Merge pull request #62 from clearpathrobotics/lcamero/warthog_attachm…

…ents

W200 attachment update

clearpath_config/platform/attachments/w200.py

@@ -36,7 +36,7 @@ class W200Generator(BaseAttachment):
  DEFAULT = "default"
  MODELS = [DEFAULT]
  PARENT = "default_mount"
- XYZ = [-0.42506, 0.0, 0.0017]
+ XYZ = [0.0, 0.0, 0.0]
  RPY = [0.0, 0.0, 0.0]
 
  def __init__(
@@ -55,10 +55,10 @@ class W200Bulkhead(BaseAttachment):
  PLATFORM = Platform.W200
  ATTACHMENT_MODEL = "%s.bulkhead" % PLATFORM
  DEFAULT = "default"
- ARM_MOUNT = "arm_mount"
- MODELS = [DEFAULT, ARM_MOUNT]
+ ARM_PLATE = "arm_plate"
+ MODELS = [DEFAULT, ARM_PLATE]
  PARENT = "default_mount"
- XYZ = [0.00705, 0.0, 0.24184]
+ XYZ = [0.0, 0.0, 0.0]
  RPY = [0.0, 0.0, 0.0]
 
  def __init__(
@@ -73,9 +73,9 @@ def __init__(
  super().__init__(name, model, enabled, parent, xyz, rpy)
 
 
-class W200ArmMount(BaseAttachment):
+class W200ArmPlate(BaseAttachment):
  PLATFORM = Platform.W200
- ATTACHMENT_MODEL = "%s.arm_mount" % PLATFORM
+ ATTACHMENT_MODEL = "%s.arm_plate" % PLATFORM
  DEFAULT = "default"
  MODELS = [DEFAULT]
  PARENT = "default_mount"
@@ -101,11 +101,11 @@ class W200Attachment(PlatformAttachment):
  GENERATOR = W200Generator.ATTACHMENT_MODEL
  # Bulkhead
  BULKHEAD = W200Bulkhead.ATTACHMENT_MODEL
- # ArmMount
- ARM_MOUNT = W200ArmMount.ATTACHMENT_MODEL
+ # ArmPlate
+ ARM_PLATE = W200ArmPlate.ATTACHMENT_MODEL
 
  TYPES = {
  GENERATOR: W200Generator,
  BULKHEAD: W200Bulkhead,
- ARM_MOUNT: W200ArmMount
+ ARM_PLATE: W200ArmPlate
  }