Updated README

clearpathrobotics · Aug 1, 2023 · e319251 · e319251
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 # clearpath_config
 Clearpath Configuration YAML Parser
 
-# Configration Examples
-## A200 Sample Configuration
-You can find the following file under `/sample/a200_config.yaml`:
-```yaml
-system: # These are system level configs
-    self: A200-1
-    hosts: # These are the hosts that are involved in this system
-        platform: # The main computer for this system, ie the robot's computer
-            A200-1: 192.168.131.1
-        onboard: # These are additional on-board computers such as a secondary computer or software kit
-            A200-B: 192.168.131.5
-            ONAV-KIT: 192.168.131.10
-        remote: # These are remote machines which need to interact with this system such as laptops or other robots
-            CPR12345: 10.10.10.101
-            USERS-PC: 10.10.10.1
-    ros2:
-        namespace: HOSTNAME
-        domain_id: 123
-        rmw_implementation: rmw_fastrtps_cpp
-
-platform: # These are are parameters specific to a a platform
-    serial_number: cpr-a200-0001
-    controller: logitech # ps4 or logitech
-    decorations: # Platform specific accessories
-        front_bumper:
-            extension: 0.1
-            model: wibotic
-            xyz: [0.0, 0.0, 0.0]
-            rpy: [0.0, 0.0, 0.0]
-        rear_bumper:
-            extension: 0
-            model: default
-            xyz: [0.0, 0.0, 0.0]
-            rpy: [0.0, 0.0, 0.0]
-        top_plate:
-            model: pacs
-            xyz: [0.0, 0.0, 0.0]
-            rpy: [0.0, 0.0, 0.0]
-        structure:
-            model: sensor_arch_510
-            xyz: [0.0, 0.0, 0.0]
-            rpy: [0.0, 0.0, 0.0]
-    extras:
-        urdf: /fake/path/empty.urdf.xacro
-        control: /fake/path/empty.yaml
-
-accessories:
-    link:
-      - name: test_link
-        parent: base_link
-        xyz: [0.0, 0.0, 0.0]
-        rpy: [0.0, 0.0, 0.0]
-    box:
-      - name: test_box
-        size: [0.01, 0.01, 0.01]
-        parent: base_link
-        xyz: [0.0, 0.0, 0.0]
-        rpy: [0.0, 0.0, 0.0]
-    cylinder:
-      - name: test_cylinder
-        radius: 0.01
-        length: 0.01
-        parent: base_link
-        xyz: [0.0, 0.0, 0.0]
-        rpy: [0.0, 0.0, 0.0]
-    sphere:
-      - name: test_sphere
-        radius: 0.01
-        parent: base_link
-        xyz: [0.0, 0.0, 0.0]
-        rpy: [0.0, 0.0, 0.0]
-    mesh:
-      - name: test_mesh
-        visual: fake_mesh.stl
-        parent: base_link
-        xyz: [0.0, 0.0, 0.0]
-        rpy: [0.0, 0.0, 0.0]
+Find documentation on the Clearpath Configuration YAML and more about the Clearpath ROS 2 System on the [Clearpath Documentation](https://docs.clearpathrobotics.com/docs/ros/config/yaml) webpage.
 
-mounts:
-    fath_pivot:
-      - parent: "top_plate_mount_a1"
-        angle: 1.5707
-        xyz: [0.0, 0.0, 0.0]
-        rpy: [0.0, 0.0, 0.0]
-      - parent: "top_plate_mount_a2"
-        angle: 0.0
-        xyz: [0.0, 0.0, 0.0]
-        rpy: [0.0, 0.0, 0.0]
-    flir_ptu:
-      - {}
-      - {}
-    riser:
-      - rows: 8
-        columns: 7
-        thickness: 0.00635
-        parent: "top_plate_mount_a1"
-        xyz: [0.0, 0.0, 0.1]
-        rpy: [0.0, 0.0, 0.0]
-      - rows: 1
-        columns: 7
-        thickness: 0.00635
-        parent: "top_plate_mount_a6"
-        xyz: [0.0, 0.0, 0.2]
-        rpy: [0.0, 0.0, 0.0]
-    bracket:
-      - model: "horizontal"
-        parent: "riser_1_mount_g6"
-        xyz: [0.0, 0.0, 0.0]
-        rpy: [0.0, 0.0, 0.0]
-      - model: "vertical"
-        parent: "riser_1_mount_a6"
-        xyz: [0.0, 0.0, 0.0]
-        rpy: [0.0, 0.0, 0.0]
-
-# Sensors: grouped by sensor types.
-#  - model: unique model of that sensor type
-#  - urdf_enabled: toggle to add model to description
-#  - launch_enabled: toggle to add node to launch file
-sensors:
-    # List of Cameras
-    camera:
-      - model: flir_blackfly
-        urdf_enabled: true
-        launch_enabled: true
-        parent: base_link
-        xyz: [0.0, 0.0, 0.0]
-        rpy: [0.0, 0.0, 0.0]
-        ros_parameters:
-          connection_type: USB3
-          encoding: BayerRG8
-          fps: 30
-          serial: 0
-      - model: intel_realsense
-        urdf_enabled: true
-        launch_enabled: true
-        parent: base_link
-        xyz: [0.0, 0.0, 0.0]
-        rpy: [0.0, 0.0, 0.0]
-        ros_parameters:
-          serial_no: 12345
-          device_type: d435
-          enable_color: true
-          rgb_camera:
-            profile: "640,480,30"
-          enable_depth: true
-          depth_module:
-            profile: "640,480,30"
-          pointcloud:
-            enable: true
-          anything: true
-    gps:
-      - model: swiftnav_duro
-        urdf_enabled: true
-        launch_enabled: true
-        parent: base_link
-        xyz: [0.0, 0.0, 0.0]
-        rpy: [0.0, 0.0, 0.0]
-        ros_parameters:
-          ip_address: 192.168.131.30
-          port: 55555
-          gps_receiver_frame_id: duro
-          imu_frame_id: duro
-    lidar3d:
-      - model: velodyne_lidar
-        urdf_enabled: true
-        launch_enabled: true
-        parent: base_link
-        xyz: [0.0, 0.0, 0.0]
-        rpy: [0.0, 0.0, 0.0]
-        ros_parameters:
-          device_ip: 192.168.131.20
-          port: 2368
-          model: VLP16
-    lidar2d:
-      - model: sick_lms1xx
-        urdf_enabled: true
-        launch_enabled: true
-        parent: base_link
-        xyz: [0.0, 0.0, 0.0]
-        rpy: [0.0, 0.0, 0.0]
-        ros_parameters:
-          hostname: 192.168.131.20
-          port: 6000
-          min_ang: -3.1415
-          max_ang: 3.1415
-      - model: hokuyo_ust10
-        urdf_enabled: true
-        launch_enabled: true
-        parent: base_link
-        xyz: [0.0, 0.0, 0.0]
-        rpy: [0.0, 0.0, 0.0]
-        ros_parameters:
-          ip_address: 192.168.131.21
-          ip_port: 6000
-          angle_max: -3.1415
-          angle_min: 3.1415
-    imu:
-      - model: microstrain_imu
-        urdf_enabled: true
-        launch_enabled: true
-        parent: base_link
-        xyz: [0.0, 0.0, 0.0]
-        rpy: [0.0, 0.0, 0.0]
-        ros_parameters:
-          imu_frame_id: test_link
-          port: /dev/test
-          use_enu_frame: false
+# Configration Examples
+Under the **_sample_** folder there are example configurations that can be used as the starting point of your `robot.yaml`.
 
-```
 
 # Unit Tests
 All unit tests are written using **PyTest** following the [Good Integration Practices](https://docs.pytest.org/en/6.2.x/goodpractices.html#goodpractices).