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ロボット工学 CLEARPATH DINGOのPDF ユーザーマニュアルをオンラインで閲覧またはダウンロードできます。CLEARPATH DINGO 20 ページ。 Indoor platform

Dingo-D will contain one battery module (Sealed Lead Acid or Lithium Ion) and Dingo-O will contain one or more battery

modules. Batteries can be installed and removed by removing the corresponding side access panel and sliding the

battery in or out as needed.

Dingo does provide an optional shore power connection to allow the system to be powered without requiring batteries

to be present. Note that when shore power is connected, the motors are disabled and it is not possible to drive the

Dingo; however, all other electronics (computers, sensors, etc) will remain enabled.

1.3 System Architecture

Like many ROS robots, Dingo is built around an x86 PC running Ubuntu, paired with a 32-bit MCU. The MCU handles

I/O, power supply monitoring, and motor control, as well as supplying data from the integrated IMU. The communication

channel between the MCU and PC is a Gigabit Ethernet connection.

The key topics which comprise Dingo's ROS API are given in Table 1.

Topic

/cmd_vel

/odometry/filtered

/imu/data

/mcu/status

Rev. 1.1.0

Figure 3: HMI panel.

Message Type

Purpose

Input to Dingo's kinematic controller. Publish here

geometry_msgs/Twist

to make Dingo go.

Published by

nav_msgs/Odometry

ization estimate based on wheel odometry (en-

coders), and integrated IMU.

Published by

sensor_msgs/IMU

estimate based on Dingo's internal IMU unit.

Low-frequency status data for Dingo's systems.

dingo_msgs/Status

This information is republished in human readable

form on the

sumed with the Robot Monitor.

Table 1: Dingo ROS API Topics

, a filtered local-

robot_localization

, an orientation

imu_filter_madgwick

topic and is best con-

diagnostics

Dingo