_PORT

/dev/ttyS1

The serial port that the GPS module communicates over

WARTHOG_NAVSAT_SMART6_RPY

0 0 0

Compound rotations in radians of the Smart 6 GPS

WARTHOG_OFFBOARD_STOP

false

Is a remote e-stop setup on the platform?

WARTHOG_TRACKS

0

Used to specify that Warthog is equipped with tracks instead of wheels.

WARTHOG_TWIST_MUX_EXTRAS

0

Add additional sources to be controlled by the twise mux of the platform

WARTHOG_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 Warthog, includes IMU and GPS

arm_mount

Includes mounting points for am arm payload

bulkhead

Includes a mounting point for additional payload options

empty

Includes no accessories at all