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Version: ROS 2 Humble

J100 Attachments

Fenders​

There are two types of fenders that can be equipped on the J100 platform.

Default Fenders​

The default fenders are the standard fenders that come with every J100.

The front and rear fender entries are indepenent from each other such that they can be modified independently.

platform:
  attachments:
    - name: front_fender
      type: j100.fender
      model: default
      parent: base_link
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
      enabled: true
    - name: rear_fender
      type: j100.fender
      model: default
      parent: base_link
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 3.1415]
      enabled: true

Sensor Fenders​

The default fenders are the standard fenders that come with every J100.

The front and rear fender entries are indepenent from each other such that they can be modified independently.

platform:
  attachments:
    - name: front_fender
      type: j100.fender
      model: sensor
      parent: base_link
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
      enabled: true
    - name: rear_fender
      type: j100.fender
      model: sensor
      parent: base_link
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 3.1415]
      enabled: true

Attach accessories to the front and rear fender mounts by setting the accessory's parent parameter to front_fender_mount or rear_fender_mount. The mounts are displayed as axes in the image above.


Top Plate​

The Jackal only has one type of top plate. The ark enclosure.

Ark Enclosure​

platform:
  attachments:
    - name: ark_enclosure
      type: j100.top_plate
      model: ark_enclosure
      parent: default_mount
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
      enabled: true

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