Add samples for Dingo O and Ridgeback

clearpath_config/sample/do100/do100_default.yaml

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+serial_number: do100-0000
+version: 0
+system:
+  hosts:
+    - hostname: cpr-do100-0000
+      ip: 192.168.131.1
+  ros2:
+    namespace: do100_0000

clearpath_config/sample/do100/do100_dual_laser.yaml

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+serial_number: do100-0000
+version: 0
+system:
+  hosts:
+    - hostname: cpr-do100-0000
+      ip: 192.168.131.1
+  ros2:
+    namespace: do100_0000
+mounts:
+  bracket:
+    - parent: front_2_mount
+    - parent: rear_2_mount
+      rpy: [0.0, 0.0, 3.1415]
+sensors:
+  lidar2d:
+    - model: hokuyo_ust
+      parent: bracket_0_mount
+    - model: hokuyo_ust
+      parent: bracket_1_mount

clearpath_config/sample/do100/do100_outline.yaml

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+serial_number: do100-0000
+version: 0
+system:
+  username: administrator
+  hosts:
+    - hostname: cpr-do100-0000
+      ip: 192.168.131.1
+  ros2:
+    namespace: do100_0000
+    domain_id: 0
+    middleware:
+      implementation: rmw_fastrtps_cpp
+    workspaces: []
+platform:
+  controller: ps4
+  battery:
+    model: TLV1222
+    configuration: S1P1
+  attachments: []
+  extras:
+    urdf: null
+    ros_parameters: {}
+links:
+  box: []
+  cylinder: []
+  frame: []
+  mesh: []
+  sphere: []
+mounts:
+  bracket: []
+  fath_pivot: []
+  riser: []
+  disk: []
+  post: []
+sensors:
+  camera: []
+  gps: []
+  imu: []
+  lidar2d: []
+  lidar3d: []

clearpath_config/sample/do100/do100_velodyne.yaml

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+serial_number: do100-0000
+version: 0
+system:
+  hosts:
+    - hostname: cpr-do100-0000
+      ip: 192.168.131.1
+  ros2:
+    namespace: do100_0000
+links:
+  cylinder:
+    - name: leg_0
+      radius: 0.004
+      length: 0.1
+      parent: default_mount
+      xyz: [0.04, 0.04, 0.05]
+    - name: leg_1
+      radius: 0.004
+      length: 0.1
+      parent: default_mount
+      xyz: [0.04, -0.04, 0.05]
+    - name: leg_2
+      radius: 0.004
+      length: 0.1
+      parent: default_mount
+      xyz: [-0.04, 0.04, 0.05]
+    - name: leg_3
+      radius: 0.004
+      length: 0.1
+      parent: default_mount
+      xyz: [-0.04, -0.04, 0.05]
+mounts:
+  bracket:
+    - xyz: [0.0, 0.0, 0.1]
+sensors:
+  lidar3d:
+    - model: velodyne_lidar
+      parent: bracket_0_mount

clearpath_config/sample/do150/do150_default.yaml

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+serial_number: do150-0000
+version: 0
+system:
+  hosts:
+    - hostname: cpr-do150-0000
+      ip: 192.168.131.1
+  ros2:
+    namespace: do150_0000

clearpath_config/sample/do150/do150_dual_laser.yaml

@@ -0,0 +1,19 @@
+serial_number: do150-0000
+version: 0
+system:
+  hosts:
+    - hostname: cpr-do150-0000
+      ip: 192.168.131.1
+  ros2:
+    namespace: do150_0000
+mounts:
+  bracket:
+    - parent: front_1_mount
+    - parent: rear_1_mount
+      rpy: [0.0, 0.0, 3.1415]
+sensors:
+  lidar2d:
+    - model: hokuyo_ust
+      parent: bracket_0_mount
+    - model: hokuyo_ust
+      parent: bracket_1_mount

clearpath_config/sample/do150/do150_outline.yaml

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+serial_number: do150-0000
+version: 0
+system:
+  username: administrator
+  hosts:
+    - hostname: cpr-do150-0000
+      ip: 192.168.131.1
+  ros2:
+    namespace: do150_0000
+    domain_id: 0
+    middleware:
+      implementation: rmw_fastrtps_cpp
+    workspaces: []
+platform:
+  controller: ps4
+  battery:
+    model: TLV1222
+    configuration: S1P1
+  attachments: []
+  extras:
+    urdf: null
+    ros_parameters: {}
+links:
+  box: []
+  cylinder: []
+  frame: []
+  mesh: []
+  sphere: []
+mounts:
+  bracket: []
+  fath_pivot: []
+  riser: []
+  disk: []
+  post: []
+sensors:
+  camera: []
+  gps: []
+  imu: []
+  lidar2d: []
+  lidar3d: []

clearpath_config/sample/do150/do150_velodyne.yaml

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+serial_number: do150-0000
+version: 0
+system:
+  hosts:
+    - hostname: cpr-do150-0000
+      ip: 192.168.131.1
+  ros2:
+    namespace: do150_0000
+links:
+  cylinder:
+    - name: leg_0
+      radius: 0.004
+      length: 0.1
+      parent: default_mount
+      xyz: [0.04, 0.04, 0.05]
+    - name: leg_1
+      radius: 0.004
+      length: 0.1
+      parent: default_mount
+      xyz: [0.04, -0.04, 0.05]
+    - name: leg_2
+      radius: 0.004
+      length: 0.1
+      parent: default_mount
+      xyz: [-0.04, 0.04, 0.05]
+    - name: leg_3
+      radius: 0.004
+      length: 0.1
+      parent: default_mount
+      xyz: [-0.04, -0.04, 0.05]
+mounts:
+  bracket:
+    - xyz: [0.0, 0.0, 0.1]
+sensors:
+  lidar3d:
+    - model: velodyne_lidar
+      parent: bracket_0_mount

clearpath_config/sample/r100/r100_default.yaml

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+serial_number: r100-0000
+version: 0
+system:
+  hosts:
+    - hostname: cpr-r100-0000
+      ip: 192.168.131.1
+  ros2:
+    namespace: r100_0000

clearpath_config/sample/r100/r100_dual_laser.yaml

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+serial_number: r100-0000
+version: 0
+system:
+  hosts:
+    - hostname: cpr-r100-0000
+      ip: 192.168.131.1
+  ros2:
+    namespace: r100_0000
+sensors:
+  lidar2d:
+    - model: sick_lms1xx
+      parent: chassis_link
+      xyz: [0.3455, 0.0, 0.1977]
+    - model: sick_lms1xx
+      parent: chassis_link
+      xyz: [-0.3455, 0.0, 0.1977]
+      rpy: [0.0, 0.0, 3.14159]

clearpath_config/sample/r100/r100_dual_laser_hokuyo.yaml

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+serial_number: r100-0000
+version: 0
+system:
+  hosts:
+    - hostname: cpr-r100-0000
+      ip: 192.168.131.1
+  ros2:
+    namespace: r100_0000
+sensors:
+  lidar2d:
+    - model: hokuyo_ust
+      parent: chassis_link
+      xyz: [0.3922, 0.0, 0.1856]
+    - model: hokuyo_ust
+      parent: chassis_link
+      xyz: [-0.3922, 0.0, 0.1856]
+      rpy: [0.0, 0.0, 3.14159]

clearpath_config/sample/r100/r100_outline.yaml

@@ -0,0 +1,40 @@
+serial_number: r100-0000
+version: 0
+system:
+  username: administrator
+  hosts:
+    - hostname: cpr-r100-0000
+      ip: 192.168.131.1
+  ros2:
+    namespace: r100_0000
+    domain_id: 0
+    middleware:
+      implementation: rmw_fastrtps_cpp
+    workspaces: []
+platform:
+  controller: ps4
+  battery:
+    model: DTM8A31
+    configuration: S1P2
+  attachments: []
+  extras:
+    urdf: null
+    ros_parameters: {}
+links:
+  box: []
+  cylinder: []
+  frame: []
+  mesh: []
+  sphere: []
+mounts:
+  bracket: []
+  fath_pivot: []
+  riser: []
+  disk: []
+  post: []
+sensors:
+  camera: []
+  gps: []
+  imu: []
+  lidar2d: []
+  lidar3d: []