Jackal Description

This packages contains the meshes and URDF of the Jackal robot, its supported sensors, and their supported mounts.

Jackal Payloads

Microstrain IMU

export JACKAL_IMU_MICROSTRAIN=1

Launch

export JACKAL_IMU_MICROSTRAIN_NAME="microstrain"

Description

export JACKAL_IMU_MICROSTRAIN_LINK="microstrain_link"
export JACKAL_IMU_MICROSTRAIN_PARENT="base_link"
export JACKAL_IMU_MICROSTRAIN_OFFSET="-0.139 0.096 0.100"
export JACKAL_IMU_MICROSTRAIN_RPY="3.14159 0 -1.5707"

2D Laser

Primary

export JACKAL_LASER=1
export JACKAL_LASER_MODEL=lms1xx # or tim551 or ust10 or utm30

Launch

export JACKAL_LASER_TOPIC="front/scan"
export JACKAL_LASER_HOST="192.168.131.20"

Description

export JACKAL_LASER_TOWER=1
export JACKAL_LASER_MOUNT="front"
export JACKAL_LASER_PREFIX="front"
export JACKAL_LASER_PARENT="front_mount"
export JACKAL_LASER_MOUNT_TYPE="upright" # or "inverted"
export JACKAL_LASER_OFFSET="0 0 0"
export JACKAL_LASER_RPY="0 0 0"

Secondary

export JACKAL_LASER_SECONDARY=1
export JACKAL_LASER_SECONDARY_MODEL="lms1xx" # or "tim551" or "ust10" or "utm30"

Launch

export JACKAL_LASER_SECONDARY_HOST="192.168.131.21"
export JACKAL_LASER_SECONDARY_TOPIC="rear/scan"

Description

export JACKAL_LASER_SECONDARY_TOWER=1
export JACKAL_LASER_SECONDARY_MOUNT="rear"
export JACKAL_LASER_SECONDARY_PREFIX="rear"
export JACKAL_LASER_SECONDARY_PARENT="rear_mount"
export JACKAL_LASER_SECONDARY_OFFSET="0 0 0"
export JACKAL_LASER_SECONDARY_RPY="0 0 3.13159"

3D Laser

export JACKAL_LASER_3D=1

Launch

export JACKAL_LASER_3D_HOST="192.168.131.20"
export JACKAL_LASER_3D_TOPIC="mid/points"

Description

export JACKAL_LASER_3D_TOWER=1
export JACKAL_LASER_3D_MOUNT="mid"
export JACKAL_LASER_3D_PREFIX="mid"
export JACKAL_LASER_3D_PARENT="mid_mount"
export JACKAL_LASER_3D_MODEL="vlp16" # or "hdl32e"
export JACKAL_LASER_3D_OFFSET="0 0 0"
export JACKAL_LASER_3D_RPY="0 0 0"

NAVSAT

export JACKAL_NAVSAT=1

Launch

export JACKAL_NAVSAT_PORT="/dev/clearpath/gps"
export JACKAL_NAVSAT_BAUD=57600
export JACKAL_NAVSAT_RTK=0
export JACKAL_NAVSAT_RTK_DEVICE=wlan0
export JACKAL_NAVSAT_RTK_BAUD=57600

Description

export JACKAL_NAVSAT_TOWER=1
export JACKAL_NAVSAT_HEIGHT=0.1 # in meters
export JACKAL_NAVSAT_MOUNT="rear"
export JACKAL_NAVSAT_PREFIX="rear"
export JACKAL_NAVSAT_PARENT="rear_mount"
export JACKAL_NAVSAT_MODEL="smart6" # or "smart7"
export JACKAL_NAVSAT_OFFSET="0 0 0"
export JACKAL_NAVSAT_RPY="0 0 0"

Pointgrey Flea3

export JACKAL_FLEA3=1

Launch

export JACKAL_FLEA3_SERIAL=0
export JACKAL_FLEA3_FRAME_RATE=30
export JACKAL_FLEA3_CALIBRATION=0

Description

export JACKAL_FLEA3_TOWER=1
export JACKAL_FLEA3_TILT=0.5236
export JACKAL_FLEA3_NAME="front"
export JACKAL_FLEA3_MOUNT="front"
export JACKAL_FLEA3_PREFIX="front"
export JACKAL_FLEA3_PARENT="front_mount"
export JACKAL_FLEA3_OFFSET="0 0 0"
export JACKAL_FLEA3_RPY="0 0 0"

Stereo Pointgrey Flea3

export JACKAL_STEREO_FLEA3=1

Launch

export JACKAL_FLEA3_FRAME_RATE=30
export JACKAL_FLEA3_LEFT_SERIAL=0
export JACKAL_FLEA3_LEFT_CALIBRATION=0
export JACKAL_FLEA3_RIGHT_SERIAL=0
export JACKAL_FLEA3_RIGHT_CALIBRATION=0

Description

export JACKAL_STEREO_SEPERATION=0.16
export JACKAL_FLEA3_TILT="0.5236"
export JACKAL_FLEA3_MOUNT="front"
export JACKAL_FLEA3_PREFIX="front"
export JACKAL_FLEA3_PARENT="front_mount"
export JACKAL_FLEA3_LEFT_NAME="front/left"
export JACKAL_FLEA3_RIGHT_NAME="front/right"
export JACKAL_FLEA3_OFFSET="0 0 0"
export JACKAL_FLEA3_RPY="0 0 0"

Bumblebee2

export JACKAL_BB2=1

Launch

export JACKAL_BB2_SERIAL=0
export JACKAL_BB2_CALIBRATION=0

Description

export JACKAL_BB2_TILT=0
export JACKAL_BB2_TOWER=1
export JACKAL_BB2_NAME="front"
export JACKAL_BB2_MOUNT="front"
export JACKAL_BB2_PREFIX="front"
export JACKAL_BB2_PARENT="front_mount"
export JACKAL_BB2_OFFSET="0 0 0"
export JACKAL_BB2_RPY="0 0 0"

Flir Blackfly

export JACKAL_BLACKFLY=1

Launch

export JACKAL_BLACKFLY_SERIAL=0
export JACKAL_BLACKFLY_DEVICE="USB" # or "GigE"
export JACKAL_BLACKFLY_ENCODING="BayerRGB"
export JACKAL_BLACKFLY_FRAMERATE=30

Description

export JACKAL_BLACKFLY_PREFIX="front_camera"
export JACKAL_BLACKFLY_PARENT="front_mount"
export JACKAL_BLACKFLY_OFFSET="0 0 0"
export JACKAL_BLACKFLY_RPY="0 0 0"

Front and Rear Accessory Fender

export JACKAL_FRONT_ACCESSORY_FENDER=1
export JACKAL_REAR_ACCESSORY_FENDER=1
export JACKAL_FRONT_FENDER_UST10=1
export JACKAL_REAR_FENDER_UST10=1

Launch

export JACKAL_FRONT_LASER_TOPIC=front/scan
export JACKAL_FRONT_LASER_HOST="192.168.131.20"
export JACKAL_REAR_LASER_TOPIC=rear/scan
export JACKAL_REAR_LASER_HOST="192.168.131.21"

Decorations

Description only accessories (i.e. no driver).

Wibotic Q-Charging Bumper:

export JACKAL_WIBOTIC_BUMPER=1

Backpack Computer Enclosure:

export JACKAL_ARK_ENCLOSURE=1

Changelog for package jackal_description

0.8.10 (2024-05-24)

0.8.9 (2024-02-14)

• Fixed origin pose values.
• Contributors: Tony Baltovski

0.8.8 (2023-06-05)

• change location of onav config
• added outdoornav enable variable and hardware kit selector for urdf
• Contributors: José Mastrangelo

0.8.7 (2023-04-19)

• Added Environment Variables
• Contributors: luis-camero

0.8.6 (2022-11-16)

• Set the GPS plugin's reference heading to 90 so it's ENU
• Use xacro properties defined from environment variables for Microstrain URDF (#123)
• Add GAZEBO_WORLD_{LAT|LON} envars to change the reference coordinate of the robot's integral GPS
• Contributors: Chris Iverach-Brereton, Joey Yang

0.8.5 (2022-05-17)

• Added Blackfly entry to URDF
• Added Blackfly description to package.xml
• Contributors: Luis Camero

0.8.4 (2022-05-09)

0.8.3 (2022-03-08)

• Added the option to remove tower from VLP16 mount
• Added SICK TIM551 to URDF and package.xml
• Added UTM30 (#106)
• Updated Navsat and LMS1xx mounts (#103)
  • Updated hokuyo_ust10_mount to include min and max angle
  • Removed extra spaces
  • Updated SICK LMS1XX mount and NAVSAT mount
  • Maintained backward compatibility with LMS1xx standard upright poisition by adding mount types
• Updated hokuyo_ust10_mount to include min and max angle (#102)
  • Updated hokuyo_ust10_mount to include min and max angle
  • Removed extra spaces
• Contributors: Luis Camero, luis-camero

0.8.2 (2022-02-15)

• Moved microstrain link to accessories.urdf and updated envvars
• Added velodyne tower mesh
• Added Microstrain GX5 to description
• Removed unnecessary URDF
• Added Wibotic mesh and STL
• Contributors: Luis Camero

0.8.1 (2022-01-18)

• Updated to match melodic-devel
• Contributors: Luis Camero

0.8.0 (2021-04-23)

0.7.5 (2021-03-24)

• Add the origin block to the fender UST-10 macros; otherwise enabling them crashes
• Contributors: Chris I-B

0.7.4 (2021-03-16)

• Bumped CMake version to avoid author warning.
• Contributors: Tony Baltovski

0.7.3 (2021-03-08)

• Add VLP16 support, refactor main/secondary laser envar support (#79)
• Contributors: Chris I-B

0.7.2 (2020-09-29)

0.7.1 (2020-08-24)

0.7.0 (2020-04-20)

• [jackal_description] Re-added pointgrey_camera_description as run depend.
• Contributors: Tony Baltovski

0.6.4 (2020-03-04)

• Modify the hokuyo accessory so that it works properly in gazebo/rviz. Add an additional environment var JACKAL_LASER_HOKUYO which overrides the default lms1xx sensor with the ust10.
• use env_run.bat on Windows (#3)
• add setlocal
• Fix jackal_description install location & fold xacro includes (#2)
  • Fix install location.
  • Fold xacro includes
• add env-hook batch scripts (#1)
• Contributors: Chris I-B, James Xu, Sean Yen, Tony Baltovski

0.6.3 (2019-07-18)

• Added all extra fender changes
• Contributors: Dave Niewinski
• Made minor changes to syntax for kinetic warnings
• Contributors: Dave Niewinski
• Added stereo camera accessory.
• Removed unused variable jackal_description_dir
• Make urdf refer explicitly to jackal_description, rather than relying on current working directory being correct, for easier external includes
• Contributors: Arnold Kalmbach, Tony Baltovski, akalmbach

0.5.1 (2015-02-02)

• Modified the accessories.urdf.xacro to include both the GPS and mount plate, including standoffs.
• Eliminate rosrun from the xacro wrapper.
• Contributors: BryceVoort, Mike Purvis

0.5.0 (2015-01-20)

• Add hook for custom URDF insertion to jackal.urdf.xacro.
• Add xacro wrapper script to provide some pre-cooked "configs", especially for simulated Jackal.
• Switch to parameterizing URDF with optenv.
• Add laser bracket STL.
• Contributors: Mike Purvis

0.4.2 (2015-01-14)

0.4.1 (2015-01-07)

0.4.0 (2014-12-12)

• add pointgrey camera
• Removed inertial and geometry of the base_link.
• hector gazebo plugin for gps is added.
• hector gazebo plugin for imu sensor is added
• Contributors: Mike Purvis, spourmehr

0.3.0 (2014-09-10)

• Add comment about accessory args.
• Add front laser accessory to description.
• Contributors: Mike Purvis

0.2.1 (2014-09-10)

0.2.0 (2014-09-09)

• Changed physical and collision properties.
• Fixed inertia parameters. Added imu plugin--not working
• Install launch directory.
• Contributors: Mike Purvis, Shokoofeh

0.1.1 (2014-09-06)

• Remove unnecessary find packages.
• Contributors: Mike Purvis

0.1.0 (2014-09-05)

• Updated description with v0.9 hardware changes.
• Contributors: Mike Purvis