Description Package ==================== The ``ridgeback_description`` package provides a `URDF `_ model of Ridgeback. Ridgeback's URDF model can be visualized in rviz. In terminal, run: .. code-block:: bash roslaunch ridgeback_viz view_model.launch .. image:: images/ridgeback_urdf.png :alt: 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: .. raw:: html

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