Description Package

The ridgeback_description package provides a URDF model of Ridgeback.

Ridgeback’s URDF model can be visualized in rviz. In terminal, run:

roslaunch ridgeback_viz view_model.launch
Ridgeback URDF

Accessories

Ridgeback 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

RIDGEBACK_CONTROL_EXTRAS

0

If 1 then the file specified by RIDGEBACK_CONTROL_EXRAS_PATH will be loaded

RIDGEBACK_CONTROL_EXTRAS_PATH

undefined

The path to a file containing additional custom controls

RIDGEBACK_USE_MCU

0

Set to 1 if the robot is equipped with an MCU

RIDGEBACK_FRONT_HOKUYO_LASER

0

Set to 1 if the robot is equipped with a front-facing Hokuyo LIDAR unit (e.g. UST10)

RIDGEBACK_FRONT_SICK_LASER

0

Set to 1 if the robot is equipped with a front-facing SICK LIDAR unit

RIDGEBACK_FRONT_LASER_HOST

192.168.131.20

The IP address of the front-facing LIDAR unit. If using an S300 sensor, which does not communicate over TCP/IP, see below

RIDGEBACK_FRONT_S300_LASER

0

Set to 1 if the robot is equipped with a front-facing S300 sensor

RIDGEBACK_FRONT_S300_LASER_PORT

/dev/clearpath/s300_front

The port that the front-facing S300 is connected to

RIDGEBACK_REAR_HOKUYO_LASER

0

Set to 1 if the robot is equipped with a rear-facing Hokuyo LIDAR unit (e.g. UST10)

RIDGEBACK_REAR_SICK_LASER

0

Set to 1 if the robot is equipped with a rear-facing SICK LIDAR unit

RIDGEBACK_REAR_LASER_HOST

192.168.131.21

The IP address of the rear-facing LIDAR unit. If using an S300 sensor, which does not communicate over TCP/IP, see below

RIDGEBACK_REAR_S300_LASER

0

Set to 1 if the robot is equipped with a rear-facing S300 sensor

RIDGEBACK_REAR_S300_LASER_PORT

/dev/clearpath/s300_rear

The port that the rear-facing S300 sensor is connected to

RIDGEBACK_MICROTRAIN_IMU

0

Set to 1 if the robot is equipped with a Microstrain IMU

RIDGEBACK_MICROTRAIN_IMU_LINK

upgraded

Prepended to _imu_link to define the link the IMU is physically connected to

RIDGEBACK_MICROTRAIN_IMU_PORT

/dev/microstrain

The port that the IMU is connected to

RIDGEBACK_MICROTRAIN_IMU_TOPIC

upgraded

Prepended to _imu to define the topic the IMU publishes to

RIDGEBACK_MICROSTRAIN_IMU_MOUNT

mid

Prepended to _mount to define the mount point that the IMU link is connected to

RIDGEBACK_MICROSTRAIN_IMU_OFFSET

0 0 0

The XYZ offset of the IMU relative to its mounting point (in meters)

RIDGEBACK_MICROSTRAIN_IMU_RPY

0 0 0

The Roll/Pitch/Yaw offset of the IMU relative to its mounting point (in radians)

RIDGEBACK_PS3

0

Set to 1 to enable teleoperation via PS3 controller

RIDGEBACK_URDF_EXTRAS

empty.urdf

Path to a URDF file with additional modules connected to the robot