Fix up sample yaml formatting. Remove unmatched quotation marks, rest…

…ructure to avoid `foo.bar.spam: eggs` notation
clearpathrobotics · Nov 5, 2024 · f771f39 · f771f39
1 parent 831e084
commit f771f39
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Showing 4 changed files with 39 additions and 27 deletions.
diff --git a/clearpath_config/sample/a200/a200_outline.yaml b/clearpath_config/sample/a200/a200_outline.yaml
@@ -30,14 +30,18 @@ platform:
     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
+        linear:
+          x:
+            max_velocity: 1.0
+            min_velocity: -1.0
+            max_acceleration: 3.0
+            min_acceleration: -3.0
+        angular:
+          z:
+            max_velocity: 2.0
+            min_velocity: -2.0
+            max_acceleration: 6.0
+            min_acceleration: -6.0
 links:
   box: []
   cylinder: []

diff --git a/clearpath_config/sample/j100/j100_microstrain_gq7.yaml b/clearpath_config/sample/j100/j100_microstrain_gq7.yaml
@@ -43,7 +43,7 @@ sensors:
     rpy: [0.0, 0.0, 0.0]
     ros_parameters:
       microstrain_inertial_driver:
-        port: '/dev/microstrain_main'
+        port: "/dev/microstrain_main"
         baudrate: 115200
-        gnss1_frame_id: 'left_antenna_link'
-        gnss2_frame_id: 'right_antenna_link'
+        gnss1_frame_id: "left_antenna_link"
+        gnss2_frame_id: "right_antenna_link"
diff --git a/clearpath_config/sample/j100/j100_outline.yaml b/clearpath_config/sample/j100/j100_outline.yaml
@@ -26,14 +26,18 @@ platform:
     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
+        linear:
+          x:
+            max_velocity: 2.0
+            min_velocity: -2.0
+            max_acceleration: 20.0
+            min_acceleration: -20.0
+        angular:
+          z:
+            max_velocity: 4.0
+            min_velocity: -4.0
+            max_acceleration: 25.0
+            min_acceleration: -25.0
 links:
   box: []
   cylinder: []

diff --git a/clearpath_config/sample/w200/w200_outline.yaml b/clearpath_config/sample/w200/w200_outline.yaml
@@ -17,14 +17,18 @@ platform:
     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
+        linear:
+          x:
+            max_velocity: 5.0
+            min_velocity: -5.0
+            max_acceleration: 50.0
+            min_acceleration: -50.0
+        angular:
+          z:
+            max_velocity: 4.0
+            min_velocity: -4.0
+            max_acceleration: 40.0
+            min_acceleration: -40.0
 links:
   box: []
   cylinder: []