<> <> == Overview == This package provides a [[urdf|URDF]] model of [[Robots/Jackal|Jackal]]. For an example launchfile to use in visualizing this model, see [[jackal_viz]]. {{attachment:jackal-urdf.png}} == Accessories == Jackal has a suite of optional payloads called accessories. These payloads can be enabled and placed on Jackal using environment variables specified at the time the [[xacro]] is rendered to URDF. Available accessory vars are: ||'''Variable''' ||'''Default''' ||'''Description''' || ||`JACKAL_LASER` ||`0` ||Enable primary laser scanner. || ||`JACKAL_LASER_MOUNT` ||`front` ||Where to attach primary laser scanner on Jackal. || ||`JACKAL_LASER_OFFSET` ||`"0 0 0"` ||XYZ offset from the mount. || ||`JACKAL_LASER_RPY` ||`"0 0 0"` ||RPY offset from the mount (eg, to face it backward). || ||`JACKAL_LASER_HOST` ||`192.168.1.14` ||IP address of real scanner (used by [[jackal_bringup]]) || ||`JACKAL_NAVSAT` ||`0` ||Enable upgraded !NovAtel satellite navigation receiver. || ||`JACKAL_NAVSAT_MOUNT` ||`rear` ||Where to attach upgraded GNSS to Jackal. || ||`JACKAL_NAVSAT_HEIGHT` ||`0.1` ||Height of GNSS receiver from mount point (metres). || ||`JACKAL_NAVSAT` ||`0` ||Enable upgraded !NovAtel satellite navigation receiver. || ||`JACKAL_NAVSAT_MOUNT` ||`rear` ||Where to attach upgraded GNSS to Jackal. || ||`JACKAL_NAVSAT_HEIGHT` ||`0.1` ||Height of GNSS receiver from mount point (metres). || ||`JACKAL_FLEA3` ||`0` ||Enable a Pointgrey Flea3 camera. || ||`JACKAL_FLEA3_MOUNT` ||`front` ||Where to attach the camera on Jackal. || ||`JACKAL_FLEA3_OFFSET` ||`"0 0 0"` ||XYZ offset from the mount. || ||`JACKAL_FLEA3_RPY` ||`"0 0 0"` ||RPY offset from the mount (eg, to face it backward). || ||`JACKAL_FLEA3_TILT` ||`"0.5236"` ||The angle in radians of the camera where positive is down. || ||`JACKAL_BB2` ||`0` ||Enable a Pointgrey Bumblebee2 camera. || ||`JACKAL_BB2_MOUNT` ||`front` ||Where to attach the camera on Jackal. || ||`JACKAL_BB2_OFFSET` ||`"0 0 0"` ||XYZ offset from the mount. || ||`JACKAL_BB2_RPY` ||`"0 0 0"` ||RPY offset from the mount (eg, to face it backward). || ||`JACKAL_BB2_TILT` ||`0` ||The angle in radians of the camera where positive is down. || ||`JACKAL_BB2_CALIBRATION` ||`0` ||If the camera has a calibration. || ||`JACKAL_BB2_SERIAL` ||`0` ||The serial of the camera which is used for determining the calibration file name. || == 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 Jackal, includes IMU and GPS. || ||`front_laser` ||Include front-facing LMS1xx LIDAR. || ||`front_bumblebee2` ||Includes front-facing Pointgrey Bumblebee2. || ||`front_flea3` ||Includes front-facing Pointgrey Flea3. || Please see [[jackal_simulator]] for more information on simulating Jackal. ## AUTOGENERATED DON'T DELETE ## CategoryPackage