Overview

Each robot platform has its own unique set of attachments. To facilitate customization, any attachment from any robot platform can be added on any other robot platform.

There is a default parent link at which these attachments are added. However, the parent link can be changed to wherever attachment needs to be placed.

Additionally, all attachments can be moved around using the xyz parameter to translate and the rpy parameter to rotate.

Each attachment requires two parameters. The name parameter that will define the name of the links and joints added to URDF, and the type parameter which defines which type of attachment is to be added.

Some attachment types will have the same type parameter across different platforms. In that case, if you'd like to use the attachment that belongs to a specific platform, you will need to prefix the type parameter with the platform that it belongs to. For example, top_plate would become a200.top_plate. If no prefix is set, then the platform defined in the serial_number will be used.

See the following pages for details:

• A200 Attachments:
  • a200.bumper
  • a200.top_plate
  • a200.sensor_arch
• J100 Attachments:
  • j100.fenders
  • j100.top_plate
• W200 Attachments:
  • w200.bulkhead
  • w200.arm_mount
  • w200.generator