Supported Sensors and Environment Variables ============================================ Below is a list of sensors currently supported by the Robot Customizer ROS package, as well as the configurable environment variables for each sensor. 2D Lasers ---------- - SICK LMS1xx Series - Hokuyo UST-10LX =========================== ====================== ================= =========================== Environment Variables Default Values Other Values Description =========================== ====================== ================= =========================== ``CPR_LASER`` ``0`` ``1`` Enable/disable sensor ``CPR_LASER_MODEL`` ``lms1xx`` ``ust10`` Desired sensor model ``CPR_LASER_PARENT`` ``base_link`` Any link Mount link for sensor ``CPR_LASER_TOPIC`` ``scan`` Any topic ROS topic for sensor data ``CPR_LASER_XYZ`` ``"0 0 0"`` Any XYZ Position of sensor ``CPR_LASER_RPY`` ``"0 0 0"`` Any RPY Orientation of sensor ``CPR_LASER_IP`` ``192.168.131.20`` Any IP IP address of sensor =========================== ====================== ================= =========================== 3D Lasers ---------- - Velodyne VLP-16 - Velodyne HDL-32E =========================== ====================== ================= =========================== Environment Variables Default Values Other Values Description =========================== ====================== ================= =========================== ``CPR_LASER_3D`` ``0`` ``1`` Enable/disable sensor ``CPR_LASER_3D_MODEL`` ``vlp16`` ``hdl32e`` Desired sensor model ``CPR_LASER_3D_PARENT`` ``base_link`` Any link Mount link for sensor ``CPR_LASER_3D_TOPIC`` ``scan`` Any topic ROS topic for sensor data ``CPR_LASER_3D_XYZ`` ``"0 0 0"`` Any XYZ Position of sensor ``CPR_LASER_3D_RPY`` ``"0 0 0"`` Any RPY Orientation of sensor ``CPR_LASER_3D_IP`` ``192.168.131.20`` Any IP IP address of sensor =========================== ====================== ================= =========================== GPS ---------- - NovAtel SMART7 - Garmin 18x =========================== ====================== ================= =========================== Environment Variables Default Values Other Values Description =========================== ====================== ================= =========================== ``CPR_GPS`` ``0`` ``1`` Enable/disable sensor ``CPR_GPS_MODEL`` ``smart7`` ``18x`` Desired sensor model ``CPR_GPS_PARENT`` ``base_link`` Any link Mount link for sensor ``CPR_GPS_XYZ`` ``"0 0 0"`` Any XYZ Position of sensor ``CPR_GPS_RPY`` ``"0 0 0"`` Any RPY Orientation of sensor ``CPR_GPS_PORT`` ``/dev/clearpath/gps`` Any port Name of sensor device port ``CPR_GPS_BAUD`` ``57600`` Any baud rate Baud rate of sensor =========================== ====================== ================= =========================== IMU ---------- - LORD MicroStrain GX3 Series - LORD MicroStrain GX4 Series - LORD MicroStrain GX5 Series - LORD MicroStrain CX3 Series - LORD MicroStrain RQ1 Series - LORD MicroStrain GQ7 Series =========================== ====================== ================= =========================== Environment Variables Default Values Other Values Description =========================== ====================== ================= =========================== ``CPR_MICROSTRAIN`` ``0`` ``1`` Enable/disable sensor ``CPR_MICROSTRAIN_PARENT`` ``base_link`` Any link Mount link for sensor ``CPR_MICROSTRAIN_XYZ`` ``"0 0 0"`` Any XYZ Position of sensor ``CPR_MICROSTRAIN_RPY`` ``"0 0 0"`` Any RPY Orientation of sensor ``CPR_MICROSTRAIN_PORT`` ``/dev/microstrain`` Any port Name of sensor device port =========================== ====================== ================= =========================== Cameras ---------- - Intel RealSense D400 Series - Intel RealSense L515 =========================== ====================== ================= =========================== Environment Variables Default Values Other Values Description =========================== ====================== ================= =========================== ``CPR_REALSENSE`` ``0`` ``1`` Enable/disable sensor ``CPR_REALSENSE_MODEL`` ``d435`` ``d435i`` Desired sensor model ``d415`` ``d455`` ``l515`` ``CPR_REALSENSE_PARENT`` ``base_link`` Any link Mount link for sensor ``CPR_REALSENSE_TOPIC`` ``realsense`` Any topic ROS topic for sensor data ``CPR_REALSENSE_XYZ`` ``"0 0 0"`` Any XYZ Position of sensor ``CPR_REALSENSE_RPY`` ``"0 0 0"`` Any RPY Orientation of sensor =========================== ====================== ================= =========================== Arms ----- Coming soon!