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

```bash export JACKAL_NAVSAT_TOWER=1 export JACKAL_NAVSAT_HEIGHT=0.1 # in meters export JACKAL_NAVSAT_MOUNT=”rear”

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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)

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