Dingo Accessories Environment Variables

General

export M_PI=3.14159265359
export DINGO_OMNI=0
export DINGO_PACS_ENABLED=0
export DINGO_URDF_EXTRAS=empty.urdf

2D Laser

Primary Laser:

export DINGO_LASER=0
export DINGO_LASER_MOUNT='front'
export DINGO_LASER_TOPIC='front/scan'
export DINGO_LASER_TOWER=1
export DINGO_LASER_PREFIX=${DINGO_LASER_MOUNT}
export DINGO_LASER_PARENT=${DINGO_LASER_MOUNT}_mount
export DINGO_LASER_MODEL='lms1xx' # or 'ust10'
export DINGO_LASER_OFFSET='0 0 0'
export DINGO_LASER_RPY='0 0 0'

By default, the PARENT link and the PREFIX of links are determined by the value given to MOUNT. However, these can be set independently for further customization options.

Secondary Laser:

export DINGO_LASER_SECONDARY=0
export DINGO_LASER_SECONDARY_MOUNT='rear'
export DINGO_LASER_SECONDARY_TOPIC='rear/scan'
export DINGO_LASER_SECONDARY_TOWER=1
export DINGO_LASER_SECONDARY_PREFIX=${DINGO_LASER_SECONDARY_MOUNT}
export DINGO_LASER_SECONDARY_PARENT=${DINGO_LASER_SECONDARY_MOUNT}_mount
export DINGO_LASER_SECONDARY_MODEL='lms1xx' # or 'ust10'
export DINGO_LASER_SECONDARY_OFFSET='0 0 ${M_PI}'
export DINGO_LASER_SECONDARY_RPY='0 0 ${M_PI}'

3D Laser

export DINGO_LASER_3D=0
export DINGO_LASER_3D_MOUNT='front'
export DINGO_LASER_3D_TOPIC='front/points'
export DINGO_LASER_3D_TOWER=1
export DINGO_LASER_3D_ANGLE=0
export DINGO_LASER_3D_PREFIX=${DINGO_LASER_3D_MOUNT}
export DINGO_LASER_3D_PARENT=${DINGO_LASER_3D_MOUNT}_mount
export DINGO_LASER_3D_MODEL='vlp16'
export DINGO_LASER_3D_OFFSET='0 0 0'
export DINGO_LASER_3D_RPY='0 0 0'

Realsense

export DINGO_REALSENSE=0
export DINGO_REALSENSE_MODEL='d435' # or 'd435i', 'd415', 'd455', 'l515'
export DINGO_REALSENSE_MOUNT='front'
export DINGO_REALSENSE_TOPIC='realsense'
export DINGO_REALSENSE_OFFSET='0 0 0'
export DINGO_REALSENSE_RPY='0 0 0'

Microstrain IMU

export DINGO_IMU_MICROSTRAIN=0
export DINGO_IMU_MICROSTRAIN_LINK='microstrain_link'
export DINGO_IMU_MICROSTRAIN_PARENT='imu_link'
export DINGO_IMU_MICROSTRAIN_OFFSET='0 0 0'
export DINGO_IMU_MICROSTRAIN_RPY='0 0 0'

Changelog for package dingo_description

0.1.12 (2022-11-22)

• Updated Realsense comments and include parameter
• Fixed typo in material name
• Added secondary realsense
• Added README with all URDF environment variables
• Force upper case for environment variables (#21)
  • Added PACS
  • Changed enable envvar name
  • Added EOL
  • All caps for envvars
• Added PACS (#20)
  • Added PACS
  • Changed enable envvar name
  • Added EOL
• Contributors: Luis Camero, luis-camero

0.1.11 (2022-05-17)

• Added Velodyne HDL32E and Microstrain GX5
• Updated URDF to disable mount
• Update VLP16 with disable tower and set angle on mount
• Add Velodyne HDL32e URDF and meshes
• Contributors: Luis Camero

0.1.10 (2022-01-16)

• Add missing "xacro:" infront of "include"
• Contributors: Joey Yang

0.1.9 (2021-07-16)

0.1.8 (2021-05-11)

0.1.7 (2021-03-08)

• Add env var support for VLP-16 (#10)
  • Add support for the VLP16 as a standard laser sensor on this platform
  • Add vlp16 to the comment block explaining supported laser scanners
  • Add the 3D and secondary 2D lidars
• Contributors: Chris I-B

0.1.6 (2020-11-26)

0.1.5 (2020-10-30)

• Fix the mount links for Dingo-D and Dingo-O; -D doesn't technically have a mid_mount (#9)
• Contributors: Chris I-B

0.1.4 (2020-10-26)

• [dingo_description] Switched description.launch to use single Dingo URDF which then determines which file should be loaded.
• Add a generic dingo.urdf.xacro (#8)
  • Add a generic dingo.urdf.xacro which will include dingo-d or dingo-o as-needed. This simplifies adding support for manipulators to the robot
• Contributors: Chris I-B, Tony Baltovski

0.1.3 (2020-09-29)

0.1.2 (2020-09-25)

0.1.1 (2020-09-14)

• Disable gravity on the L515 links; they were causing the odom frame to drift in gazebo
• Nav improvements (#5)
  • Expose the scan_topic argument in the gmapping_demo and amcl_demo launch files
  • Add placeholder support for the RS L515 and D455 so that the gazebo plugins work; the meshes for these sensors don't exist yet, but we can at least get the plugin configured & add the appropriate links for now
  • Refactor the RealSense macro to put the mesh + gazebo plugin in one place. Create a more-accurate L515 mesh out of cylinders until Intel releases an official mesh for the sensor
• Fix missing quotes around the lidar models
• Model Update (#3)
  • Make the yellow of the chassis more yellow and less orange
  • Fix the spawn position of the Hokuyo lidar & its focal point. Add the STLs for the LMS-1xx & Hokuyo lidars. Add lms1xx as a dependency so that the lidar macro is available.
  • Add additional mounting points for accessories, fix the position of the existing front_mount
  • Start adding support for the Intel RealSense cameras as out-of-the-box accessories
  • Update the dependencies
  • Remove the hector gazebo plugin dependency; it's included in dingo_gazebo, and isn't strictly needed in the description package
  • Refactor the lidar accessory variables, add clarifying comments to make it easier to find supported values for the sensor models
  • Fix the measurements. Keep the front/rear mounts 5cm back from the bumpers, move the bumper mounts to the center of the bumper
  • Remove the rear_bumper_mount since that's where the HMI is, which would prevent anything from being reasonably mounted there
• [dingo_description] Switched to find over dirname since it was causing errors in tests.
• Fix the spawn position of the Hokuyo lidar & its focal point. Add the STLs for the LMS-1xx & Hokuyo lidars. Add lms1xx as a dependency so that the lidar macro is available.
• Contributors: Chris I-B, Chris Iverach-Brereton, Tony Baltovski

0.1.0 (2020-08-10)

• Unified Dingo folders/files as much as possible, updated meshes, bumped CMake version and made roslaunch a test depend.
• Added dingo_control; split dingo_description into separate Dingo-D and Dingo-O flavours; still much work to be done here, but preparing hand-off for Tony
• Moved IMU
• Updated joint names for simplicity
• Fixed collision
• Added description
• Contributors: Dave Niewinski, Jason Higgins, Tony Baltovski