Merge 0.3

CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package clearpath_config
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.2.8 (2024-05-14)
+------------------
+* Renamed node to intel_realsense in config
+* Contributors: Luis Camero
+
 0.2.7 (2024-04-08)
 ------------------
 * Re-added host and namespace

clearpath_config/common/types/platform.py

@@ -61,7 +61,7 @@ class Platform:
  # Dingo D V1.5
  DD150 = "dd150"
  # Dingo D V1.5
- DO150 = "d0150"
+ DO150 = "do150"
  # Jackal V1
  J100 = "j100"
  # Husky V2
@@ -90,6 +90,7 @@ class Platform:
  A200: PACSProfile(rows=8, columns=7),
  J100: PACSProfile(rows=4, columns=2),
  W200: PACSProfile(rows=100, columns=100),
+ R100: PACSProfile(rows=100, columns=100),
  }
 
  INDEX = {
@@ -100,5 +101,6 @@ class Platform:
  DD150: IndexingProfile(imu=1),
  DO150: IndexingProfile(imu=1),
  J100: IndexingProfile(gps=1, imu=1),
+ R100: IndexingProfile(imu=1),
  W200: IndexingProfile(imu=1),
  }

clearpath_config/platform/attachments/mux.py

@@ -34,6 +34,7 @@
 from clearpath_config.platform.attachments.do150 import DO150Attachment
 from clearpath_config.platform.attachments.generic import GENERICAttachment
 from clearpath_config.platform.attachments.j100 import J100Attachment
+from clearpath_config.platform.attachments.r100 import R100Attachment
 from clearpath_config.platform.attachments.w200 import W200Attachment
 from clearpath_config.platform.types.attachment import BaseAttachment
 
@@ -48,6 +49,7 @@ class AttachmentsConfigMux:
  Platform.GENERIC: AttachmentsConfig(GENERICAttachment),
  Platform.J100: AttachmentsConfig(J100Attachment),
  Platform.W200: AttachmentsConfig(W200Attachment),
+ Platform.R100: AttachmentsConfig(R100Attachment),
  }
 
  def __new__(cls, platform: str, attachments: dict = None) -> AttachmentsConfig:

clearpath_config/platform/attachments/r100.py

@@ -0,0 +1,64 @@
+# Software License Agreement (BSD)
+#
+# @author Luis Camero <lcamero@clearpathrobotics.com>
+# @copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# * Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+# * Neither the name of Clearpath Robotics nor the names of its contributors
+# may be used to endorse or promote products derived from this software
+# without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+from typing import List
+from clearpath_config.common.types.accessory import Accessory
+from clearpath_config.common.types.platform import Platform
+from clearpath_config.platform.types.attachment import BaseAttachment, PlatformAttachment
+
+
+class R100ArmMount(BaseAttachment):
+ PLATFORM = Platform.R100
+ ATTACHMENT_MODEL = "%s.arm_mount" % PLATFORM
+ FAMS = "fams"
+ HAMS = "hams"
+ TOWER = "tower"
+ MODELS = [FAMS, HAMS, TOWER]
+ DEFAULT = TOWER
+ PARENT = "default_mount"
+
+ def __init__(
+ self,
+ name: str = ATTACHMENT_MODEL,
+ model: str = DEFAULT,
+ enabled: bool = BaseAttachment.ENABLED,
+ parent: str = PARENT,
+ xyz: List[float] = Accessory.XYZ,
+ rpy: List[float] = Accessory.RPY
+ ) -> None:
+ super().__init__(name, model, enabled, parent, xyz, rpy)
+
+
+# R100 Attachments
+class R100Attachment(PlatformAttachment):
+ PLATFORM = Platform.R100
+ # Arm Mount
+ ARM_MOUNT = R100ArmMount.ATTACHMENT_MODEL
+
+ TYPES = {
+ ARM_MOUNT: R100ArmMount
+ }

clearpath_config/platform/battery.py

@@ -46,6 +46,8 @@ class BatteryConfig(BaseConfig):
  ES20_12C = "ES20_12C"
  # A200/J100 LiION
  HE2613 = "HE2613"
+ # R100 Lead Acid
+ DTM8A31 = "8A31DTM"
  # W200 Lead Acid
  U1_35 = "U1_35"
  # W200 LiFEPO4
@@ -91,6 +93,9 @@ class BatteryConfig(BaseConfig):
  Platform.J100: {
  HE2613: [S1P1],
  },
+ Platform.R100: {
+ DTM8A31: [S2P1],
+ },
  Platform.W200: {
  U1_35: [S4P3],
  NEC_ALM12V35: [S4P3],

clearpath_config/platform/extras.py

@@ -104,6 +104,22 @@ class ROSParameterDefaults:
  "platform_velocity_controller.angular.z.min_acceleration": -25.0,
  }
 
+ R100 = {
+ "platform_velocity_controller.wheel_radius": 0.05,
+ "platform_velocity_controller.linear.x.max_velocity": 1.3,
+ "platform_velocity_controller.linear.x.min_velocity": -1.3,
+ "platform_velocity_controller.linear.x.max_acceleration": 1.0,
+ "platform_velocity_controller.linear.x.min_acceleration": -1.0,
+ "platform_velocity_controller.linear.y.max_velocity": 1.3,
+ "platform_velocity_controller.linear.y.min_velocity": -1.3,
+ "platform_velocity_controller.linear.y.max_acceleration": 1.0,
+ "platform_velocity_controller.linear.y.min_acceleration": -1.0,
+ "platform_velocity_controller.angular.z.max_velocity": 4.0,
+ "platform_velocity_controller.angular.z.min_velocity": -4.0,
+ "platform_velocity_controller.angular.z.max_acceleration": 2.0,
+ "platform_velocity_controller.angular.z.min_acceleration": -2.0,
+ }
+
  W200 = {
  "platform_velocity_controller.wheel_radius": 0.3,
  "platform_velocity_controller.linear.x.max_velocity": 5.0,
@@ -124,6 +140,7 @@ class ROSParameterDefaults:
  Platform.DO150: DO150,
  Platform.J100: J100,
  Platform.GENERIC: GENERIC,
+ Platform.R100: R100,
  Platform.W200: W200,
  }
 

clearpath_config/sensors/types/cameras.py

@@ -258,14 +258,14 @@ class IntelRealsense(BaseCamera):
  POINTCLOUD_ENABLED = True
 
  class ROS_PARAMETER_KEYS:
- FPS = "camera.rgb_camera.profile"
- SERIAL = "camera.serial_no"
- CAMERA_NAME = "camera.camera_name"
- DEVICE_TYPE = "camera.device_type"
- DEPTH_PROFILE = "camera.depth_module.profile"
- DEPTH_ENABLE = "camera.enable_depth"
- COLOR_ENABLE = "camera.enable_color"
- POINTCLOUD_ENABLE = "camera.pointcloud.enable"
+ FPS = "intel_realsense.rgb_camera.profile"
+ SERIAL = "intel_realsense.serial_no"
+ CAMERA_NAME = "intel_realsense.camera_name"
+ DEVICE_TYPE = "intel_realsense.device_type"
+ DEPTH_PROFILE = "intel_realsense.depth_module.profile"
+ DEPTH_ENABLE = "intel_realsense.enable_depth"
+ COLOR_ENABLE = "intel_realsense.enable_color"
+ POINTCLOUD_ENABLE = "intel_realsense.pointcloud.enable"
 
  class TOPICS:
  COLOR_IMAGE = "color_image"

package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
  <name>clearpath_config</name>
- <version>0.2.7</version>
+ <version>0.2.8</version>
  <description>Clearpath Configuration YAML Parser and Writer</description>
  <maintainer email="lcamero@clearpathrobotics.com">Luis Camero</maintainer>
  <license>BSD-3</license>

setup.py

@@ -32,7 +32,7 @@
 
 setup(
  name=package_name,
- version="0.2.7",
+ version="0.2.8",
  packages=[
  package_name,
  package_name + ".common",