Merge pull request #36 from clearpathrobotics/topics

Diagnostics
clearpathrobotics · Oct 12, 2023 · cea316d · cea316d
2 parents b950f1e + fef40ce
commit cea316d
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Showing 19 changed files with 388 additions and 59 deletions.
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -2,6 +2,20 @@
 Changelog for package clearpath_config
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.1.1 (2023-10-02)
+------------------
+* Removed micro_ros_ws
+* Velodyne changes
+* clearpath_config/sensors/types/lidars_2d.py
+* FPS expected as float
+* Added ros_parameter_template
+* Contributors: Hilary Luo, Luis Camero
+
+0.1.0 (2023-08-31)
+------------------
+* Updated samples to include workspace
+* Contributors: Luis Camero
+
 0.0.6 (2023-08-10)
 ------------------
 * Added all modules to setup.py

diff --git a/clearpath_config/common/types/config.py b/clearpath_config/common/types/config.py
@@ -26,6 +26,7 @@
 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 from clearpath_config.common.types.serial_number import SerialNumber
+from clearpath_config.common.types.namespace import Namespace
 from clearpath_config.common.utils.dictionary import (
     flatten_dict,
     get_from_dict,
@@ -38,6 +39,7 @@
 
 class BaseConfig:
     _SERIAL_NUMBER = SerialNumber("generic")
+    _NAMESPACE = Namespace()
     _VERSION = 0
     DLIM = "."
 
@@ -128,3 +130,18 @@ def get_unit_number(cls) -> str:
     @classmethod
     def get_platform_model(cls) -> str:
         return BaseConfig._SERIAL_NUMBER.get_model()
+
+    @classmethod
+    def get_namespace(cls) -> str:
+        return str(BaseConfig._NAMESPACE)
+
+    @classmethod
+    def set_namespace(cls, namespace: str | Namespace) -> None:
+        if isinstance(namespace, Namespace):
+            BaseConfig._NAMESPACE = namespace
+        elif isinstance(namespace, str):
+            BaseConfig._NAMESPACE = Namespace(namespace)
+        else:
+            assert isinstance(namespace, str) or isinstance(namespace, Namespace), (
+                "Namespace must be of type 'str' or 'Namespace'"
+            )
diff --git a/clearpath_config/sample/a200/a200_default.yaml b/clearpath_config/sample/a200/a200_default.yaml
@@ -12,6 +12,7 @@ system:
     namespace: a200_0000
     domain_id: 0
     rmw_implementation: rmw_fastrtps_cpp
+    workspaces: []
 platform:
   controller: ps4
   attachments:
@@ -39,7 +40,16 @@ platform:
       rpy: [0.0, 0.0, 0.0]
   extras:
     urdf: null
-    ros_parameters: {}
+    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: []

diff --git a/clearpath_config/sample/a200/a200_dual_laser.yaml b/clearpath_config/sample/a200/a200_dual_laser.yaml
@@ -12,6 +12,7 @@ system:
     namespace: a200_0000
     domain_id: 0
     rmw_implementation: rmw_fastrtps_cpp
+    workspaces: []
 platform:
   controller: ps4
   attachments:
@@ -39,7 +40,16 @@ platform:
       rpy: [0.0, 0.0, 0.0]
   extras:
     urdf: null
-    ros_parameters: {}
+    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: []

diff --git a/clearpath_config/sample/a200/a200_sample.yaml b/clearpath_config/sample/a200/a200_sample.yaml
@@ -12,6 +12,7 @@ system:
     namespace: a200_0000
     domain_id: 0
     rmw_implementation: rmw_fastrtps_cpp
+    workspaces: []
 platform:
   controller: ps4
   attachments:
@@ -39,7 +40,16 @@ platform:
       rpy: [0.0, 0.0, 0.0]
   extras:
     urdf: null
-    control: 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
@@ -112,7 +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
@@ -12,6 +12,7 @@ system:
     namespace: a200_0000
     domain_id: 0
     rmw_implementation: rmw_fastrtps_cpp
+    workspaces: []
 platform:
   controller: ps4
   attachments:
@@ -39,7 +40,16 @@ platform:
       rpy: [0.0, 0.0, 0.0]
   extras:
     urdf: null
-    ros_parameters: {}
+    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: []
@@ -81,7 +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
@@ -12,6 +12,7 @@ system:
     namespace: j100_0000
     domain_id: 0
     rmw_implementation: rmw_fastrtps_cpp
+    workspaces: []
 platform:
   controller: ps4
   attachments:
@@ -23,7 +24,15 @@ platform:
       model: default
   extras:
     urdf: null
-    ros_parameters: {}
+    ros_parameters:
+      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: []

diff --git a/clearpath_config/sample/j100/j100_dual_laser.yaml b/clearpath_config/sample/j100/j100_dual_laser.yaml
@@ -12,6 +12,7 @@ system:
     namespace: j100_0000
     domain_id: 0
     rmw_implementation: rmw_fastrtps_cpp
+    workspaces: []
 platform:
   controller: ps4
   attachments:
@@ -23,7 +24,15 @@ platform:
       model: default
   extras:
     urdf: null
-    control: null
+    ros_parameters:
+      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: []

diff --git a/clearpath_config/sample/j100/j100_sample.yaml b/clearpath_config/sample/j100/j100_sample.yaml
@@ -12,6 +12,7 @@ system:
     namespace: j100_0000
     domain_id: 0
     rmw_implementation: rmw_fastrtps_cpp
+    workspaces: []
 platform:
   controller: ps4
   attachments:
@@ -23,7 +24,15 @@ platform:
       model: default
   extras:
     urdf: null
-    ros_parameters: {}
+    ros_parameters:
+      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:
@@ -94,7 +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
@@ -12,6 +12,7 @@ system:
     namespace: j100_0000
     domain_id: 0
     rmw_implementation: rmw_fastrtps_cpp
+    workspaces: []
 platform:
   controller: ps4
   attachments:
@@ -23,7 +24,15 @@ platform:
       model: default
   extras:
     urdf: null
-    ros_parameters: {}
+    ros_parameters:
+      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: []
@@ -54,7 +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