From cc13e964e063659345e65a4714badc37fd50364d Mon Sep 17 00:00:00 2001 From: Luis Camero Date: Mon, 18 Mar 2024 13:41:10 -0400 Subject: [PATCH 1/2] Minimal samples. --- .../sample/a200/a200_default.yaml | 55 +----------------- .../sample/a200/a200_dual_laser.yaml | 53 +---------------- .../sample/a200/a200_outline.yaml | 58 +++++++++++++++++++ clearpath_config/sample/a200/a200_sample.yaml | 44 ++------------ .../sample/a200/a200_velodyne.yaml | 50 ++-------------- .../sample/dd100/dd100_default.yaml | 38 ------------ .../sample/dd100/dd100_dual_laser.yaml | 34 ----------- .../sample/dd100/dd100_outline.yaml | 40 +++++++++++++ .../sample/dd100/dd100_velodyne.yaml | 32 ---------- .../sample/dd150/dd150_default.yaml | 38 ------------ .../sample/dd150/dd150_dual_laser.yaml | 34 ----------- .../sample/dd150/dd150_outline.yaml | 40 +++++++++++++ .../sample/dd150/dd150_velodyne.yaml | 32 ---------- .../sample/j100/j100_default.yaml | 49 +--------------- .../sample/j100/j100_dual_laser.yaml | 47 +-------------- .../sample/j100/j100_outline.yaml | 54 +++++++++++++++++ clearpath_config/sample/j100/j100_sample.yaml | 42 +------------- .../sample/j100/j100_velodyne.yaml | 47 +-------------- .../sample/w200/w200_default.yaml | 43 -------------- .../sample/w200/w200_dual_laser.yaml | 39 +------------ .../sample/w200/w200_outline.yaml | 45 ++++++++++++++ .../sample/w200/w200_velodyne.yaml | 35 ----------- 22 files changed, 260 insertions(+), 689 deletions(-) create mode 100644 clearpath_config/sample/a200/a200_outline.yaml create mode 100644 clearpath_config/sample/dd100/dd100_outline.yaml create mode 100644 clearpath_config/sample/dd150/dd150_outline.yaml create mode 100644 clearpath_config/sample/j100/j100_outline.yaml create mode 100644 clearpath_config/sample/w200/w200_outline.yaml diff --git a/clearpath_config/sample/a200/a200_default.yaml b/clearpath_config/sample/a200/a200_default.yaml index a01ea75..e11921a 100644 --- a/clearpath_config/sample/a200/a200_default.yaml +++ b/clearpath_config/sample/a200/a200_default.yaml @@ -1,61 +1,12 @@ 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 diff --git a/clearpath_config/sample/a200/a200_dual_laser.yaml b/clearpath_config/sample/a200/a200_dual_laser.yaml index 8107d5c..58265c8 100644 --- a/clearpath_config/sample/a200/a200_dual_laser.yaml +++ b/clearpath_config/sample/a200/a200_dual_laser.yaml @@ -1,62 +1,16 @@ 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 +50,3 @@ sensors: ip_port: 10940 angle_min: -3.141592653589793 angle_max: 3.141592653589793 - lidar3d: [] diff --git a/clearpath_config/sample/a200/a200_outline.yaml b/clearpath_config/sample/a200/a200_outline.yaml new file mode 100644 index 0000000..19ecf49 --- /dev/null +++ b/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: [] diff --git a/clearpath_config/sample/a200/a200_sample.yaml b/clearpath_config/sample/a200/a200_sample.yaml index fa8affa..8a48f6f 100644 --- a/clearpath_config/sample/a200/a200_sample.yaml +++ b/clearpath_config/sample/a200/a200_sample.yaml @@ -1,48 +1,21 @@ 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 @@ -50,10 +23,6 @@ links: 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 +34,6 @@ 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 +52,6 @@ sensors: enable_depth: true depth_module.profile: 640,480,30 pointcloud.enable: true - gps: [] - imu: [] lidar2d: - model: hokuyo_ust urdf_enabled: true diff --git a/clearpath_config/sample/a200/a200_velodyne.yaml b/clearpath_config/sample/a200/a200_velodyne.yaml index d3d8868..37aa8ff 100644 --- a/clearpath_config/sample/a200/a200_velodyne.yaml +++ b/clearpath_config/sample/a200/a200_velodyne.yaml @@ -1,63 +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 + 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 +29,6 @@ sensors: imu_frame_id: imu_0_link port: /dev/microstrain_main use_enu_frame: true - lidar2d: [] lidar3d: - model: velodyne_lidar urdf_enabled: true diff --git a/clearpath_config/sample/dd100/dd100_default.yaml b/clearpath_config/sample/dd100/dd100_default.yaml index c60f869..bbd4a35 100644 --- a/clearpath_config/sample/dd100/dd100_default.yaml +++ b/clearpath_config/sample/dd100/dd100_default.yaml @@ -1,40 +1,2 @@ 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: [] diff --git a/clearpath_config/sample/dd100/dd100_dual_laser.yaml b/clearpath_config/sample/dd100/dd100_dual_laser.yaml index 3f6ba62..7d42732 100644 --- a/clearpath_config/sample/dd100/dd100_dual_laser.yaml +++ b/clearpath_config/sample/dd100/dd100_dual_laser.yaml @@ -1,47 +1,13 @@ 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: - parent: front_2_mount - parent: rear_2_mount rpy: [0.0, 0.0, 3.1415] - fath_pivot: [] - riser: [] - disk: [] - post: [] sensors: - camera: [] - gps: [] - imu: [] lidar2d: - model: hokuyo_ust parent: bracket_0_mount - model: hokuyo_ust parent: bracket_1_mount - lidar3d: [] diff --git a/clearpath_config/sample/dd100/dd100_outline.yaml b/clearpath_config/sample/dd100/dd100_outline.yaml new file mode 100644 index 0000000..c60f869 --- /dev/null +++ b/clearpath_config/sample/dd100/dd100_outline.yaml @@ -0,0 +1,40 @@ +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: [] diff --git a/clearpath_config/sample/dd100/dd100_velodyne.yaml b/clearpath_config/sample/dd100/dd100_velodyne.yaml index e2b98b5..92a5c7c 100644 --- a/clearpath_config/sample/dd100/dd100_velodyne.yaml +++ b/clearpath_config/sample/dd100/dd100_velodyne.yaml @@ -1,27 +1,6 @@ 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: - name: leg_0 radius: 0.004 @@ -43,21 +22,10 @@ links: length: 0.1 parent: default_mount xyz: [-0.04, -0.04, 0.05] - frame: [] - mesh: [] - sphere: [] mounts: bracket: - xyz: [0.0, 0.0, 0.1] - fath_pivot: [] - riser: [] - disk: [] - post: [] sensors: - camera: [] - gps: [] - imu: [] - lidar2d: [] lidar3d: - model: velodyne_lidar parent: bracket_0_mount diff --git a/clearpath_config/sample/dd150/dd150_default.yaml b/clearpath_config/sample/dd150/dd150_default.yaml index 1598bac..168d967 100644 --- a/clearpath_config/sample/dd150/dd150_default.yaml +++ b/clearpath_config/sample/dd150/dd150_default.yaml @@ -1,40 +1,2 @@ serial_number: dd150-0000 version: 0 -system: - username: administrator - hosts: - - hostname: cpr-dd150-0000 - ip: 192.168.131.1 - ros2: - namespace: dd150_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: [] diff --git a/clearpath_config/sample/dd150/dd150_dual_laser.yaml b/clearpath_config/sample/dd150/dd150_dual_laser.yaml index df65f21..46c4257 100644 --- a/clearpath_config/sample/dd150/dd150_dual_laser.yaml +++ b/clearpath_config/sample/dd150/dd150_dual_laser.yaml @@ -1,47 +1,13 @@ serial_number: dd150-0000 version: 0 -system: - username: administrator - hosts: - - hostname: cpr-dd150-0000 - ip: 192.168.131.1 - ros2: - namespace: dd150_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: - parent: front_1_mount - parent: rear_1_mount rpy: [0.0, 0.0, 3.1415] - fath_pivot: [] - riser: [] - disk: [] - post: [] sensors: - camera: [] - gps: [] - imu: [] lidar2d: - model: hokuyo_ust parent: bracket_0_mount - model: hokuyo_ust parent: bracket_1_mount - lidar3d: [] diff --git a/clearpath_config/sample/dd150/dd150_outline.yaml b/clearpath_config/sample/dd150/dd150_outline.yaml new file mode 100644 index 0000000..1598bac --- /dev/null +++ b/clearpath_config/sample/dd150/dd150_outline.yaml @@ -0,0 +1,40 @@ +serial_number: dd150-0000 +version: 0 +system: + username: administrator + hosts: + - hostname: cpr-dd150-0000 + ip: 192.168.131.1 + ros2: + namespace: dd150_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: [] diff --git a/clearpath_config/sample/dd150/dd150_velodyne.yaml b/clearpath_config/sample/dd150/dd150_velodyne.yaml index b5714f7..e0273a9 100644 --- a/clearpath_config/sample/dd150/dd150_velodyne.yaml +++ b/clearpath_config/sample/dd150/dd150_velodyne.yaml @@ -1,27 +1,6 @@ serial_number: dd150-0000 version: 0 -system: - username: administrator - hosts: - - hostname: cpr-dd150-0000 - ip: 192.168.131.1 - ros2: - namespace: dd150_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: - name: leg_0 radius: 0.004 @@ -43,21 +22,10 @@ links: length: 0.1 parent: default_mount xyz: [-0.04, -0.04, 0.05] - frame: [] - mesh: [] - sphere: [] mounts: bracket: - xyz: [0.0, 0.0, 0.1] - fath_pivot: [] - riser: [] - disk: [] - post: [] sensors: - camera: [] - gps: [] - imu: [] - lidar2d: [] lidar3d: - model: velodyne_lidar parent: bracket_0_mount diff --git a/clearpath_config/sample/j100/j100_default.yaml b/clearpath_config/sample/j100/j100_default.yaml index 21f31de..2187197 100644 --- a/clearpath_config/sample/j100/j100_default.yaml +++ b/clearpath_config/sample/j100/j100_default.yaml @@ -1,54 +1,9 @@ serial_number: j100-0000 version: 0 -system: - username: administrator - hosts: - - hostname: cpr-j100-0000 - ip: 192.168.131.1 - ros2: - namespace: j100_0000 - domain_id: 0 - middleware: - implementation: rmw_fastrtps_cpp - workspaces: [] platform: - controller: ps4 - battery: - model: HE2613 - configuration: S1P1 attachments: - name: front_fender - type: fender + type: j100.fender - name: rear_fender - type: fender + type: j100.fender rpy: [0.0, 0.0, 3.1415] - extras: - urdf: null - ros_parameters: - platform_velocity_controller: - linear.x.max_velocity": 2.0 - linear.x.min_velocity": -2.0 - linear.x.max_acceleration": 20.0 - linear.x.min_acceleration": -20.0 - angular.z.max_velocity": 4.0 - angular.z.min_velocity": -4.0 - angular.z.max_acceleration": 25.0 - angular.z.min_acceleration": -25.0 -links: - box: [] - cylinder: [] - frame: [] - mesh: [] - sphere: [] -mounts: - bracket: [] - fath_pivot: [] - riser: [] - disk: [] - post: [] -sensors: - camera: [] - gps: [] - imu: [] - lidar2d: [] - lidar3d: [] diff --git a/clearpath_config/sample/j100/j100_dual_laser.yaml b/clearpath_config/sample/j100/j100_dual_laser.yaml index 02e6083..0a4df05 100644 --- a/clearpath_config/sample/j100/j100_dual_laser.yaml +++ b/clearpath_config/sample/j100/j100_dual_laser.yaml @@ -1,55 +1,13 @@ serial_number: j100-0000 version: 0 -system: - username: administrator - hosts: - - hostname: cpr-j100-0000 - ip: 192.168.131.1 - ros2: - namespace: j100_0000 - domain_id: 0 - middleware: - implementation: rmw_fastrtps_cpp - workspaces: [] platform: - controller: ps4 - battery: - model: HE2613 - configuration: S1P1 attachments: - name: front_fender - type: fender + type: j100.fender - name: rear_fender - type: fender + type: j100.fender rpy: [0.0, 0.0, 3.1415] - extras: - urdf: null - ros_parameters: - platform_velocity_controller: - linear.x.max_velocity": 2.0 - linear.x.min_velocity": -2.0 - linear.x.max_acceleration": 20.0 - linear.x.min_acceleration": -20.0 - angular.z.max_velocity": 4.0 - angular.z.min_velocity": -4.0 - angular.z.max_acceleration": 25.0 - angular.z.min_acceleration": -25.0 -links: - box: [] - cylinder: [] - frame: [] - mesh: [] - sphere: [] -mounts: - bracket: [] - fath_pivot: [] - riser: [] - disk: [] - post: [] sensors: - camera: [] - gps: [] - imu: [] lidar2d: - model: hokuyo_ust urdf_enabled: true @@ -77,4 +35,3 @@ sensors: ip_port: 10940 angle_min: -3.141592653589793 angle_max: 3.141592653589793 - lidar3d: [] diff --git a/clearpath_config/sample/j100/j100_outline.yaml b/clearpath_config/sample/j100/j100_outline.yaml new file mode 100644 index 0000000..cc47e9d --- /dev/null +++ b/clearpath_config/sample/j100/j100_outline.yaml @@ -0,0 +1,54 @@ +serial_number: j100-0000 +version: 0 +system: + username: administrator + hosts: + - hostname: cpr-j100-0000 + ip: 192.168.131.1 + ros2: + namespace: j100_0000 + domain_id: 0 + middleware: + implementation: rmw_fastrtps_cpp + workspaces: [] +platform: + controller: ps4 + battery: + model: HE2613 + configuration: S1P1 + attachments: + - name: front_fender + type: j100.fender + - name: rear_fender + type: j100.fender + rpy: [0.0, 0.0, 3.1415] + extras: + urdf: null + ros_parameters: + platform_velocity_controller: + linear.x.max_velocity": 2.0 + linear.x.min_velocity": -2.0 + linear.x.max_acceleration": 20.0 + linear.x.min_acceleration": -20.0 + angular.z.max_velocity": 4.0 + angular.z.min_velocity": -4.0 + angular.z.max_acceleration": 25.0 + angular.z.min_acceleration": -25.0 +links: + box: [] + cylinder: [] + frame: [] + mesh: [] + sphere: [] +mounts: + bracket: [] + fath_pivot: [] + riser: [] + disk: [] + post: [] +sensors: + camera: [] + gps: [] + imu: [] + lidar2d: [] + lidar3d: [] diff --git a/clearpath_config/sample/j100/j100_sample.yaml b/clearpath_config/sample/j100/j100_sample.yaml index 880f8ac..4d68e3c 100644 --- a/clearpath_config/sample/j100/j100_sample.yaml +++ b/clearpath_config/sample/j100/j100_sample.yaml @@ -1,41 +1,13 @@ serial_number: j100-0000 version: 0 -system: - username: administrator - hosts: - - hostname: cpr-j100-0000 - ip: 192.168.131.1 - ros2: - namespace: j100_0000 - domain_id: 0 - middleware: - implementation: rmw_fastrtps_cpp - workspaces: [] platform: - controller: ps4 - battery: - model: HE2613 - configuration: S1P1 attachments: - name: front_fender - type: fender + type: j100.fender - name: rear_fender - type: fender + type: j100.fender rpy: [0.0, 0.0, 3.1415] - extras: - urdf: null - ros_parameters: - platform_velocity_controller: - linear.x.max_velocity": 2.0 - linear.x.min_velocity": -2.0 - linear.x.max_acceleration": 20.0 - linear.x.min_acceleration": -20.0 - angular.z.max_velocity": 4.0 - angular.z.min_velocity": -4.0 - angular.z.max_acceleration": 25.0 - angular.z.min_acceleration": -25.0 links: - box: [] cylinder: - name: cylinder parent: default_mount @@ -43,9 +15,6 @@ links: rpy: [0.0, 0.0, 0.0] radius: 0.05 length: 0.1 - frame: [] - mesh: [] - sphere: [] mounts: bracket: - parent: front_0_mount @@ -56,14 +25,7 @@ mounts: xyz: [0.0, 0.0, 0.0] rpy: [0.0, 0.0, 0.0] model: horizontal - fath_pivot: [] - riser: [] - disk: [] - post: [] sensors: - camera: [] - gps: [] - imu: [] lidar2d: - model: hokuyo_ust urdf_enabled: true diff --git a/clearpath_config/sample/j100/j100_velodyne.yaml b/clearpath_config/sample/j100/j100_velodyne.yaml index cc7f066..65a2f7d 100644 --- a/clearpath_config/sample/j100/j100_velodyne.yaml +++ b/clearpath_config/sample/j100/j100_velodyne.yaml @@ -1,56 +1,13 @@ serial_number: j100-0000 version: 0 -system: - username: administrator - hosts: - - hostname: cpr-j100-0000 - ip: 192.168.131.1 - ros2: - namespace: j100_0000 - domain_id: 0 - middleware: - implementation: rmw_fastrtps_cpp - workspaces: [] platform: - controller: ps4 - battery: - model: HE2613 - configuration: S1P1 attachments: - name: front_fender - type: fender + type: j100.fender - name: rear_fender - type: fender + type: j100.fender rpy: [0.0, 0.0, 3.1415] - extras: - urdf: null - ros_parameters: - platform_velocity_controller: - linear.x.max_velocity": 2.0 - linear.x.min_velocity": -2.0 - linear.x.max_acceleration": 20.0 - linear.x.min_acceleration": -20.0 - angular.z.max_velocity": 4.0 - angular.z.min_velocity": -4.0 - angular.z.max_acceleration": 25.0 - angular.z.min_acceleration": -25.0 -links: - box: [] - cylinder: [] - frame: [] - mesh: [] - sphere: [] -mounts: - bracket: [] - fath_pivot: [] - riser: [] - disk: [] - post: [] sensors: - camera: [] - gps: [] - imu: [] - lidar2d: [] lidar3d: - model: velodyne_lidar urdf_enabled: true diff --git a/clearpath_config/sample/w200/w200_default.yaml b/clearpath_config/sample/w200/w200_default.yaml index 5658581..b90a20f 100644 --- a/clearpath_config/sample/w200/w200_default.yaml +++ b/clearpath_config/sample/w200/w200_default.yaml @@ -1,45 +1,2 @@ serial_number: w200-0000 version: 0 -system: - username: administrator - hosts: - - hostname: cpr-w200-0000 - ip: 192.168.131.1 - ros2: - namespace: w200_0000 - domain_id: 0 - middleware: - implementation: rmw_fastrtps_cpp -platform: - controller: ps4 - attachments: [] - extras: - urdf: null - ros_parameters: - platform_velocity_controller: - linear.x.max_velocity": 5.0 - linear.x.min_velocity": -5.0 - linear.x.max_acceleration": 50.0 - linear.x.min_acceleration": -50.0 - angular.z.max_velocity": 4.0 - angular.z.min_velocity": -4.0 - angular.z.max_acceleration": 40.0 - angular.z.min_acceleration": -40.0 -links: - box: [] - cylinder: [] - frame: [] - mesh: [] - sphere: [] -mounts: - bracket: [] - fath_pivot: [] - riser: [] - disk: [] - post: [] -sensors: - camera: [] - gps: [] - imu: [] - lidar2d: [] - lidar3d: [] diff --git a/clearpath_config/sample/w200/w200_dual_laser.yaml b/clearpath_config/sample/w200/w200_dual_laser.yaml index f46963b..122723d 100644 --- a/clearpath_config/sample/w200/w200_dual_laser.yaml +++ b/clearpath_config/sample/w200/w200_dual_laser.yaml @@ -1,33 +1,6 @@ serial_number: w200-0000 version: 0 -system: - username: administrator - hosts: - - hostname: cpr-w200-0000 - ip: 192.168.131.1 - ros2: - namespace: w200_0000 - domain_id: 0 - middleware: - implementation: rmw_fastrtps_cpp -platform: - controller: ps4 - attachments: [] - extras: - urdf: null - ros_parameters: - platform_velocity_controller: - linear.x.max_velocity": 5.0 - linear.x.min_velocity": -5.0 - linear.x.max_acceleration": 50.0 - linear.x.min_acceleration": -50.0 - angular.z.max_velocity": 4.0 - angular.z.min_velocity": -4.0 - angular.z.max_acceleration": 40.0 - angular.z.min_acceleration": -40.0 links: - box: [] - cylinder: [] frame: - name: front_left parent: left_diff_unit_link @@ -37,22 +10,13 @@ links: parent: right_diff_unit_link xyz: [-0.68, 0.03, 0.35] rpy: [3.1415, 1.5707, 0.0] - mesh: [] - sphere: [] mounts: bracket: - model: vertical parent: front_left_link - model: vertical parent: rear_right_link - fath_pivot: [] - riser: [] - disk: [] - post: [] sensors: - camera: [] - gps: [] - imu: [] lidar2d: - model: hokuyo_ust urdf_enabled: true @@ -72,7 +36,7 @@ sensors: launch_enabled: true parent: bracket_1_vertical_mount xyz: [0.0, 0.0, 0.0] - rpy: [0.0, 0.0, 3.1415] + rpy: [0.0, 0.0, 0.0] ros_parameters: urg_node: laser_frame_id: lidar2d_1_laser @@ -80,4 +44,3 @@ sensors: ip_port: 10940 angle_min: -1.5707 angle_max: 1.5707 - lidar3d: [] diff --git a/clearpath_config/sample/w200/w200_outline.yaml b/clearpath_config/sample/w200/w200_outline.yaml new file mode 100644 index 0000000..5658581 --- /dev/null +++ b/clearpath_config/sample/w200/w200_outline.yaml @@ -0,0 +1,45 @@ +serial_number: w200-0000 +version: 0 +system: + username: administrator + hosts: + - hostname: cpr-w200-0000 + ip: 192.168.131.1 + ros2: + namespace: w200_0000 + domain_id: 0 + middleware: + implementation: rmw_fastrtps_cpp +platform: + controller: ps4 + attachments: [] + extras: + urdf: null + ros_parameters: + platform_velocity_controller: + linear.x.max_velocity": 5.0 + linear.x.min_velocity": -5.0 + linear.x.max_acceleration": 50.0 + linear.x.min_acceleration": -50.0 + angular.z.max_velocity": 4.0 + angular.z.min_velocity": -4.0 + angular.z.max_acceleration": 40.0 + angular.z.min_acceleration": -40.0 +links: + box: [] + cylinder: [] + frame: [] + mesh: [] + sphere: [] +mounts: + bracket: [] + fath_pivot: [] + riser: [] + disk: [] + post: [] +sensors: + camera: [] + gps: [] + imu: [] + lidar2d: [] + lidar3d: [] diff --git a/clearpath_config/sample/w200/w200_velodyne.yaml b/clearpath_config/sample/w200/w200_velodyne.yaml index 5a88a07..b5408d0 100644 --- a/clearpath_config/sample/w200/w200_velodyne.yaml +++ b/clearpath_config/sample/w200/w200_velodyne.yaml @@ -1,30 +1,5 @@ serial_number: w200-0000 version: 0 -system: - username: administrator - hosts: - - hostname: cpr-w200-0000 - ip: 192.168.131.1 - ros2: - namespace: w200_0000 - domain_id: 0 - middleware: - implementation: rmw_fastrtps_cpp -platform: - controller: ps4 - attachments: [] - extras: - urdf: null - ros_parameters: - platform_velocity_controller: - linear.x.max_velocity": 5.0 - linear.x.min_velocity": -5.0 - linear.x.max_acceleration": 50.0 - linear.x.min_acceleration": -50.0 - angular.z.max_velocity": 4.0 - angular.z.min_velocity": -4.0 - angular.z.max_acceleration": 40.0 - angular.z.min_acceleration": -40.0 links: box: - name: structure @@ -33,17 +8,11 @@ links: size: [0.15, 0.15, 0.5] parent: structure_link xyz: [0.0, 0.0, 0.5] - cylinder: [] frame: - name: top_tower parent: tower_link xyz: [0.0, 0.0, 0.25] - mesh: [] - sphere: [] mounts: - bracket: [] - fath_pivot: [] - riser: [] disk: - parent: post_0_mount post: @@ -52,10 +21,6 @@ mounts: xyz: [0.0, 0.0, 0.5] spacing: 0.12 sensors: - camera: [] - gps: [] - imu: [] - lidar2d: [] lidar3d: - model: velodyne_lidar urdf_enabled: true From e38cb05d2fa89dd7b26d7629c45bcf8e78fff80f Mon Sep 17 00:00:00 2001 From: Luis Camero Date: Fri, 22 Mar 2024 12:07:06 -0400 Subject: [PATCH 2/2] Re-added host and namespace --- clearpath_config/sample/a200/a200_default.yaml | 6 ++++++ clearpath_config/sample/a200/a200_dual_laser.yaml | 6 ++++++ clearpath_config/sample/a200/a200_sample.yaml | 6 ++++++ clearpath_config/sample/a200/a200_velodyne.yaml | 6 ++++++ clearpath_config/sample/dd100/dd100_default.yaml | 6 ++++++ clearpath_config/sample/dd100/dd100_dual_laser.yaml | 6 ++++++ clearpath_config/sample/dd100/dd100_velodyne.yaml | 6 ++++++ clearpath_config/sample/dd150/dd150_default.yaml | 6 ++++++ clearpath_config/sample/dd150/dd150_dual_laser.yaml | 6 ++++++ clearpath_config/sample/dd150/dd150_velodyne.yaml | 6 ++++++ clearpath_config/sample/j100/j100_default.yaml | 6 ++++++ clearpath_config/sample/j100/j100_dual_laser.yaml | 6 ++++++ clearpath_config/sample/j100/j100_sample.yaml | 6 ++++++ clearpath_config/sample/j100/j100_velodyne.yaml | 6 ++++++ clearpath_config/sample/w200/w200_default.yaml | 6 ++++++ clearpath_config/sample/w200/w200_dual_laser.yaml | 6 ++++++ clearpath_config/sample/w200/w200_velodyne.yaml | 6 ++++++ 17 files changed, 102 insertions(+) diff --git a/clearpath_config/sample/a200/a200_default.yaml b/clearpath_config/sample/a200/a200_default.yaml index e11921a..fd811a1 100644 --- a/clearpath_config/sample/a200/a200_default.yaml +++ b/clearpath_config/sample/a200/a200_default.yaml @@ -1,5 +1,11 @@ serial_number: a200-0000 version: 0 +system: + hosts: + - hostname: cpr-a200-0000 + ip: 192.168.131.1 + ros2: + namespace: a200_0000 platform: attachments: - name: front_bumper diff --git a/clearpath_config/sample/a200/a200_dual_laser.yaml b/clearpath_config/sample/a200/a200_dual_laser.yaml index 58265c8..f3bc9cd 100644 --- a/clearpath_config/sample/a200/a200_dual_laser.yaml +++ b/clearpath_config/sample/a200/a200_dual_laser.yaml @@ -1,5 +1,11 @@ serial_number: a200-0000 version: 0 +system: + hosts: + - hostname: cpr-a200-0000 + ip: 192.168.131.1 + ros2: + namespace: a200_0000 platform: attachments: - name: front_bumper diff --git a/clearpath_config/sample/a200/a200_sample.yaml b/clearpath_config/sample/a200/a200_sample.yaml index 8a48f6f..7843318 100644 --- a/clearpath_config/sample/a200/a200_sample.yaml +++ b/clearpath_config/sample/a200/a200_sample.yaml @@ -1,5 +1,11 @@ serial_number: a200-0000 version: 0 +system: + hosts: + - hostname: cpr-a200-0000 + ip: 192.168.131.1 + ros2: + namespace: a200_0000 platform: attachments: - name: front_bumper diff --git a/clearpath_config/sample/a200/a200_velodyne.yaml b/clearpath_config/sample/a200/a200_velodyne.yaml index 37aa8ff..8d7a5fc 100644 --- a/clearpath_config/sample/a200/a200_velodyne.yaml +++ b/clearpath_config/sample/a200/a200_velodyne.yaml @@ -1,5 +1,11 @@ serial_number: a200-0000 version: 0 +system: + hosts: + - hostname: cpr-a200-0000 + ip: 192.168.131.1 + ros2: + namespace: a200_0000 platform: attachments: - name: front_bumper diff --git a/clearpath_config/sample/dd100/dd100_default.yaml b/clearpath_config/sample/dd100/dd100_default.yaml index bbd4a35..f5d5b34 100644 --- a/clearpath_config/sample/dd100/dd100_default.yaml +++ b/clearpath_config/sample/dd100/dd100_default.yaml @@ -1,2 +1,8 @@ serial_number: dd100-0000 version: 0 +system: + hosts: + - hostname: cpr-dd100-0000 + ip: 192.168.131.1 + ros2: + namespace: dd100_0000 diff --git a/clearpath_config/sample/dd100/dd100_dual_laser.yaml b/clearpath_config/sample/dd100/dd100_dual_laser.yaml index 7d42732..61ba56d 100644 --- a/clearpath_config/sample/dd100/dd100_dual_laser.yaml +++ b/clearpath_config/sample/dd100/dd100_dual_laser.yaml @@ -1,5 +1,11 @@ serial_number: dd100-0000 version: 0 +system: + hosts: + - hostname: cpr-dd100-0000 + ip: 192.168.131.1 + ros2: + namespace: dd100_0000 mounts: bracket: - parent: front_2_mount diff --git a/clearpath_config/sample/dd100/dd100_velodyne.yaml b/clearpath_config/sample/dd100/dd100_velodyne.yaml index 92a5c7c..2f61d34 100644 --- a/clearpath_config/sample/dd100/dd100_velodyne.yaml +++ b/clearpath_config/sample/dd100/dd100_velodyne.yaml @@ -1,5 +1,11 @@ serial_number: dd100-0000 version: 0 +system: + hosts: + - hostname: cpr-dd100-0000 + ip: 192.168.131.1 + ros2: + namespace: dd100_0000 links: cylinder: - name: leg_0 diff --git a/clearpath_config/sample/dd150/dd150_default.yaml b/clearpath_config/sample/dd150/dd150_default.yaml index 168d967..f1f1a07 100644 --- a/clearpath_config/sample/dd150/dd150_default.yaml +++ b/clearpath_config/sample/dd150/dd150_default.yaml @@ -1,2 +1,8 @@ serial_number: dd150-0000 version: 0 +system: + hosts: + - hostname: cpr-dd150-0000 + ip: 192.168.131.1 + ros2: + namespace: dd150_0000 diff --git a/clearpath_config/sample/dd150/dd150_dual_laser.yaml b/clearpath_config/sample/dd150/dd150_dual_laser.yaml index 46c4257..abec00d 100644 --- a/clearpath_config/sample/dd150/dd150_dual_laser.yaml +++ b/clearpath_config/sample/dd150/dd150_dual_laser.yaml @@ -1,5 +1,11 @@ serial_number: dd150-0000 version: 0 +system: + hosts: + - hostname: cpr-dd150-0000 + ip: 192.168.131.1 + ros2: + namespace: dd150_0000 mounts: bracket: - parent: front_1_mount diff --git a/clearpath_config/sample/dd150/dd150_velodyne.yaml b/clearpath_config/sample/dd150/dd150_velodyne.yaml index e0273a9..92a4849 100644 --- a/clearpath_config/sample/dd150/dd150_velodyne.yaml +++ b/clearpath_config/sample/dd150/dd150_velodyne.yaml @@ -1,5 +1,11 @@ serial_number: dd150-0000 version: 0 +system: + hosts: + - hostname: cpr-dd150-0000 + ip: 192.168.131.1 + ros2: + namespace: dd150_0000 links: cylinder: - name: leg_0 diff --git a/clearpath_config/sample/j100/j100_default.yaml b/clearpath_config/sample/j100/j100_default.yaml index 2187197..fa1a350 100644 --- a/clearpath_config/sample/j100/j100_default.yaml +++ b/clearpath_config/sample/j100/j100_default.yaml @@ -1,5 +1,11 @@ serial_number: j100-0000 version: 0 +system: + hosts: + - hostname: cpr-j100-0000 + ip: 192.168.131.1 + ros2: + namespace: j100_0000 platform: attachments: - name: front_fender diff --git a/clearpath_config/sample/j100/j100_dual_laser.yaml b/clearpath_config/sample/j100/j100_dual_laser.yaml index 0a4df05..b9157f0 100644 --- a/clearpath_config/sample/j100/j100_dual_laser.yaml +++ b/clearpath_config/sample/j100/j100_dual_laser.yaml @@ -1,5 +1,11 @@ serial_number: j100-0000 version: 0 +system: + hosts: + - hostname: cpr-j100-0000 + ip: 192.168.131.1 + ros2: + namespace: j100_0000 platform: attachments: - name: front_fender diff --git a/clearpath_config/sample/j100/j100_sample.yaml b/clearpath_config/sample/j100/j100_sample.yaml index 4d68e3c..0c0421b 100644 --- a/clearpath_config/sample/j100/j100_sample.yaml +++ b/clearpath_config/sample/j100/j100_sample.yaml @@ -1,5 +1,11 @@ serial_number: j100-0000 version: 0 +system: + hosts: + - hostname: cpr-j100-0000 + ip: 192.168.131.1 + ros2: + namespace: j100_0000 platform: attachments: - name: front_fender diff --git a/clearpath_config/sample/j100/j100_velodyne.yaml b/clearpath_config/sample/j100/j100_velodyne.yaml index 65a2f7d..c88413c 100644 --- a/clearpath_config/sample/j100/j100_velodyne.yaml +++ b/clearpath_config/sample/j100/j100_velodyne.yaml @@ -1,5 +1,11 @@ serial_number: j100-0000 version: 0 +system: + hosts: + - hostname: cpr-j100-0000 + ip: 192.168.131.1 + ros2: + namespace: j100_0000 platform: attachments: - name: front_fender diff --git a/clearpath_config/sample/w200/w200_default.yaml b/clearpath_config/sample/w200/w200_default.yaml index b90a20f..277f8a9 100644 --- a/clearpath_config/sample/w200/w200_default.yaml +++ b/clearpath_config/sample/w200/w200_default.yaml @@ -1,2 +1,8 @@ serial_number: w200-0000 version: 0 +system: + hosts: + - hostname: cpr-w200-0000 + ip: 192.168.131.1 + ros2: + namespace: w200_0000 diff --git a/clearpath_config/sample/w200/w200_dual_laser.yaml b/clearpath_config/sample/w200/w200_dual_laser.yaml index 122723d..9a1a2b3 100644 --- a/clearpath_config/sample/w200/w200_dual_laser.yaml +++ b/clearpath_config/sample/w200/w200_dual_laser.yaml @@ -1,5 +1,11 @@ serial_number: w200-0000 version: 0 +system: + hosts: + - hostname: cpr-w200-0000 + ip: 192.168.131.1 + ros2: + namespace: w200_0000 links: frame: - name: front_left diff --git a/clearpath_config/sample/w200/w200_velodyne.yaml b/clearpath_config/sample/w200/w200_velodyne.yaml index b5408d0..5635562 100644 --- a/clearpath_config/sample/w200/w200_velodyne.yaml +++ b/clearpath_config/sample/w200/w200_velodyne.yaml @@ -1,5 +1,11 @@ serial_number: w200-0000 version: 0 +system: + hosts: + - hostname: cpr-w200-0000 + ip: 192.168.131.1 + ros2: + namespace: w200_0000 links: box: - name: structure