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Package Summary
URDF robot description for Ridgeback
- Maintainer status: maintained
- Maintainer: Tony Baltovski <tbaltovski AT clearpathrobotics DOT com>
- Author: Mike Purvis <mpurvis AT clearpathrobotics DOT com>
- License: BSD
- Source: git https://github.com/ridgeback/ridgeback.git (branch: indigo-devel)
Package Summary
URDF robot description for Ridgeback
- Maintainer status: maintained
- Maintainer: Tony Baltovski <tbaltovski AT clearpathrobotics DOT com>
- Author: Mike Purvis <mpurvis AT clearpathrobotics DOT com>
- License: BSD
- Source: git https://github.com/ridgeback/ridgeback.git (branch: kinetic-devel)
Package Summary
URDF robot description for Ridgeback
- Maintainer status: maintained
- Maintainer: Tony Baltovski <tbaltovski AT clearpathrobotics DOT com>
- Author: Mike Purvis <mpurvis AT clearpathrobotics DOT com>
- License: BSD
- Source: git https://github.com/ridgeback/ridgeback.git (branch: kinetic-devel)
Package Summary
URDF robot description for Ridgeback
- Maintainer status: maintained
- Maintainer: Tony Baltovski <tbaltovski AT clearpathrobotics DOT com>
- Author: Mike Purvis <mpurvis AT clearpathrobotics DOT com>
- License: BSD
- Source: git https://github.com/ridgeback/ridgeback.git (branch: melodic-devel)
Contents
Overview
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). |
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. |