Merge pull request #26 from clearpathrobotics/rkreinin/mounts

Disk and Post mounts

clearpath_generator_common/clearpath_generator_common/description/attachments.py

@@ -97,4 +97,6 @@ def __init__(self, platform: str, attachment: Structure) -> None:
     }
 
     def __new__(cls, platform, attachment: BaseAttachment) -> BaseDescription:
-        return AttachmentsDescription.MODEL[attachment.ATTACHMENT_MODEL](platform, attachment)
+        return AttachmentsDescription.MODEL.setdefault(
+            attachment.ATTACHMENT_MODEL,
+            AttachmentsDescription.BaseDescription)(platform, attachment)

clearpath_generator_common/clearpath_generator_common/description/links.py

@@ -107,10 +107,11 @@ def __init__(self, link: Mesh) -> None:
     MODEL = {
         Link.BOX: BoxDescription,
         Link.CYLINDER: CylinderDescription,
-        Link.FRAME: BaseDescription,
         Link.MESH: MeshDescription,
         Link.SPHERE: SphereDescription,
     }
 
     def __new__(cls, link: BaseLink) -> BaseDescription:
-        return LinkDescription.MODEL[link.LINK_TYPE](link)
+        return LinkDescription.MODEL.setdefault(
+            link.LINK_TYPE,
+            LinkDescription.BaseDescription)(link)

clearpath_generator_common/clearpath_generator_common/description/mounts.py

@@ -32,8 +32,9 @@
 
 from clearpath_config.mounts.types.mount import BaseMount
 from clearpath_config.mounts.types.fath_pivot import FathPivot
-from clearpath_config.mounts.types.flir_ptu import FlirPTU
 from clearpath_config.mounts.types.pacs import PACS
+from clearpath_config.mounts.types.post import Post
+from clearpath_config.mounts.types.sick import SICKStand
 
 from typing import List
 
@@ -104,12 +105,37 @@ def __init__(self, mount: PACS.Bracket) -> None:
                 self.MODEL: mount.model,
             })
 
+    class SICKStandDescription(BaseDescription):
+        MODEL = 'model'
+
+        def __init__(self, mount: SICKStand) -> None:
+            super().__init__(mount)
+            self.parameters.update({
+                self.MODEL: mount.model,
+            })
+
+    class PostDescription(BaseDescription):
+        MODEL = 'model'
+        SPACING = 'spacing'
+        HEIGHT = 'height'
+
+        def __init__(self, mount: Post) -> None:
+            super().__init__(mount)
+            self.parameters.update({
+                self.MODEL: mount.model,
+                self.SPACING: mount.spacing,
+                self.HEIGHT: mount.height
+            })
+
     MODEL = {
         FathPivot.MOUNT_MODEL: FathPivotDescription,
-        FlirPTU.MOUNT_MODEL: BaseDescription,
         PACS.Bracket.MOUNT_MODEL: PACSBracketDescription,
         PACS.Riser.MOUNT_MODEL: PACSRiserDescription,
+        SICKStand.MOUNT_MODEL: SICKStandDescription,
+        Post.MOUNT_MODEL: PostDescription
     }
 
     def __new__(cls, mount: BaseMount) -> BaseDescription:
-        return MountDescription.MODEL[mount.MOUNT_MODEL](mount)
+        return MountDescription.MODEL.setdefault(
+            mount.MOUNT_MODEL,
+            MountDescription.BaseDescription)(mount)

clearpath_generator_common/clearpath_generator_common/description/platform.py

@@ -34,7 +34,7 @@
 
 
 class PlatformDescription():
-    class Base():
+    class BasePlatform():
         pkg_clearpath_platform_description = 'clearpath_platform_description'
 
         def __init__(self, model: Platform) -> None:
@@ -43,10 +43,5 @@ def __init__(self, model: Platform) -> None:
             self.macro = self.file
             self.path = f'urdf/{model}/'
 
-    MODEL = {
-        Platform.A200: Base,
-        Platform.J100: Base,
-    }
-
-    def __new__(cls, model: Platform) -> Base:
-        return PlatformDescription.MODEL[model](model)
+    def __new__(cls, model: Platform) -> BasePlatform:
+        return PlatformDescription.BasePlatform(model)

clearpath_generator_common/clearpath_generator_common/description/sensors.py

@@ -40,13 +40,6 @@
     Microstrain,
     RedshiftUM7
 )
-from clearpath_config.sensors.types.gps import (
-    Garmin18x,
-    NovatelSmart6,
-    NovatelSmart7,
-    SwiftNavDuro
-)
-
 
 from typing import List
 
@@ -170,13 +163,11 @@ def __init__(self, sensor: IntelRealsense) -> None:
         IntelRealsense.SENSOR_MODEL: IntelRealsenseDescription,
         Microstrain.SENSOR_MODEL: ImuDescription,
         VelodyneLidar.SENSOR_MODEL: Lidar3dDescription,
-        SwiftNavDuro.SENSOR_MODEL: BaseDescription,
-        Garmin18x.SENSOR_MODEL: BaseDescription,
-        NovatelSmart6.SENSOR_MODEL: BaseDescription,
-        NovatelSmart7.SENSOR_MODEL: BaseDescription,
         CHRoboticsUM6.SENSOR_MODEL: ImuDescription,
         RedshiftUM7.SENSOR_MODEL: ImuDescription
     }
 
     def __new__(cls, sensor: BaseSensor) -> BaseDescription:
-        return SensorDescription.MODEL[sensor.SENSOR_MODEL](sensor)
+        return SensorDescription.MODEL.setdefault(
+            sensor.SENSOR_MODEL,
+            SensorDescription.BaseDescription)(sensor)

clearpath_generator_common/clearpath_generator_common/param/platform.py

@@ -168,10 +168,8 @@ def __init__(self,
             self.default_parameter_file_path = 'config'
 
     PARAMETER = {
-        CONTROL: BaseParam,
         IMU_FILTER: ImuFilterParam,
         LOCALIZATION: LocalizationParam,
-        TELEOP_INTERACTIVE_MARKERS: BaseParam,
         TELEOP_JOY: TeleopJoyParam,
         TWIST_MUX: TwistMuxParam,
     }
@@ -180,4 +178,5 @@ def __new__(cls,
                 parameter: str,
                 clearpath_config: ClearpathConfig,
                 param_path: str) -> BaseParam:
-        return PlatformParam.PARAMETER[parameter](parameter, clearpath_config, param_path)
+        return PlatformParam.PARAMETER.setdefault(parameter, PlatformParam.BaseParam)(
+            parameter, clearpath_config, param_path)

clearpath_mounts_description/urdf/novatel_smart7_stand.urdf.xacro → clearpath_mounts_description/urdf/disk.urdf.xacro

@@ -1,34 +1,34 @@
 <?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:macro name="novatel_smart7_stand" params="name parent_link height:=0.145 *origin">
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+  <xacro:macro name="disk" params="name parent_link *origin">
     <link name="${name}_link">
       <visual>
-        <origin xyz="0 0 ${height/2}" rpy="0 0 0"/>
+        <material name="dark_grey"/>
         <geometry>
-          <box size="0.045 0.025 ${height}" />
+          <mesh filename="package://clearpath_mounts_description/meshes/disk.stl" />
         </geometry>
-        <material name="black" />
+        <origin xyz="0 0 0" rpy="0 0 0" />
       </visual>
       <collision>
-        <origin xyz="0 0 ${height/2}" rpy="0 0 0"/>
         <geometry>
-          <box size="0.045 0.025 ${height}" />
+          <box size="0.104 0.142 0.006" />
         </geometry>
+        <origin xyz="0 0 0.003" rpy="0 0 0" />
       </collision>
     </link>
 
-    <link name="${name}_mount"/>
+    <link name="${name}_mount" />
 
     <joint name="${name}_joint" type="fixed">
-      <xacro:insert_block name="origin" />
       <parent link="${parent_link}" />
       <child link="${name}_link" />
+      <xacro:insert_block name="origin" />
     </joint>
 
     <joint name="${name}_mount_joint" type="fixed">
-      <origin xyz="0 0 ${height}" />
       <parent link="${name}_link" />
       <child link="${name}_mount" />
+      <origin xyz="0 0 0.006" rpy="0 0 0" />
     </joint>
   </xacro:macro>
-</robot>
+</robot>