From 0a8350ab07ec20357213585994f06b6b8a2d0d53 Mon Sep 17 00:00:00 2001 From: Luis Camero Date: Fri, 16 Aug 2024 11:48:45 -0400 Subject: [PATCH] Add samples for Dingo O and Ridgeback --- .../sample/do100/do100_default.yaml | 8 ++++ .../sample/do100/do100_dual_laser.yaml | 19 +++++++++ .../sample/do100/do100_outline.yaml | 40 +++++++++++++++++++ .../sample/do100/do100_velodyne.yaml | 37 +++++++++++++++++ .../sample/do150/do150_default.yaml | 8 ++++ .../sample/do150/do150_dual_laser.yaml | 19 +++++++++ .../sample/do150/do150_outline.yaml | 40 +++++++++++++++++++ .../sample/do150/do150_velodyne.yaml | 37 +++++++++++++++++ .../sample/r100/r100_default.yaml | 8 ++++ .../sample/r100/r100_dual_laser.yaml | 17 ++++++++ .../sample/r100/r100_dual_laser_hokuyo.yaml | 17 ++++++++ .../sample/r100/r100_outline.yaml | 40 +++++++++++++++++++ 12 files changed, 290 insertions(+) create mode 100644 clearpath_config/sample/do100/do100_default.yaml create mode 100644 clearpath_config/sample/do100/do100_dual_laser.yaml create mode 100644 clearpath_config/sample/do100/do100_outline.yaml create mode 100644 clearpath_config/sample/do100/do100_velodyne.yaml create mode 100644 clearpath_config/sample/do150/do150_default.yaml create mode 100644 clearpath_config/sample/do150/do150_dual_laser.yaml create mode 100644 clearpath_config/sample/do150/do150_outline.yaml create mode 100644 clearpath_config/sample/do150/do150_velodyne.yaml create mode 100644 clearpath_config/sample/r100/r100_default.yaml create mode 100644 clearpath_config/sample/r100/r100_dual_laser.yaml create mode 100644 clearpath_config/sample/r100/r100_dual_laser_hokuyo.yaml create mode 100644 clearpath_config/sample/r100/r100_outline.yaml diff --git a/clearpath_config/sample/do100/do100_default.yaml b/clearpath_config/sample/do100/do100_default.yaml new file mode 100644 index 0000000..e9af492 --- /dev/null +++ b/clearpath_config/sample/do100/do100_default.yaml @@ -0,0 +1,8 @@ +serial_number: do100-0000 +version: 0 +system: + hosts: + - hostname: cpr-do100-0000 + ip: 192.168.131.1 + ros2: + namespace: do100_0000 diff --git a/clearpath_config/sample/do100/do100_dual_laser.yaml b/clearpath_config/sample/do100/do100_dual_laser.yaml new file mode 100644 index 0000000..0c02a23 --- /dev/null +++ b/clearpath_config/sample/do100/do100_dual_laser.yaml @@ -0,0 +1,19 @@ +serial_number: do100-0000 +version: 0 +system: + hosts: + - hostname: cpr-do100-0000 + ip: 192.168.131.1 + ros2: + namespace: do100_0000 +mounts: + bracket: + - parent: front_2_mount + - parent: rear_2_mount + rpy: [0.0, 0.0, 3.1415] +sensors: + lidar2d: + - model: hokuyo_ust + parent: bracket_0_mount + - model: hokuyo_ust + parent: bracket_1_mount diff --git a/clearpath_config/sample/do100/do100_outline.yaml b/clearpath_config/sample/do100/do100_outline.yaml new file mode 100644 index 0000000..755bce4 --- /dev/null +++ b/clearpath_config/sample/do100/do100_outline.yaml @@ -0,0 +1,40 @@ +serial_number: do100-0000 +version: 0 +system: + username: administrator + hosts: + - hostname: cpr-do100-0000 + ip: 192.168.131.1 + ros2: + namespace: do100_0000 + domain_id: 0 + middleware: + implementation: rmw_fastrtps_cpp + workspaces: [] +platform: + controller: ps4 + battery: + model: TLV1222 + configuration: S1P1 + attachments: [] + extras: + urdf: null + ros_parameters: {} +links: + box: [] + cylinder: [] + frame: [] + mesh: [] + sphere: [] +mounts: + bracket: [] + fath_pivot: [] + riser: [] + disk: [] + post: [] +sensors: + camera: [] + gps: [] + imu: [] + lidar2d: [] + lidar3d: [] diff --git a/clearpath_config/sample/do100/do100_velodyne.yaml b/clearpath_config/sample/do100/do100_velodyne.yaml new file mode 100644 index 0000000..e32e973 --- /dev/null +++ b/clearpath_config/sample/do100/do100_velodyne.yaml @@ -0,0 +1,37 @@ +serial_number: do100-0000 +version: 0 +system: + hosts: + - hostname: cpr-do100-0000 + ip: 192.168.131.1 + ros2: + namespace: do100_0000 +links: + cylinder: + - name: leg_0 + radius: 0.004 + length: 0.1 + parent: default_mount + xyz: [0.04, 0.04, 0.05] + - name: leg_1 + radius: 0.004 + length: 0.1 + parent: default_mount + xyz: [0.04, -0.04, 0.05] + - name: leg_2 + radius: 0.004 + length: 0.1 + parent: default_mount + xyz: [-0.04, 0.04, 0.05] + - name: leg_3 + radius: 0.004 + length: 0.1 + parent: default_mount + xyz: [-0.04, -0.04, 0.05] +mounts: + bracket: + - xyz: [0.0, 0.0, 0.1] +sensors: + lidar3d: + - model: velodyne_lidar + parent: bracket_0_mount diff --git a/clearpath_config/sample/do150/do150_default.yaml b/clearpath_config/sample/do150/do150_default.yaml new file mode 100644 index 0000000..e85467c --- /dev/null +++ b/clearpath_config/sample/do150/do150_default.yaml @@ -0,0 +1,8 @@ +serial_number: do150-0000 +version: 0 +system: + hosts: + - hostname: cpr-do150-0000 + ip: 192.168.131.1 + ros2: + namespace: do150_0000 diff --git a/clearpath_config/sample/do150/do150_dual_laser.yaml b/clearpath_config/sample/do150/do150_dual_laser.yaml new file mode 100644 index 0000000..2476423 --- /dev/null +++ b/clearpath_config/sample/do150/do150_dual_laser.yaml @@ -0,0 +1,19 @@ +serial_number: do150-0000 +version: 0 +system: + hosts: + - hostname: cpr-do150-0000 + ip: 192.168.131.1 + ros2: + namespace: do150_0000 +mounts: + bracket: + - parent: front_1_mount + - parent: rear_1_mount + rpy: [0.0, 0.0, 3.1415] +sensors: + lidar2d: + - model: hokuyo_ust + parent: bracket_0_mount + - model: hokuyo_ust + parent: bracket_1_mount diff --git a/clearpath_config/sample/do150/do150_outline.yaml b/clearpath_config/sample/do150/do150_outline.yaml new file mode 100644 index 0000000..937241c --- /dev/null +++ b/clearpath_config/sample/do150/do150_outline.yaml @@ -0,0 +1,40 @@ +serial_number: do150-0000 +version: 0 +system: + username: administrator + hosts: + - hostname: cpr-do150-0000 + ip: 192.168.131.1 + ros2: + namespace: do150_0000 + domain_id: 0 + middleware: + implementation: rmw_fastrtps_cpp + workspaces: [] +platform: + controller: ps4 + battery: + model: TLV1222 + configuration: S1P1 + attachments: [] + extras: + urdf: null + ros_parameters: {} +links: + box: [] + cylinder: [] + frame: [] + mesh: [] + sphere: [] +mounts: + bracket: [] + fath_pivot: [] + riser: [] + disk: [] + post: [] +sensors: + camera: [] + gps: [] + imu: [] + lidar2d: [] + lidar3d: [] diff --git a/clearpath_config/sample/do150/do150_velodyne.yaml b/clearpath_config/sample/do150/do150_velodyne.yaml new file mode 100644 index 0000000..ce8c8ff --- /dev/null +++ b/clearpath_config/sample/do150/do150_velodyne.yaml @@ -0,0 +1,37 @@ +serial_number: do150-0000 +version: 0 +system: + hosts: + - hostname: cpr-do150-0000 + ip: 192.168.131.1 + ros2: + namespace: do150_0000 +links: + cylinder: + - name: leg_0 + radius: 0.004 + length: 0.1 + parent: default_mount + xyz: [0.04, 0.04, 0.05] + - name: leg_1 + radius: 0.004 + length: 0.1 + parent: default_mount + xyz: [0.04, -0.04, 0.05] + - name: leg_2 + radius: 0.004 + length: 0.1 + parent: default_mount + xyz: [-0.04, 0.04, 0.05] + - name: leg_3 + radius: 0.004 + length: 0.1 + parent: default_mount + xyz: [-0.04, -0.04, 0.05] +mounts: + bracket: + - xyz: [0.0, 0.0, 0.1] +sensors: + lidar3d: + - model: velodyne_lidar + parent: bracket_0_mount diff --git a/clearpath_config/sample/r100/r100_default.yaml b/clearpath_config/sample/r100/r100_default.yaml new file mode 100644 index 0000000..c5aacdf --- /dev/null +++ b/clearpath_config/sample/r100/r100_default.yaml @@ -0,0 +1,8 @@ +serial_number: r100-0000 +version: 0 +system: + hosts: + - hostname: cpr-r100-0000 + ip: 192.168.131.1 + ros2: + namespace: r100_0000 diff --git a/clearpath_config/sample/r100/r100_dual_laser.yaml b/clearpath_config/sample/r100/r100_dual_laser.yaml new file mode 100644 index 0000000..95a0ac2 --- /dev/null +++ b/clearpath_config/sample/r100/r100_dual_laser.yaml @@ -0,0 +1,17 @@ +serial_number: r100-0000 +version: 0 +system: + hosts: + - hostname: cpr-r100-0000 + ip: 192.168.131.1 + ros2: + namespace: r100_0000 +sensors: + lidar2d: + - model: sick_lms1xx + parent: chassis_link + xyz: [0.3455, 0.0, 0.1977] + - model: sick_lms1xx + parent: chassis_link + xyz: [-0.3455, 0.0, 0.1977] + rpy: [0.0, 0.0, 3.14159] diff --git a/clearpath_config/sample/r100/r100_dual_laser_hokuyo.yaml b/clearpath_config/sample/r100/r100_dual_laser_hokuyo.yaml new file mode 100644 index 0000000..fe6e6b4 --- /dev/null +++ b/clearpath_config/sample/r100/r100_dual_laser_hokuyo.yaml @@ -0,0 +1,17 @@ +serial_number: r100-0000 +version: 0 +system: + hosts: + - hostname: cpr-r100-0000 + ip: 192.168.131.1 + ros2: + namespace: r100_0000 +sensors: + lidar2d: + - model: hokuyo_ust + parent: chassis_link + xyz: [0.3922, 0.0, 0.1856] + - model: hokuyo_ust + parent: chassis_link + xyz: [-0.3922, 0.0, 0.1856] + rpy: [0.0, 0.0, 3.14159] diff --git a/clearpath_config/sample/r100/r100_outline.yaml b/clearpath_config/sample/r100/r100_outline.yaml new file mode 100644 index 0000000..890371c --- /dev/null +++ b/clearpath_config/sample/r100/r100_outline.yaml @@ -0,0 +1,40 @@ +serial_number: r100-0000 +version: 0 +system: + username: administrator + hosts: + - hostname: cpr-r100-0000 + ip: 192.168.131.1 + ros2: + namespace: r100_0000 + domain_id: 0 + middleware: + implementation: rmw_fastrtps_cpp + workspaces: [] +platform: + controller: ps4 + battery: + model: DTM8A31 + configuration: S1P2 + attachments: [] + extras: + urdf: null + ros_parameters: {} +links: + box: [] + cylinder: [] + frame: [] + mesh: [] + sphere: [] +mounts: + bracket: [] + fath_pivot: [] + riser: [] + disk: [] + post: [] +sensors: + camera: [] + gps: [] + imu: [] + lidar2d: [] + lidar3d: []