From e31925180fa883d73c86b5c3f80da85b37c32991 Mon Sep 17 00:00:00 2001 From: Luis Camero Date: Tue, 1 Aug 2023 16:33:16 -0400 Subject: [PATCH] Updated README --- README.md | 210 +----------------------------------------------------- 1 file changed, 3 insertions(+), 207 deletions(-) diff --git a/README.md b/README.md index 8ab0133..e494504 100644 --- a/README.md +++ b/README.md @@ -1,215 +1,11 @@ # 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).