<> <> == Overview == This package provides a [[urdf|URDF]] model of [[Robots/Warthog|Warthog]]. For an example launchfile to use in visualizing this model, see [[warthog_viz]]. {{attachment:warthog-urdf.png}} == Environment Variables == Warthog has a suite of optional payloads called accessories. These payloads can be enabled and placed on Warthog using environment variables specified at the time the [[xacro]] is rendered to URDF. Available accessory vars are: ||'''Variable''' ||'''Default''' ||'''Description''' || ||`WARTHOG_TRACKS` ||`0` ||Enable tracks instead of wheels. || ||`WARTHOG_URDF_EXTRAS` ||`empty.urdf.xacro` ||Path to a URDF file to extend the base Warthog with additional accessories, links, joints, etc... || ||`WARTHOG_NAVSAT_SMART6` ||`0` ||Enable the Smart6 GPS sensor. || ||`WARTHOG_NAVSAT_SMART6_MOUNT` ||`navsat` ||Name for the GPS sensor's link. It is a childof `top_chassis_link`. || ||`WARTHOG_NAVSAT_SMART6_OFFSET` ||`"0 0 0"` ||XYZ offset for the GPS receiver. || ||`WARTHOG_NAVSAT_SMART6_RPY` ||`"0 0 0"` ||RPY offset for the GPS receiver. || ||`WARTHOG_BULKHEAD` ||`0` ||Enables the extended bulkhead on the front of the robot for containing additional payloads. || ||`WARTHOG_ARM_MOUNT` ||`0` ||Enables a mounting point for a single arm on the bulkhead. Requires `WARTHOG_BULKHEAD` to be `1`. || == 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 Warthog. || ||`arm_mount` ||Include the bulkhead and arm mount. || ||`bulkhead` ||Includes bulkhead, but not the arm mount. || Please see [[warthog_simulator]] for more information on simulating Warthog. ## AUTOGENERATED DON'T DELETE ## CategoryPackage