README.md

dingo_robot

Robot packages for Dingo

Dingo Bringup Environment Variables

To facilitate customizability of the Dingo platform with sensors, we provide the following environment variables.

Note: these variables must be using in conjunction with those in the Dingo desciption package.

Base Dingo

export DINGO_MOTOR_PARAMS='base'
export DINGO_OMNI=0
export DINGO_MAG_CONFIG=$(catkin_find dingo_base config/mag_config_default.yaml --first-only)

Accessories

2D Laser

export DINGO_LASER=0
export DINGO_LASER_MODEL='lms1xx' # or 'ust10'
export DINGO_LASER_HOST='192.168.131.20'
export DINGO_LASER_MOUNT='front'
export DINGO_LASER_TOPIC='front/scan'

export DINGO_LASER_SECONDARY=0
export DINGO_LASER_SECONDARY_MODEL='lms1xx' # or 'ust10'
export DINGO_LASER_SECONDARY_HOST='192.168.131.20'
export DINGO_LASER_SECONDARY_MOUNT='rear'
export DINGO_LASER_SECONDARY_TOPIC='rear/scan'

3D Laser

export DINGO_LASER_3D=0
export DINGO_LASER_3D_MODEL='vlp16' # or 'hdl32e'
export DINGO_LASER_3D_HOST='192.168.131.20'
export DINGO_LASER_3D_TOPIC='front/points'

Realsense

export DINGO_REALSENSE=0
export DINGO_REALSENSE_TOPIC='realsense'
export DINGO_REALSENSE_MOUNT='front'

Microstrain

export DINGO_IMU_MICROSTRAIN=0
export DINGO_IMU_MICROSTRAIN_NAME='microstrain'
export DINGO_IMU_MICROSTRAIN_LINK='microstrain_link'
export DINGO_IMU_MICROSTRAIN_PORT='/dev/microstrain'

Wibotic

export DINGO_WIBOTIC_CHARGER=0
export DINGO_WIBOTIC_CHARGER_CAN='can0'
export DINGO_WIBOTIC_CHARGER_ID='10'