diff --git a/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/amp_enclosure.mdx b/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/amp_enclosure.mdx new file mode 100644 index 000000000..39dc3d0e4 --- /dev/null +++ b/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/amp_enclosure.mdx @@ -0,0 +1,39 @@ + + + + + +
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+		 + +```yaml +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 + diff --git a/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/amp_sensor_arch.mdx b/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/amp_sensor_arch.mdx new file mode 100644 index 000000000..1d37839d9 --- /dev/null +++ b/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/amp_sensor_arch.mdx @@ -0,0 +1,35 @@ + + + + + +
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+		 + +```yaml +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 diff --git a/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/bumper.mdx b/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/bumper.mdx new file mode 100644 index 000000000..b1937ad70 --- /dev/null +++ b/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/bumper.mdx @@ -0,0 +1,34 @@ + + + + + +
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+		 + +```yaml +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. diff --git a/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/img/amp_enclosure.png b/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/img/amp_enclosure.png new file mode 100644 index 000000000..aa76f4c8c Binary files /dev/null and b/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/img/amp_enclosure.png differ diff --git a/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/img/amp_sensor_arch.png b/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/img/amp_sensor_arch.png new file mode 100644 index 000000000..c4a41f061 Binary files /dev/null and b/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/img/amp_sensor_arch.png differ diff --git a/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/img/bumpers.png b/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/img/bumpers.png new file mode 100644 index 000000000..5931096fe Binary files /dev/null and b/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/img/bumpers.png differ diff --git a/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/img/spotlights.png b/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/img/spotlights.png new file mode 100644 index 000000000..af7d46afe Binary files /dev/null and b/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/img/spotlights.png differ diff --git a/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/img/top_plate_default.png b/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/img/top_plate_default.png new file mode 100644 index 000000000..32a46ee64 Binary files /dev/null and b/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/img/top_plate_default.png differ diff --git a/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/img/top_plate_pacs.png b/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/img/top_plate_pacs.png new file mode 100644 index 000000000..fb6df2e30 Binary files /dev/null and b/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/img/top_plate_pacs.png differ diff --git a/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/img/wireless_charger.png b/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/img/wireless_charger.png new file mode 100644 index 000000000..5047f3742 Binary files /dev/null and b/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/img/wireless_charger.png differ diff --git a/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/spotlight.mdx b/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/spotlight.mdx new file mode 100644 index 000000000..78e7e00d1 --- /dev/null +++ b/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/spotlight.mdx @@ -0,0 +1,38 @@ + + + + + +
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+		 + +```yaml +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] +``` +
diff --git a/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/top_plate_default.mdx b/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/top_plate_default.mdx new file mode 100644 index 000000000..7519a94f7 --- /dev/null +++ b/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/top_plate_default.mdx @@ -0,0 +1,31 @@ + + + + + +
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+		 + +```yaml +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. diff --git a/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/top_plate_pacs.mdx b/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/top_plate_pacs.mdx new file mode 100644 index 000000000..95e241b32 --- /dev/null +++ b/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/top_plate_pacs.mdx @@ -0,0 +1,30 @@ + + + + + +
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+		 + +```yaml +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. diff --git a/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/wireless_charger.mdx b/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/wireless_charger.mdx new file mode 100644 index 000000000..2c9bb712d --- /dev/null +++ b/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/wireless_charger.mdx @@ -0,0 +1,29 @@ + + + + + +
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+		 + +```yaml +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. diff --git a/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/a200.mdx b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/a200.mdx index d6f9dd87e..aa3a78463 100644 --- a/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/a200.mdx +++ b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/a200.mdx @@ -1,7 +1,7 @@ --- title: A200 Attachments sidebar_label: A200 -sidebar_position: 2 +sidebar_position: 3 toc_min_heading_level: 2 toc_max_heading_level: 5 --- diff --git a/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/a300.mdx b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/a300.mdx new file mode 100644 index 000000000..fe9f75ff8 --- /dev/null +++ b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/a300.mdx @@ -0,0 +1,65 @@ +--- +title: A300 Attachments +sidebar_label: A300 +sidebar_position: 2 +toc_min_heading_level: 2 +toc_max_heading_level: 5 +--- +import A300AmpEnclosure from "/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/amp_enclosure.mdx"; +import A300AmpSensorArch from "/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/amp_sensor_arch.mdx"; +import A300Bumper from "/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/bumper.mdx"; +import A300Spotlight from "/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/spotlight.mdx"; +import A300TopPlateDefault from "/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/top_plate_default.mdx"; +import A300TopPlatePacs from "/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/top_plate_pacs.mdx"; +import A300WirelessCharger from "/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/wireless_charger.mdx"; + +## Bumper + +The A300 can have bumpers. By default, we have two bumpers, on the front and rear of the robot. + + + + +## 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. + +
+ +### PACS +The **PACS** top is physically identical to the **default** plate, but adds PACS-compatible mounting links. + +
+ +## Wireless Charger + + + +## 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](#top-plate) should be omitted. + + + +### AMP Sensor Arch + +The AMP sensor arch is used to attach additional sensors and antennas. + + + +### 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](../../../../tutorials/simulator/overview.mdx) + + diff --git a/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/dx1X0.mdx b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/dx1X0.mdx index acd2e631c..5e2a3b37c 100644 --- a/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/dx1X0.mdx +++ b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/dx1X0.mdx @@ -1,7 +1,7 @@ --- title: DD1X0 and DO1X0 Attachments sidebar_label: DD1X0 & DO1X0 -sidebar_position: 5 +sidebar_position: 6 toc_min_heading_level: 2 toc_max_heading_level: 5 --- diff --git a/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/j100.mdx b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/j100.mdx index 2f51ad011..d148c67e2 100644 --- a/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/j100.mdx +++ b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/j100.mdx @@ -1,7 +1,7 @@ --- title: J100 Attachments sidebar_label: J100 -sidebar_position: 3 +sidebar_position: 4 toc_min_heading_level: 2 toc_max_heading_level: 5 --- diff --git a/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/r100.mdx b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/r100.mdx index 838cbd470..29988935a 100644 --- a/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/r100.mdx +++ b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/r100.mdx @@ -1,7 +1,7 @@ --- title: R100 Attachments sidebar_label: R100 -sidebar_position: 6 +sidebar_position: 7 toc_min_heading_level: 2 toc_max_heading_level: 5 --- diff --git a/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/w200.mdx b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/w200.mdx index 956170b13..d8c6c7d1c 100644 --- a/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/w200.mdx +++ b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/w200.mdx @@ -1,7 +1,7 @@ --- title: W200 Attachments sidebar_label: W200 -sidebar_position: 4 +sidebar_position: 5 toc_min_heading_level: 2 toc_max_heading_level: 5 ---