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Package Summary

URDF robot description for Warthog

  • Maintainer status: developed
  • Maintainer: Tony Baltovski <tbaltovski AT clearpathrobotics DOT com>
  • Author: Ryan Gariepy <rgariepy AT clearpathrobotics DOT com>
  • License: BSD
  • Source: git https://github.com/warthog-cpr/warthog.git (branch: indigo-devel)

Package Summary

URDF robot description for Warthog

  • Maintainer status: maintained
  • Maintainer: Tony Baltovski <tbaltovski AT clearpathrobotics DOT com>
  • Author: Ryan Gariepy <rgariepy AT clearpathrobotics DOT com>
  • License: BSD
  • Source: git https://github.com/warthog-cpr/warthog.git (branch: kinetic-devel)

Package Summary

URDF robot description for Warthog

  • Maintainer status: maintained
  • Maintainer: Tony Baltovski <tbaltovski AT clearpathrobotics DOT com>
  • Author: Ryan Gariepy <rgariepy AT clearpathrobotics DOT com>
  • License: BSD
  • Source: git https://github.com/warthog-cpr/warthog.git (branch: kinetic-devel)

Overview

This package provides a URDF model of Warthog. For an example launchfile to use in visualizing this model, see warthog_viz.

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.

Wiki: warthog_description (last edited 2020-12-21 17:53:22 by ChrisIB)