Merge pull request #34 from clearpathrobotics/node_names

Updated config to match changes
clearpathrobotics · Sep 29, 2023 · 3c89f83 · 3c89f83
2 parents 6a4063f + 026b0c1
commit 3c89f83
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Showing 10 changed files with 22 additions and 30 deletions.
diff --git a/clearpath_config/sample/a200/a200_default.yaml b/clearpath_config/sample/a200/a200_default.yaml
@@ -12,8 +12,7 @@ system:
     namespace: a200_0000
     domain_id: 0
     rmw_implementation: rmw_fastrtps_cpp
-    workspaces:
-      - /home/administrator/micro_ros_ws/install/setup.bash
+    workspaces: []
 platform:
   controller: ps4
   attachments:

diff --git a/clearpath_config/sample/a200/a200_dual_laser.yaml b/clearpath_config/sample/a200/a200_dual_laser.yaml
@@ -12,8 +12,7 @@ system:
     namespace: a200_0000
     domain_id: 0
     rmw_implementation: rmw_fastrtps_cpp
-    workspaces:
-      - /home/administrator/micro_ros_ws/install/setup.bash
+    workspaces: []
 platform:
   controller: ps4
   attachments:

diff --git a/clearpath_config/sample/a200/a200_sample.yaml b/clearpath_config/sample/a200/a200_sample.yaml
@@ -12,8 +12,7 @@ system:
     namespace: a200_0000
     domain_id: 0
     rmw_implementation: rmw_fastrtps_cpp
-    workspaces:
-      - /home/administrator/micro_ros_ws/install/setup.bash
+    workspaces: []
 platform:
   controller: ps4
   attachments:
@@ -123,7 +122,7 @@ sensors:
         device_ip: 192.168.131.25
         port: 2368
         model: VLP16
-      velodyne_convert_node:
+      velodyne_transform_node:
         model: VLP16
         fixed_frame: lidar3d_0_laser
         target_frame: lidar3d_0_laser
diff --git a/clearpath_config/sample/a200/a200_velodyne.yaml b/clearpath_config/sample/a200/a200_velodyne.yaml
@@ -12,8 +12,7 @@ system:
     namespace: a200_0000
     domain_id: 0
     rmw_implementation: rmw_fastrtps_cpp
-    workspaces:
-      - /home/administrator/micro_ros_ws/install/setup.bash
+    workspaces: []
 platform:
   controller: ps4
   attachments:
@@ -92,7 +91,7 @@ sensors:
         device_ip: 192.168.131.25
         port: 2368
         model: VLP16
-      velodyne_convert_node:
+      velodyne_transform_node:
         model: VLP16
         fixed_frame: lidar3d_0_laser
         target_frame: lidar3d_0_laser
diff --git a/clearpath_config/sample/j100/j100_default.yaml b/clearpath_config/sample/j100/j100_default.yaml
@@ -12,8 +12,7 @@ system:
     namespace: j100_0000
     domain_id: 0
     rmw_implementation: rmw_fastrtps_cpp
-    workspaces:
-      - /home/administrator/micro_ros_ws/install/setup.bash
+    workspaces: []
 platform:
   controller: ps4
   attachments:

diff --git a/clearpath_config/sample/j100/j100_dual_laser.yaml b/clearpath_config/sample/j100/j100_dual_laser.yaml
@@ -12,8 +12,7 @@ system:
     namespace: j100_0000
     domain_id: 0
     rmw_implementation: rmw_fastrtps_cpp
-    workspaces:
-      - /home/administrator/micro_ros_ws/install/setup.bash
+    workspaces: []
 platform:
   controller: ps4
   attachments:

diff --git a/clearpath_config/sample/j100/j100_sample.yaml b/clearpath_config/sample/j100/j100_sample.yaml
@@ -12,8 +12,7 @@ system:
     namespace: j100_0000
     domain_id: 0
     rmw_implementation: rmw_fastrtps_cpp
-    workspaces:
-      - /home/administrator/micro_ros_ws/install/setup.bash
+    workspaces: []
 platform:
   controller: ps4
   attachments:
@@ -104,7 +103,7 @@ sensors:
         device_ip: 192.168.131.25
         port: 2368
         model: VLP16
-      velodyne_convert_node:
+      velodyne_transform_node:
         model: VLP16
         fixed_frame: lidar3d_0_laser
         target_frame: lidar3d_0_laser
diff --git a/clearpath_config/sample/j100/j100_velodyne.yaml b/clearpath_config/sample/j100/j100_velodyne.yaml
@@ -12,8 +12,7 @@ system:
     namespace: j100_0000
     domain_id: 0
     rmw_implementation: rmw_fastrtps_cpp
-    workspaces:
-      - /home/administrator/micro_ros_ws/install/setup.bash
+    workspaces: []
 platform:
   controller: ps4
   attachments:
@@ -64,7 +63,7 @@ sensors:
         device_ip: 192.168.131.25
         port: 2368
         model: VLP16
-      velodyne_convert_node:
+      velodyne_transform_node:
         model: VLP16
         fixed_frame: lidar3d_0_laser
         target_frame: lidar3d_0_laser
diff --git a/clearpath_config/sensors/types/lidars_2d.py b/clearpath_config/sensors/types/lidars_2d.py
@@ -265,16 +265,16 @@ class SickLMS1XX(BaseLidar2D):
     SENSOR_MODEL = "sick_lms1xx"
 
     FRAME_ID = "laser"
-    IP_PORT = 2112
+    IP_PORT = 2111
     MIN_ANGLE = -2.391
     MAX_ANGLE = 2.391
 
     class ROS_PARAMETER_KEYS:
-        FRAME_ID = "sick_scan.frame_id"
-        IP_ADDRESS = "sick_scan.hostname"
-        IP_PORT = "sick_scan.port"
-        MIN_ANGLE = "sick_scan.min_ang"
-        MAX_ANGLE = "sick_scan.max_ang"
+        FRAME_ID = "lms1xx.frame_id"
+        IP_ADDRESS = "lms1xx.host"
+        IP_PORT = "lms1xx.port"
+        MIN_ANGLE = "lms1xx.min_ang"
+        MAX_ANGLE = "lms1xx.max_ang"
 
     def __init__(
             self,

diff --git a/clearpath_config/sensors/types/lidars_3d.py b/clearpath_config/sensors/types/lidars_3d.py
@@ -188,9 +188,9 @@ class ROS_PARAMETER_KEYS:
         IP_ADDRESS = "velodyne_driver_node.device_ip"
         IP_PORT = "velodyne_driver_node.port"
         DRIVER_NODE_MODEL = "velodyne_driver_node.model"
-        CONVERT_NODE_MODEL = "velodyne_convert_node.model"
-        FIXED_FRAME = "velodyne_convert_node.fixed_frame"
-        TARGET_FRAME = "velodyne_convert_node.target_frame"
+        TRANSFORM_NODE_MODEL = "velodyne_transform_node.model"
+        FIXED_FRAME = "velodyne_transform_node.fixed_frame"
+        TARGET_FRAME = "velodyne_transform_node.target_frame"
 
     def __init__(
             self,
@@ -213,7 +213,7 @@ def __init__(
         # ROS Parameter Template
         ros_parameters_template = {
             self.ROS_PARAMETER_KEYS.DRIVER_NODE_MODEL: VelodyneLidar.device_type,
-            self.ROS_PARAMETER_KEYS.CONVERT_NODE_MODEL: VelodyneLidar.device_type,
+            self.ROS_PARAMETER_KEYS.TRANSFORM_NODE_MODEL: VelodyneLidar.device_type,
             self.ROS_PARAMETER_KEYS.FIXED_FRAME: VelodyneLidar.frame_id,
             self.ROS_PARAMETER_KEYS.TARGET_FRAME: VelodyneLidar.frame_id,
         }