<> <> == Overview == This package provides a [[urdf|URDF]] model of [[Robots/Ridgeback|Ridgeback]]. For an example launchfile to use in visualizing this model, see [[ridgeback_viz]]. {{attachment:ridgeback-urdf.png}} == Accessories == Ridgeback has a suite of optional payloads called accessories. These payloads can be enabled and placed on Ridgeback using environment variables specified at the time the [[xacro]] is rendered to URDF. Available accessory vars are: ||'''Variable'''||'''Default'''||'''Description'''|| ||`RIDGEBACK_FRONT_LASER`||`0`||Enable primary laser scanner.|| ||`RIDGEBACK_FRONT_LASER_MOUNT`||`front`||Where to attach primary laser scanner on Ridgeback.|| ||`RIDGEBACK_FRONT_LASER_OFFSET`||`"0 0 0"`||XYZ offset from the mount.|| ||`RIDGEBACK_FRONT_LASER_RPY`||`"0 0 0"`||RPY offset from the mount (eg, to face it backward).|| ||`RIDGEBACK_FRONT_LASER_HOST`||`192.168.131.14`||IP address of real scanner (used by [[ridgeback_bringup]])|| ||`RIDGEBACK_REAR_LASER`||`0`||Enable secondary laser scanner.|| ||`RIDGEBACK_REAR_LASER_MOUNT`||`rear`||Where to attach secondary laser scanner on Ridgeback.|| ||`RIDGEBACK_REAR_LASER_OFFSET`||`"0 0 0"`||XYZ offset from the mount.|| ||`RIDGEBACK_REAR_LASER_RPY`||`"0 0 0"`||RPY offset from the mount (eg, to face it backward).|| ||`RIDGEBACK_REAR_LASER_HOST`||`192.168.131.13`||IP address of real scanner (used by [[ridgeback_bringup]])|| == 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 Ridgeback, includes a IMU and a front-facing LMS1xx LIDAR.|| ||`dual_laser`||Includes a front and rear-facing LMS1xx LIDAR.|| ## AUTOGENERATED DON'T DELETE ## CategoryPackage