Renamed ust10 to ust

clearpath_config/sample/a200/a200_dual_laser.yaml

@@ -68,7 +68,7 @@ sensors:
         port: /dev/microstrain_main
         use_enu_frame: true
   lidar2d:
-  - model: hokuyo_ust10
+  - model: hokuyo_ust
     urdf_enabled: true
     launch_enabled: true
     parent: top_plate_mount_d1
@@ -81,7 +81,7 @@ sensors:
         ip_port: 10940
         angle_min: -3.141592653589793
         angle_max: 3.141592653589793
-  - model: hokuyo_ust10
+  - model: hokuyo_ust
     urdf_enabled: true
     launch_enabled: true
     parent: top_plate_mount_d8

clearpath_config/sample/a200/a200_sample.yaml

@@ -86,7 +86,7 @@ sensors:
   gps: []
   imu: []
   lidar2d:
-  - model: hokuyo_ust10
+  - model: hokuyo_ust
     urdf_enabled: true
     launch_enabled: true
     parent: bracket_0_mount

clearpath_config/sample/j100/j100_dual_laser.yaml

@@ -52,7 +52,7 @@ sensors:
   gps: []
   imu: []
   lidar2d:
-  - model: hokuyo_ust10
+  - model: hokuyo_ust
     urdf_enabled: true
     launch_enabled: true
     parent: front_mount
@@ -65,7 +65,7 @@ sensors:
         ip_port: 10940
         angle_min: -3.141592653589793
         angle_max: 3.141592653589793
-  - model: hokuyo_ust10
+  - model: hokuyo_ust
     urdf_enabled: true
     launch_enabled: true
     parent: rear_mount

clearpath_config/sample/j100/j100_sample.yaml

@@ -61,7 +61,7 @@ sensors:
   gps: []
   imu: []
   lidar2d:
-  - model: hokuyo_ust10
+  - model: hokuyo_ust
     urdf_enabled: true
     launch_enabled: true
     parent: bracket_0_mount
@@ -74,7 +74,7 @@ sensors:
         ip_port: 10940
         angle_min: -3.141592653589793
         angle_max: 3.141592653589793
-  - model: hokuyo_ust10
+  - model: hokuyo_ust
     urdf_enabled: true
     launch_enabled: true
     parent: bracket_1_mount

clearpath_config/sensors/sensors.py

@@ -51,7 +51,7 @@
 )
 from clearpath_config.sensors.types.lidars_2d import (
     BaseLidar2D,
-    HokuyoUST10,
+    HokuyoUST,
     SickLMS1XX,
 )
 from clearpath_config.sensors.types.lidars_3d import (
@@ -137,11 +137,11 @@ def __new__(cls, model: str) -> BaseGPS:
 
 
 class Lidar2D():
-    HOKUYO_UST10 = HokuyoUST10.SENSOR_MODEL
+    HOKUYO_UST = HokuyoUST.SENSOR_MODEL
     SICK_LMS1XX = SickLMS1XX.SENSOR_MODEL
 
     MODEL = {
-        HOKUYO_UST10: HokuyoUST10,
+        HOKUYO_UST: HokuyoUST,
         SICK_LMS1XX: SickLMS1XX
     }
 
@@ -461,25 +461,25 @@ def add_lidar2d(
             lidar2d.set_rpy(rpy)
         self._lidar2d.add(lidar2d)
 
-    # Lidar2D: Add UST10
-    def add_ust10(
+    # Lidar2D: Add UST
+    def add_ust(
             self,
             # By Object
-            ust10: HokuyoUST10 = None,
+            ust: HokuyoUST = None,
             # By Parameters
-            frame_id: str = HokuyoUST10.FRAME_ID,
-            ip: str = HokuyoUST10.IP_ADDRESS,
-            port: int = HokuyoUST10.IP_PORT,
-            min_angle: float = HokuyoUST10.MIN_ANGLE,
-            max_angle: float = HokuyoUST10.MAX_ANGLE,
-            urdf_enabled: bool = HokuyoUST10.URDF_ENABLED,
-            launch_enabled: bool = HokuyoUST10.LAUNCH_ENABLED,
+            frame_id: str = HokuyoUST.FRAME_ID,
+            ip: str = HokuyoUST.IP_ADDRESS,
+            port: int = HokuyoUST.IP_PORT,
+            min_angle: float = HokuyoUST.MIN_ANGLE,
+            max_angle: float = HokuyoUST.MAX_ANGLE,
+            urdf_enabled: bool = HokuyoUST.URDF_ENABLED,
+            launch_enabled: bool = HokuyoUST.LAUNCH_ENABLED,
             parent: str = Accessory.PARENT,
             xyz: List[float] = Accessory.XYZ,
             rpy: List[float] = Accessory.RPY
             ) -> None:
-        if ust10 is None:
-            ust10 = HokuyoUST10(
+        if ust is None:
+            ust = HokuyoUST(
                 frame_id=frame_id,
                 ip=ip,
                 port=port,
@@ -491,10 +491,10 @@ def add_ust10(
                 xyz=xyz,
                 rpy=rpy
             )
-        assert isinstance(ust10, HokuyoUST10), (
-            "Lidar2D object must be of type UST10"
+        assert isinstance(ust, HokuyoUST), (
+            "Lidar2D object must be of type UST"
         )
-        self._lidar2d.add(ust10)
+        self._lidar2d.add(ust)
 
     # Lidar2D: Add LMS1xx
     def add_lms1xx(
@@ -552,9 +552,9 @@ def get_all_lidar_2d_by_model(self, model: str) -> List[BaseLidar2D]:
                 all_model_lidar_2d.append(lidar_2d)
         return all_model_lidar_2d
 
-    # Lidar2D: Get All Objects of Model UST10
-    def get_all_ust10(self) -> List[HokuyoUST10]:
-        return self.get_all_lidar_2d_by_model(Lidar2D.UST10)
+    # Lidar2D: Get All Objects of Model UST
+    def get_all_ust(self) -> List[HokuyoUST]:
+        return self.get_all_lidar_2d_by_model(Lidar2D.UST)
 
     # Lidar2D: Get All Objects of Model LMS1XX
     def get_all_lms1xx(self) -> List[SickLMS1XX]:
@@ -653,7 +653,7 @@ def get_all_lidar_3d_by_model(self, model: str) -> List[BaseLidar3D]:
                 all_model_lidar_3d.append(lidar_3d)
         return all_model_lidar_3d
 
-    # Lidar3D: Get All Objects of Model UST10
+    # Lidar3D: Get All Objects of Model UST
     def get_all_velodyne(self) -> List[VelodyneLidar]:
         return self.get_all_lidar_3d_by_model(Lidar3D.VELODYNE_LIDAR)
 
@@ -807,7 +807,7 @@ def get_all_cameras_by_model(self, model: str) -> List[BaseCamera]:
                 all_model_camera.append(camera)
         return all_model_camera
 
-    # Camera: Get All Objects of Model UST10
+    # Camera: Get All Objects of Model UST
     def get_all_realsense(self) -> List[IntelRealsense]:
         return self.get_all_cameras_by_model(Camera.INTEL_REALSENSE)
 
@@ -965,7 +965,7 @@ def add_duro(
                 rpy=rpy
             )
         assert isinstance(duro, SwiftNavDuro), (
-            "GPS object must be of type UST10"
+            "GPS object must be of type UST"
         )
         self._gps.add(duro)
 
@@ -990,7 +990,7 @@ def get_all_gps_by_model(self, model: str) -> List[BaseGPS]:
                 all_model_gps.append(gps)
         return all_model_gps
 
-    # GPS: Get All Objects of Model UST10
+    # GPS: Get All Objects of Model UST
     def get_all_duro(self) -> List[SwiftNavDuro]:
         return self.get_all_gps_by_model(
             GlobalPositioningSystem.SWIFTNAV_DURO)

clearpath_config/sensors/types/lidars_2d.py

@@ -209,8 +209,8 @@ def set_max_angle(self, angle: float) -> None:
         self.max_angle = angle
 
 
-class HokuyoUST10(BaseLidar2D):
-    SENSOR_MODEL = "hokuyo_ust10"
+class HokuyoUST(BaseLidar2D):
+    SENSOR_MODEL = "hokuyo_ust"
 
     FRAME_ID = "laser"
     IP_PORT = 10940