heron_description Package

The heron_description package is the URDF robot description for Heron USV.

Overview

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

_images/heron_urdf.png

Accessories

Heron has a suite of optional payloads called accessories. These payloads can be enabled and placed on Heron using environment variables specified at the time the xacro is rendered to URDF. Available accessory vars are:

Variable

Default

Description

HERON_URDF_EXTRAS

empty.urdf

Path to a URDF file to add additional joints/links/accessories to Heron's model

HERON_IMU_UM6_PORT

/dev/clearpath/imu

The file that the Heron's UM6 IMU is mapped to

HERON_IMU_UM6_XYZ

-0.1397 0 0

XYZ offset of the IMU relative to its mount

HERON_IMU_UM6_RPY

0 0 -0

RPY offset of the IMU relative to its mount

HERON_NAVSAT_UBLOX_PORT

/dev/ublox

The file that the Heron's GPS is mapped to

HERON_NAVSAT_UBLOX_BAUD

115200

The baud rate the Heron's GPS uses

HERON_NAVSAT_UBLOX_SOCKET

0

If true (1), enable communicating with the GPS over a socket instead of serial

HERON_NAVSAT_UBLOX_SOCKET_PORT

2525/tt>

The network port to use for communicating with the GPS if HERON_NAVSAT_UBLOX_SOCKET is set to 1

HERON_NAVSAT_UBLOX_RTCM

false

???

HERON_NAVSAT_UBLOX_XYZ

0.015 0.050 0.072

XYZ offset of the Ublox GPS to its mount

HERON_NAVSAT_UBLOX_RPY

0 0 -0

RPY offset of the Ublox GPS relative to its mount

HERON_NAVSAT_SMART6

0

Set to 1 if Heron is equipped with a Smart6 GPS

HERON_NAVSAT_SMART6_PORT

/dev/clearpath/gps

The file the Smart6 GPS is mapped to

HERON_NAVSAT_SMART6_BAUD

57600

The baud rate the Smart6 GPS uses

HERON_NAVSAT_SMART6_MOUNT

rear

Prepended to _navsat to indicate what link the Smart6 GPS is connected to on the robot

HERON_NAVSAT_SMART6_OFFSET

-0.25 0 0.08

XYZ offsets for the Smart6 GPS relative to its mount

HERON_NAVSAT_SMART6_RPY

0 0 0

RPY offsets for the Smart6 GPS relative to its mount

HERON_NAVSAT_SMART6_RTK

0

???

HERON_NAVSAT_SMART6_RTK_DEVICE

wlan0

???

HERON_LASER

0

Set to 1 if Heron is equipped with a lidar unit

HERON_LASER_HOST

192.168.131.14

The internal IP address of the Heron's lidar

HERON_LASER_MOUNT

front

Prepended to _laser to indicate the link the lidar is mounted to

HERON_LASER_OFFSET

0.0575 0 0.0115

XYZ offsets for the lidar relative to its mount

HERON_LASER_RPY

0 0 0

RPY offsets for the lidar relative to its mount

HERON_LASER_TOPIC

front/scan

The ROS topic the lidar data is published to

HERON_AXIS_PTZ

0

Set to 1 if Heron is equipped with PTZ camera

HERON_AXIS_PTZ_NAME

axis_ptz

ROS namespace for topics published by the PTZ camera

HERON_AXIS_PTZ_HOST

192.168.131.13

Internal IP address of the PTZ camera

HERON_AXIS_PTZ_WIDTH

1280

Horizontal resolution of the PTZ camera

HERON_AXIS_PTZ_HEIGHT

720

Vertical resolution of the PTZ camera

HERON_AXIS_PTZ_ENABLE_PTZ

1

Set to 0 to disable the PTZ controls and use a fixed-position camera

HERON_AXIS_PTZ_ENABLE_THEORA

0

Set to 1 to enable Ogg/Theora video streaming from the camera

HERON_AXIS_PTZ_ENABLE_TELEOP

1

Set to 0 to disable remote teleop control of the PTZ functions

HERON_PTZ_MOUNT

axis_ptz

Prepended to _camera_link to indicate the link the PTZ camera is mounted to

HERON_PTZ_OFFSET

-0.124 0 0.078

XYZ offsets for the PTZ camera relative to its mount

HERON_PTZ_RPY

0 0 0

RPY offsets for the PTZ camera relative to its mount

HERON_SONAR

0

Set to 1 if Heron is equipped with underwater sonar

HERON_SONAR_PORT

/dev/ttyS4

The serial port the sonar is connected to

HERON_SONAR_BAUD

19200

The baud rate the sonar uses

HERON_SONAR_ROS

1

Set to 0 to disable publishing sonar data as ROS topics

HERON_SONAR_MOUNT

rear

Indicates where the sonar is mounted to the robot

HERON_SONAR_OFFSET

0 0 -0.1

XYZ offset of the sonar relative to its mount

HERON_SONAR_RPY

0 0 -0

RPY offset of the sonar relative to its mount