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indigo:Documentation generated on July 13, 2017 at 10:54 AM (doc job).
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This package provides a URDF model of Ridgeback. For an example launchfile to use in visualizing this model, see ridgeback_viz.
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).
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.
Wiki: ridgeback_description (last edited 2017-05-15 18:58:53 by TonyBaltovski)
