Configuration¶

LoCoBot¶

`locobot` ¶

The LoCoBot's bundled description.

This module collects every concrete value that describes the LoCoBot: joint groupings, the home pose, the planning subgroups, the kinodynamic limits and the top-level RobotConfig instance.

The robot is the arm-less locobot_base variant of the Trossen Robotics / Interbotix LoCoBot on the iRobot Create 3 base, with the pan-tilt Intel RealSense D435 camera tower and without the optional lidar. The description is the official interbotix_xslocobot_descriptions (github.com/Interbotix/interbotix_ros_rovers, ROS 2 Humble branch), expanded by scripts/build_robot.sh.

The full configuration vector is 5-DOF:

[0:3] — mobile base (x, y, theta), nonholonomic differential drive
[3:5] — camera pan and tilt

The dataclass types live in :mod:nav_planning.types.robot; this file holds values of those types.

Ridgeback¶

`ridgeback` ¶

The Ridgeback's bundled description.

This module collects every concrete value that describes the Ridgeback: joint groupings, the home pose, the planning subgroups, the kinodynamic limits and the top-level RobotConfig instance.

The robot is the Clearpath Ridgeback omnidirectional base from the official ridgeback_description (github.com/ridgeback/ridgeback, melodic-devel) without payload accessories. The Ridgeback has no head; Nav-Planning adds one (scripts/ridgeback_camera_mast.urdf.xacro):

a 40 x 40 mm aluminium extrusion, 0.70 m tall, on the centre of the payload deck (the description's mid_mount frame, 0.306 m above the floor);
a FLIR PTU-5 pan-tilt unit on top of the mast — its base 1.006 m above the floor (official flir_ptu_description, github.com/ros-drivers/ flir_ptu, model ptu5);
an Intel RealSense D435 on the PTU's payload mount (official realsense2_description, github.com/realsenseai/realsense-ros).