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Version: ROS 2 Jazzy

A300 Attachments

Bumper​

The A300 can have bumpers. By default, we have two bumpers, on the front and rear of the robot.

platform:
  attachments:
    - name: front_bumper
      type: a300.bumper
      model: default
      parent: front_bumper_mount
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
      enabled: true
    - name: rear_bumper
      type: a300.bumper
      model: default
      parent: rear_bumper_mount
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
      enabled: true

The bumpers can be extended by setting the extension parameter.

Top Plate​

The A300 description supports two types of top plates that modify the mounting links of the robot.

Default​

The default top plate is mounted on top of the robot.

platform:
  attachments:
    - name: top_plate
      type: a300.top_plate
      model: default
      parent: default_mount
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
      enabled: true

The default top plate has 3 mounting locations that can be used as the parent_link for sensors and other attachments:

  • ${name}_front_mount at the front edge of the plate,
  • ${name}_rear_mount at the rear edge of the plate, and
  • ${name}_default_mount located in the centre of the plate.

PACS​

The PACS top is physically identical to the default plate, but adds PACS-compatible mounting links.

platform:
  attachments:
    - name: top_plate
      type: a300.top_plate
      model: pacs
      parent: default_mount
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
      enabled: true

Attach accessories to the top plate mounts by setting the accessory's parent parameter to one of the grid mounting locations displayed above. The grid mounting locations span from ${name}_mount_a1 to ${name}_mount_e9, where the front left-most location is the a1 mount and the rear right-most location is the e9 mount. The letters correspond to the columns and the number to the rows.


Wireless Charger​

platform:
  attachments:
    - name: wireless_charger
      type: a300.wireless_charger
      model: default
      parent: base_link
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
      enabled: true

The A300 can optionally be equipped with a wireless charging coil, mounted to the the right side of the robot.

The ${name}_face link is located in the centre of the charging coil's face, with the X axis pointing outwards.

AMP Attachments​

The Husky AMP (Autonomous Mobile Platform) has large enclosure on top to contain additional computers, sensors, and power-distribution equipment and an arch to support additional sensors. These attachments can be added to the A300 just like any other attachment.

AMP Enclosure​

If the AMP Enclosure is used, the top plate should be omitted.

platform:
  attachments:
    - name: enclosure
      type: a300.amp_enclosure
      model: default
      parent: base_link
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
      enabled: true

The top of the enclosure features user rails running down the full length, to allow easy mounting of additional payloads. The a300.amp_enclosure URDF includes the following links that can be set as the parent_link of other attachments:

  • ${name}_center_mount: the centre of the upper surface of the enclosure. Items mounted to the user rails should measure from this point.
  • ${name}_antenna_mount: the standard parent for the AMP Sensor Arch, located at the rear of the user rails
  • ${name}_front_lidar_mount: located on the front face of the enclosure, this is the default location for the AMP's front-facing 3D lidar
  • ${name}_ins_mount: located on the rear face of the enclosure, this is the default location for the AMP's INS sensor

AMP Sensor Arch​

The AMP sensor arch is used to attach additional sensors and antennas.

platform:
  attachments:
    - name: sensor_arch
      type: a300.amp_sensor_arch
      model: default
      parent: enclosure_antenna_mount
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
      enabled: true

The AMP sensor arch includes the following links to attach sensors and other accessories:

  • ${name}_front_camera_mount: located under the centre-top of the arch, this is the default location for the front-facing teleoperation camera
  • ${name}_rear_camera_mount: located under the centre-top of the arch, this is the default location for the rear-facing teleoperation camera
  • ${name}_lidar_mount: default mounting location for a secondary 3D lidar. This mount is only usable when an additional bracket is physically installed on the arch.
  • ${name}_left_antenna_mount: the default mounting location for the GNSS/INS sensor's left antenna
  • ${name}_right_antenna_mount: the default mounting location for the GNSS/INS sensor's right antenna

Spotlights​

The AMP is equipped with multiple spotlights to assist in teleoperation in dark environments. The models also include simulated light sources when used with Gazebo

platform:
  attachments:
    - name: driving_light_1
      type: a300.spotlight
      parent: sensor_arch_front_left_corner_mount
      xyz: [0.0, 0.0, -0.08]
      rpy: [0.0, 0.5235987755982988, 0.5235987755982988]
    - name: driving_light_2
      type: a300.spotlight
      parent: sensor_arch_front_right_corner_mount
      xyz: [0.0, 0.0, -0.08]
      rpy: [0.0, 0.5235987755982988, -0.5235987755982988]
    - name: driving_light_3
      type: a300.spotlight
      parent: sensor_arch_rear_left_corner_mount
      xyz: [0.0, 0.0, -0.08]
      rpy: [0.0, 0.5235987755982988, -0.5235987755982988]
    - name: driving_light_4
      type: a300.spotlight
      parent: sensor_arch_rear_right_corner_mount
      xyz: [0.0, 0.0, -0.08]
      rpy: [0.0, 0.5235987755982988, 0.5235987755982988]
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