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Version: ROS 2 Jazzy

W200 Attachments

Bulkhead​

The Warthog bulkhead is used to cover payloads and to add a second surface to which to attach more payloads.

Default​

platform:
  attachments:
    - name: bulkhead
      type: w200.bulkhead
      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 bulkhead by setting the accessory's parent parameter to bulkhead_mount. The mount is displayed as an axis in the image above.


Arm Mount​

platform:
  attachments:
    - name: bulkhead
      type: w200.bulkhead
      model: arm_plate
      parent: default_mount
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
      enabled: true

Attach accessories to the arm plate mount by setting the accessory's parent parameter to arm_plate_mount. The mount is displayed as an axis in the image above.


Arm Mount​

If instead of using the bulkhead to add an arm mount. We can add the arm mount independently using the following entry.

platform:
  attachments:
    - name: arm_plate
      type: w200.arm_plate
      parent: default_mount
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
      enabled: true

Attach accessories to the arm plate mount by setting the accessory's parent parameter to arm_plate_mount. The mount is displayed as an axis in the image above.

Generator​

platform:
  attachments:
    - name: generator
      type: w200.generator
      parent: default_mount
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
      enabled: true
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