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Add samples for Dingo O and Ridgeback #74

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Aug 19, 2024
Merged

Add samples for Dingo O and Ridgeback #74

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8 changes: 8 additions & 0 deletions clearpath_config/sample/do100/do100_default.yaml
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serial_number: do100-0000
version: 0
system:
hosts:
- hostname: cpr-do100-0000
ip: 192.168.131.1
ros2:
namespace: do100_0000
19 changes: 19 additions & 0 deletions clearpath_config/sample/do100/do100_dual_laser.yaml
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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
40 changes: 40 additions & 0 deletions clearpath_config/sample/do100/do100_outline.yaml
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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: []
37 changes: 37 additions & 0 deletions clearpath_config/sample/do100/do100_velodyne.yaml
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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
8 changes: 8 additions & 0 deletions clearpath_config/sample/do150/do150_default.yaml
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serial_number: do150-0000
version: 0
system:
hosts:
- hostname: cpr-do150-0000
ip: 192.168.131.1
ros2:
namespace: do150_0000
19 changes: 19 additions & 0 deletions clearpath_config/sample/do150/do150_dual_laser.yaml
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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
40 changes: 40 additions & 0 deletions clearpath_config/sample/do150/do150_outline.yaml
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Original file line number Diff line number Diff line change
@@ -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: []
37 changes: 37 additions & 0 deletions clearpath_config/sample/do150/do150_velodyne.yaml
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Original file line number Diff line number Diff line change
@@ -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
8 changes: 8 additions & 0 deletions clearpath_config/sample/r100/r100_default.yaml
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serial_number: r100-0000
version: 0
system:
hosts:
- hostname: cpr-r100-0000
ip: 192.168.131.1
ros2:
namespace: r100_0000
17 changes: 17 additions & 0 deletions clearpath_config/sample/r100/r100_dual_laser.yaml
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Original file line number Diff line number Diff line change
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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]
17 changes: 17 additions & 0 deletions clearpath_config/sample/r100/r100_dual_laser_hokuyo.yaml
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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]
40 changes: 40 additions & 0 deletions clearpath_config/sample/r100/r100_outline.yaml
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Original file line number Diff line number Diff line change
@@ -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: []
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