Merge pull request #60 from clearpathrobotics/lcamero/samples

Minimal samples.

clearpath_config/sample/a200/a200_default.yaml

@@ -1,61 +1,18 @@
 serial_number: a200-0000
 version: 0
 system:
- username: administrator
  hosts:
  - hostname: cpr-a200-0000
  ip: 192.168.131.1
  ros2:
  namespace: a200_0000
- domain_id: 0
- middleware:
- implementation: rmw_fastrtps_cpp
- workspaces: []
 platform:
- controller: ps4
- battery:
- model: ES20_12C
- configuration: S2P1
  attachments:
  - name: front_bumper
- type: bumper
+ type: a200.bumper
  parent: front_bumper_mount
  - name: rear_bumper
- type: bumper
+ type: a200.bumper
  parent: rear_bumper_mount
  - name: top_plate
- type: top_plate
- - name: sensor_arch
- type: sensor_arch
- parent: default_mount
- enabled: False
- extras:
- urdf: null
- ros_parameters:
- platform_velocity_controller:
- linear.x.max_velocity": 1.0
- linear.x.min_velocity": -1.0
- linear.x.max_acceleration": 3.0
- linear.x.min_acceleration": -3.0
- angular.z.max_velocity": 2.0
- angular.z.min_velocity": -2.0
- angular.z.max_acceleration": 6.0
- angular.z.min_acceleration": -6.0
-links:
- box: []
- cylinder: []
- frame: []
- mesh: []
- sphere: []
-mounts:
- bracket: []
- fath_pivot: []
- riser: []
- disk: []
- post: []
-sensors:
- camera: []
- gps: []
- imu: []
- lidar2d: []
- lidar3d: []
+ type: a200.top_plate

clearpath_config/sample/a200/a200_dual_laser.yaml

@@ -1,62 +1,22 @@
 serial_number: a200-0000
 version: 0
 system:
- username: administrator
  hosts:
  - hostname: cpr-a200-0000
  ip: 192.168.131.1
  ros2:
  namespace: a200_0000
- domain_id: 0
- middleware:
- implementation: rmw_fastrtps_cpp
- workspaces: []
 platform:
- controller: ps4
- battery:
- model: ES20_12C
- configuration: S2P1
  attachments:
  - name: front_bumper
- type: bumper
+ type: a200.bumper
  parent: front_bumper_mount
  - name: rear_bumper
- type: bumper
+ type: a200.bumper
  parent: rear_bumper_mount
  - name: top_plate
- type: top_plate
- model: pacs
- - name: sensor_arch
- type: sensor_arch
- parent: default_mount
- enabled: False
- extras:
- urdf: null
- ros_parameters:
- platform_velocity_controller:
- linear.x.max_velocity": 1.0
- linear.x.min_velocity": -1.0
- linear.x.max_acceleration": 3.0
- linear.x.min_acceleration": -3.0
- angular.z.max_velocity": 2.0
- angular.z.min_velocity": -2.0
- angular.z.max_acceleration": 6.0
- angular.z.min_acceleration": -6.0
-links:
- box: []
- cylinder: []
- frame: []
- mesh: []
- sphere: []
-mounts:
- bracket: []
- fath_pivot: []
- riser: []
- disk: []
- post: []
+ type: a200.top_plate
 sensors:
- camera: []
- gps: []
  imu:
  - model: microstrain_imu
  urdf_enabled: true
@@ -96,4 +56,3 @@ sensors:
  ip_port: 10940
  angle_min: -3.141592653589793
  angle_max: 3.141592653589793
- lidar3d: []

clearpath_config/sample/a200/a200_outline.yaml

@@ -0,0 +1,58 @@
+serial_number: a200-0000
+version: 0
+system:
+ username: administrator
+ hosts:
+ - hostname: cpr-a200-0000
+ ip: 192.168.131.1
+ ros2:
+ namespace: a200_0000
+ domain_id: 0
+ middleware:
+ implementation: rmw_fastrtps_cpp
+ workspaces: []
+platform:
+ controller: ps4
+ battery:
+ model: ES20_12C
+ configuration: S2P1
+ attachments:
+ - name: front_bumper
+ type: a200.bumper
+ parent: front_bumper_mount
+ - name: rear_bumper
+ type: a200.bumper
+ parent: rear_bumper_mount
+ - name: top_plate
+ type: a200.top_plate
+ extras:
+ urdf: null
+ launch: null
+ ros_parameters:
+ platform_velocity_controller:
+ linear.x.max_velocity": 1.0
+ linear.x.min_velocity": -1.0
+ linear.x.max_acceleration": 3.0
+ linear.x.min_acceleration": -3.0
+ angular.z.max_velocity": 2.0
+ angular.z.min_velocity": -2.0
+ angular.z.max_acceleration": 6.0
+ angular.z.min_acceleration": -6.0
+links:
+ box: []
+ cylinder: []
+ frame: []
+ mesh: []
+ sphere: []
+mounts:
+ bracket: []
+ fath_pivot: []
+ riser: []
+ disk: []
+ post: []
+sensors:
+ camera: []
+ gps: []
+ imu: []
+ lidar2d: []
+ lidar3d: []

clearpath_config/sample/a200/a200_sample.yaml

@@ -1,59 +1,34 @@
 serial_number: a200-0000
 version: 0
 system:
- username: administrator
  hosts:
  - hostname: cpr-a200-0000
  ip: 192.168.131.1
  ros2:
  namespace: a200_0000
- domain_id: 0
- middleware:
- implementation: rmw_fastrtps_cpp
- workspaces: []
 platform:
- controller: ps4
- battery:
- model: ES20_12C
- configuration: S2P1
  attachments:
  - name: front_bumper
- type: bumper
+ type: a200.bumper
  parent: front_bumper_mount
  - name: rear_bumper
- type: bumper
+ type: a200.bumper
  parent: rear_bumper_mount
  - name: top_plate
- type: top_plate
+ type: a200.top_plate
  model: pacs
  - name: sensor_arch
- type: sensor_arch
+ type: a200.sensor_arch
  parent: default_mount
  model: sensor_arch_300
  enabled: true
- extras:
- urdf: null
- ros_parameters:
- platform_velocity_controller:
- linear.x.max_velocity": 1.0
- linear.x.min_velocity": -1.0
- linear.x.max_acceleration": 3.0
- linear.x.min_acceleration": -3.0
- angular.z.max_velocity": 2.0
- angular.z.min_velocity": -2.0
- angular.z.max_acceleration": 6.0
- angular.z.min_acceleration": -6.0
 links:
  box:
  - name: user_bay_cover
  parent: default_mount
  xyz: [0.0, 0.0, 0.0075]
  rpy: [0.0, 0.0, 0.0]
  size: [0.4, 0.4, 0.002]
- cylinder: []
- frame: []
- mesh: []
- sphere: []
 mounts:
  bracket:
  - parent: top_plate_mount_d1
@@ -65,9 +40,6 @@ mounts:
  xyz: [0.0, 0.0, -0.021]
  rpy: [3.1415, 0.0, 0.0]
  angle: 0.0
- riser: []
- disk: []
- post: []
 sensors:
  camera:
  - model: intel_realsense
@@ -86,8 +58,6 @@ sensors:
  enable_depth: true
  depth_module.profile: 640,480,30
  pointcloud.enable: true
- gps: []
- imu: []
  lidar2d:
  - model: hokuyo_ust
  urdf_enabled: true

clearpath_config/sample/a200/a200_velodyne.yaml

@@ -1,63 +1,28 @@
 serial_number: a200-0000
 version: 0
 system:
- username: administrator
  hosts:
  - hostname: cpr-a200-0000
  ip: 192.168.131.1
  ros2:
  namespace: a200_0000
- domain_id: 0
- middleware:
- implementation: rmw_fastrtps_cpp
- workspaces: []
 platform:
- controller: ps4
- battery:
- model: ES20_12C
- configuration: S2P1
  attachments:
  - name: front_bumper
- type: bumper
+ type: a200.bumper
  parent: front_bumper_mount
  - name: rear_bumper
- type: bumper
+ type: a200.bumper
  parent: rear_bumper_mount
  - name: top_plate
- type: top_plate
+ type: a200.top_plate
  model: pacs
  - name: sensor_arch
- type: sensor_arch
+ type: a200.sensor_arch
  parent: default_mount
  model: sensor_arch_300
  enabled: true
- extras:
- urdf: null
- ros_parameters:
- platform_velocity_controller:
- linear.x.max_velocity": 1.0
- linear.x.min_velocity": -1.0
- linear.x.max_acceleration": 3.0
- linear.x.min_acceleration": -3.0
- angular.z.max_velocity": 2.0
- angular.z.min_velocity": -2.0
- angular.z.max_acceleration": 6.0
- angular.z.min_acceleration": -6.0
-links:
- box: []
- cylinder: []
- frame: []
- mesh: []
- sphere: []
-mounts:
- bracket: []
- fath_pivot: []
- riser: []
- disk: []
- post: []
 sensors:
- camera: []
- gps: []
  imu:
  - model: microstrain_imu
  urdf_enabled: true
@@ -70,7 +35,6 @@ sensors:
  imu_frame_id: imu_0_link
  port: /dev/microstrain_main
  use_enu_frame: true
- lidar2d: []
  lidar3d:
  - model: velodyne_lidar
  urdf_enabled: true

clearpath_config/sample/dd100/dd100_default.yaml

@@ -1,40 +1,8 @@
 serial_number: dd100-0000
 version: 0
 system:
- username: administrator
  hosts:
  - hostname: cpr-dd100-0000
  ip: 192.168.131.1
  ros2:
  namespace: dd100_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: []