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. By default this is a Sick LMS1xx, unless JACKAL_LASER_MODEL is set.

JACKAL_LASER_MODEL

lms1xx

Sets the model of the primary lidar sensor on the robot. Ignored if JACKAL_LASER is 0. Allowed values are:

  • lms1xx - Sick LMS-1xx (default)
  • ust10 - Hokuyo UST-10

Replaces the JACKAL_LASER_HOKUYO from older versions of Jackal.

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

192.168.1.20

IP address of main lidar (used by jackal_bringup)

JACKAL_LASER_SECONDARY

0

Enable secondary laser scanner. By default this is a Sick LMS1xx, unless JACKAL_LASER_SECONDARY_MODEL is set.

JACKAL_LASER_SECONDARY_MODEL

lms1xx

Sets the model of the secondary lidar sensor on the robot. Ignored if JACKAL_LASER_SECONDARY is 0. Allowed values are:

  • lms1xx - Sick LMS-1xx (default)
  • ust10 - Hokuyo UST-10

JACKAL_LASER_SECONDARY_MOUNT

rear

Where to attach seondary laser scanner on Jackal.

JACKAL_LASER_SECONDARY_OFFSET

"0 0 0"

XYZ offset from the mount.

JACKAL_LASER_SECONDARY_RPY

"0 0 3.14159"

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

JACKAL_LASER_SECONDARY_HOST

192.168.1.21

IP address of secondary lidar (used by jackal_bringup)

JACKAL_LASER_3D

0

Enable a primary 3D laser scanner, by default a Velodyne VLP-16, unless JACKAL_LASER_3D_MODEL is set.

JACKAL_LASER_3D_MODEL

vlp16

Sets the model of the primary 3d lidar sensor on the robot. Ignored if JACKAL_LASER_3D is 0. Allowed values are:

  • vlp16 - Velodyne VLP-16 (default)
  • No other models supported yet, but may be expanded in future

JACKAL_LASER_3D_MOUNT

mid

Where to attach primary 3d laser scanner on Jackal.

JACKAL_LASER_3D_OFFSET

"0 0 0"

XYZ offset from the mount.

JACKAL_LASER_3D_RPY

"0 0 0"

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

JACKAL_LASER_3D_HOST

192.168.1.20

IP address of primary 3d lidar (used by jackal_bringup)

JACKAL_FRONT_ACCESSORY_FENDER

0

Enable the front accessory fender

JACKAL_FRONT_FENDER_UST10

0

Enable a Hokuyo UST-10 lidar on the front accessory fender. Requires JACKAL_FRONT_ACCESSORY_FENDER to be 1

JACKAL_FRONT_LASER_TOPIC

front/scan

The topic for the front-facing UST-10 lidar. Requires JACKAL_FRONT_FENDER_UST10 to be 1

JACKAL_FRONT_LASER_TOPIC

front/scan

The topic for the front-facing UST-10 lidar. Requires JACKAL_FRONT_FENDER_UST10 to be 1

JACKAL_FRONT_LASER_HOST

192.168.131.20

IP address of the front-facing UST-10 lidar

JACKAL_REAR_ACCESSORY_FENDER

0

Enable the rear accessory fender

JACKAL_REAR_FENDER_UST10

0

Enable a Hokuyo UST-10 lidar on the rear accessory fender. Requires JACKAL_REAR_ACCESSORY_FENDER to be 1

JACKAL_REAR_LASER_TOPIC

rear/scan

The topic for the rear-facing UST-10 lidar. Requires JACKAL_REAR_FENDER_UST10 to be 1

JACKAL_REAR_LASER_HOST

192.168.131.21

IP address of the rear-facing UST-10 lidar

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.

Accessory Fenders

Jackal can optionally include extended front and rear fenders for mounting accessories. Normally these are used for mounting dedicated front and rear laser scanners, but may be used for mounting other payloads.

no_fender with_fender

If your Jackal includes fenders on the front and/or rear, make sure to set JACKAL_FRONT_ACCESSORY_FENDER and/or JACKAL_REAR_ACCESSORY_FENDER as necessary.

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.