Ridgeback Description

In order to faciliate editing structures, payloads, and edit other features on the Ridgeback, we use the following environment variables.

Lasers

Select one front and one rear laser.

Front Hokuyo Laser

export RIDGEBACK_FRONT_HOKUYO_LASER=1

Rear Hokuyo Laser

export RIDGEBACK_REAR_HOKUYO_LASER=1

Front Sick Laser

export RIDGEBACK_FRONT_SICK_LASER=1

Rear Sick Laser

export RIDGEBACK_REAR_SICK_LASER=1

Front S300 Laser

export RIDGEBACK_FRONT_S300_LASER=1

Rear S300 Laser

export RIDGEBACK_REAR_S300_LASER=1

Microstrain GX3, GX5, GX25

export RIDGEBACK_IMU_MICROSTRAIN=1
export RIDGEBACK_IMU_MICROSTRAIN_LINK="microstrain_link"
export RIDGEBACK_IMU_MICROSTRAIN_PARENT="base_link"
export RIDGEBACK_IMU_MICROSTRAIN_OFFSET="-0.139 0.096 0.100"
export RIDGEBACK_IMU_MICROSTRAIN_RPY="3.14159 0 -1.5707"

Microstrain GX2 Legacy

export RIDGEBACK_MICROSTRAIN_IMU=1
export RIDGEBACK_MICROSTRAIN_IMU_PREFIX="upgraded"
export RIDGEBACK_MICROSTRAIN_IMU_MOUNT="mid"
export RIDGEBACK_MICROSTRAIN_IMU_OFFSET="0 0 0"
export RIDGEBACK_MICROSTRAIN_IMU_RPY="0 0 0"

Changelog for package ridgeback_description

0.3.4 (2023-06-15)

• Take the thickness of the deck into consideration so that the riser link has the correct origin and the top link sits atop it correctly. Change the riser colour to light grey to match the unfinished aluminium extrusion used for this component
• Initial commit of adding a customizable riser height to the URDF
• Contributors: Chris Iverach-Brereton

0.3.3 (2023-04-20)

• Added README to ridgeback description
• Add comments to clarify between RIDGEBACK_MICROSTRAIN_IMU and RIDGEBACK_IMU_MICROSTRAIN.
• Add URDF link and joint for microstrain_inertial_driver Microstrain IMU.
• Contributors: Joey Yang, luis-camero

0.3.2 (2022-05-17)

• Bump CMake version to avoid CMP0048 warning.
• Contributors: Tony Baltovski

0.3.1 (2022-01-12)

0.3.0 (2020-05-19)

0.2.3 (2020-03-04)

• [ridgeback_description] Removing namespace arg.
• Add namespace to gazebo plugin, it works well in multi robots case now
• Contributors: Tony Baltovski, yizheng

0.2.2 (2019-03-25)

0.2.1 (2018-04-12)

0.2.0 (2018-04-12)

• Changed to in-order xacro parsing
• Updated rolling window for odom responsiveness. Minor changes to control and urdf syntax for kinetic
• Updated to Package format 2.
• Contributors: Dave Niewinski, Tony Baltovski

0.1.10 (2017-06-26)

• Updated the visual meshes to make them lighter and prettier. More accurate collision mesh made for tight areas
• Used sick-s300 xacro for simulation.
• Contributors: Dave Niewinski, Tony Baltovski

0.1.9 (2017-04-17)

• Fixed malformed stl meshes.
• Reduced gyroscopes noise.
• Reverted dimensions of chassis collision mesh to allow laser rays out.
• Added Sick S300 laser and Microstrain IMU upgrade accessories.
• Updated material properties for Ridgeback.
• Fixed IMU offset.
• Updated maintainer.
• Contributors: Tony Baltovski

0.1.8 (2016-09-30)

• Added environment variable to set the robot configuration and empty configuration.
• Added cmd_vel timeout for force based move plugin.
• Contributors: Tony Baltovski

0.1.7 (2016-07-18)

• Removed unused mesh.
• Uncommented RIDGEBACK_URDF_EXTRAS include.
• Contributors: Tony Baltovski

0.1.6 (2016-05-25)

• Added params for hector_gazebo_plugins/gazebo_ros_force_based_move.
• Using ros_force_based_move from ridgeback_simulator.
• Fixed xacro xmlns declaration and added Hokuyo minimun intensity.
• Contributors: Tony Baltovski

0.1.5 (2016-04-22)

• Added support for Hokuyo URG-10LX.
• Contributors: Tony Baltovski

0.1.4 (2016-04-18)

• Added lms1xx as run dependency.
• Contributors: Tony Baltovski

0.1.3 (2016-03-02)

• Updated URDF for physical changes.
• Simulation using gazebo_ros_force_based_move.
• Contributors: Mike Purvis, Tony Baltovski

0.1.2 (2015-12-22)

0.1.1 (2015-12-01)

• Added manufacturer to laser environment variables.
• Contributors: Tony Baltovski

0.1.0 (2015-11-19)

• Initial ridgeback description release.
• Contributors: Mike Purvis, Tony Baltovski