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Version: ROS 2 Jazzy

A200 Attachments

Bumper​

The A200 can have bumpers of a variable length. By setting the extension parameter, the bumper can be extended if required.

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

platform:
  attachments:
    - name: front_bumper
      type: a200.bumper
      model: default
      parent: front_bumper_mount
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
      enabled: true
      extension: 0.0
    - name: rear_bumper
      type: a200.bumper
      model: default
      parent: rear_bumper_mount
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
      enabled: true
      extension: 0.0

The bumpers can be extended by setting the extension parameter.

Top Plate​

The A200 has three types of top plates that modify the mounting surface of the robot.

Default​

The default top plate is mounted atop a user rail that can be used to mount certain payload inside the chassis and right below the top plate.

platform:
  attachments:
    - name: top_plate
      type: a200.top_plate
      model: default
      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 either top_plate_rear_mount, top_plate_default_mount, or top_plate_front_mount. The mounts are displayed as axes in the image above.


Large​

The large top plate does not have a user rail and is primarily used to mount larger payloads such as manipulators on the robot.

platform:
  attachments:
    - name: top_plate
      type: a200.top_plate
      model: large
      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 either top_plate_rear_mount, top_plate_default_mount, or top_plate_front_mount. The mounts are displayed as axes in the image above.


Observer Backpack​

The Observer backpack is a large enclosure with multiple mounting locations for additional sensors. It is used by the Husky A200 Observer.

platform:
  attachments:
    - name: observer_backpack
      type: a200.observer_backpack
      model: observer_backpack
      parent: default_mount
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
      enabled: true

The observer_backpack has the following mounts for attaching sensors, antennas, and other accessories:

  • ${name}_center_mount
  • ${name}_center_lidar_mount
  • ${name}_front_lidar_mount
  • ${name}_rear_lidar_mount
  • ${name}_front_realsense_mount
  • ${name}_rear_realsense_mount
  • ${name}_left_antenna_mount
  • ${name}_right_antenna_mount

PACS​

The pacs top plate does not have a user rail. It has an opening to access the user bay within the chassis. It comes with the grid of mounting holes of the PACS™ 80mm x 80mm grid.

platform:
  attachments:
    - name: top_plate
      type: a200.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 top_plate_mount_a1 to top_plate_mount_g8, where the front left-most location is the a1 mount and the bottom right-most location is the g8 mount. The letters correspond to the columns and the number to the rows.


Sensor Arch​

The A200 has two types of sensor archs which are used to mount sensors from a vantage point.

Sensor Arch 300​

platform:
  attachments:
    - name: sensor_arch
      type: a200.sensor_arch
      model: sensor_arch_300
      parent: default_mount
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
      enabled: true

Attach accessories to the sensor arch mount by setting the accessory's parent parameter to arch_sensor_mount.


Sensor Arch 510​

platform:
  attachments:
    - name: sensor_arch
      type: a200.sensor_arch
      model: sensor_arch_510
      parent: default_mount
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
      enabled: true

Attach accessories to the sensor arch mount by setting the accessory's parent parameter to arch_sensor_mount.


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