Overview
Introduction
The Robot Customizer ROS package by Clearpath Robotics provides an easy-to-use interface for adding sensors to your robot in the real world or in simulation. The usage interface consists of environment variables which can be set to add sensors visually to your robot's model, as well as to enable the launching of the sensors' respective drivers.
The sensors supported in this package are commonly used by Clearpath Robotics to customize mobile robotic platforms.
The example files used throughout this tutorial can be found here.
Supported Sensors and Environment Variables
Below is a list of sensors currently supported by the Robot Customizer ROS package, as well as the configurable environment variables for each sensor.
2D Lasers
- SICK LMS1xx Series
- Hokuyo UST-10LX
| Environment Variables | Default Values | Other Values | Description |
|---|---|---|---|
CPR_LASER | 0 | 1 | Enable/disable sensor |
CPR_LASER_MODEL | lms1xx | ust10 | Desired sensor model |
CPR_LASER_PARENT | base_link | Any link | Mount link for sensor |
CPR_LASER_TOPIC | scan | Any topic | ROS topic for sensor data |
CPR_LASER_XYZ | "0 0 0" | Any XYZ | Position of sensor |
CPR_LASER_RPY | "0 0 0" | Any RPY | Orientation of sensor |
CPR_LASER_IP | 192.168.131.20 | Any IP | IP address of sensor |
3D Lasers
- Velodyne VLP-16
- Velodyne HDL-32E
| Environment Variables | Default Values | Other Values | Description |
|---|---|---|---|
CPR_LASER_3D | 0 | 1 | Enable/disable sensor |
CPR_LASER_3D_MODEL | vlp16 | hdl32e | Desired sensor model |
CPR_LASER_3D_PARENT | base_link | Any link | Mount link for sensor |
CPR_LASER_3D_TOPIC | scan | Any topic | ROS topic for sensor data |
CPR_LASER_3D_XYZ | "0 0 0" | Any XYZ | Position of sensor |
CPR_LASER_3D_RPY | "0 0 0" | Any RPY | Orientation of sensor |
CPR_LASER_3D_IP | 192.168.131.20 | Any IP | IP address of sensor |
GPS
- NovAtel SMART7
- Garmin 18x
| Environment Variables | Default Values | Other Values | Description |
|---|---|---|---|
CPR_GPS | 0 | 1 | Enable/disable sensor |
CPR_GPS_MODEL | smart7 | 18x | Desired sensor model |
CPR_GPS_PARENT | base_link | Any link | Mount link for sensor |
CPR_GPS_XYZ | "0 0 0" | Any XYZ | Position of sensor |
CPR_GPS_RPY | "0 0 0" | Any RPY | Orientation of sensor |
CPR_GPS_PORT | /dev/clearpath/gps | Any port | Name of sensor device port |
CPR_GPS_BAUD | 57600 | Any baud rate | Baud rate of sensor |
IMU
- LORD MicroStrain GX3 Series
- LORD MicroStrain GX4 Series
- LORD MicroStrain GX5 Series
- LORD MicroStrain CX3 Series
- LORD MicroStrain RQ1 Series
- LORD MicroStrain GQ7 Series
| Environment Variables | Default Values | Other Values | Description |
|---|---|---|---|
CPR_MICROSTRAIN | 0 | 1 | Enable/disable sensor |
CPR_MICROSTRAIN_PARENT | base_link | Any link | Mount link for sensor |
CPR_MICROSTRAIN_XYZ | "0 0 0" | Any XYZ | Position of sensor |
CPR_MICROSTRAIN_RPY | "0 0 0" | Any RPY | Orientation of sensor |
CPR_MICROSTRAIN_PORT | /dev/microstrain | Any port | Name of sensor device port |
Cameras
- Intel RealSense D400 Series
- Intel RealSense L515
| Environment Variables | Default Values | Other Values | Description |
|---|---|---|---|
CPR_REALSENSE | 0 | 1 | Enable/disable sensor |
CPR_REALSENSE_MODEL | d435 | d435i d415 d455 l515 | Desired sensor model |
CPR_REALSENSE_PARENT | base_link | Any link | Mount link for sensor |
CPR_REALSENSE_TOPIC | realsense | Any topic | ROS topic for sensor data |
CPR_REALSENSE_XYZ | "0 0 0" | Any XYZ | Position of sensor |
CPR_REALSENSE_RPY | "0 0 0" | Any RPY | Orientation of sensor |
Arms
Coming soon!