Configuration & Environment Variables

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The moose_description package is the URDF robot description for Moose UGV.

Overview

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

Accessories

Moose 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

MOOSE_CONTROL_EXTRAS

0

File location of a yaml contining additional control paramers to be overlaid on top of the standard parameters

MOOSE_GENERATOR

0

Is the platform equipped with a generator?

MOOSE_IMU_XYZ

0 0 0

Position of the IMU in m/p>

MOOSE_JOY_TELEOP

0

Enable teleop control for a standard wireless controller

MOOSE_NAVSAT_SMART6

0

Is the platform equipped with a Smart 6 GPS?

MOOSE_NAVSAT_SMART6_BAUD

57600

Sets the baud rate for serial communication with the GPS module

MOOSE_NAVSAT_SMART6_MOUNT

navsat

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

MOOSE_NAVSAT_SMART6_PORT

/dev/ttyS1

The serial port that the GPS module communicates over

MOOSE_OFFBOARD_STOP

false

Is a remote e-stop setup on the platform?

MOOSE_TRACKS

0

Is the platform configured with track-drive?

MOOSE_TWIST_MUX_EXTRAS

0

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

MOOSE_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 Moose, includes IMU and GPS

arm_mount

Includes mounting points for am arm payload

bulkhead

??? TODO

empty

Includes no accessories at all