Licenses

sick launch

LICENSE

@@ -0,0 +1,28 @@
+BSD 3-Clause License
+
+Copyright (c) 2023, clearpathrobotics
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

clearpath_launch_generator/clearpath_launch_generator/launch_writer.py

@@ -1,3 +1,30 @@
+# Software License Agreement (BSD)
+#
+# @author    Roni Kreinin <[email protected]>
+# @copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Clearpath Robotics nor the names of its contributors
+#   may be used to endorse or promote products derived from this software
+#   without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
 from typing import List
 
 import os

clearpath_launch_generator/package.xml

@@ -3,9 +3,14 @@
 <package format="3">
   <name>clearpath_launch_generator</name>
   <version>0.0.0</version>
-  <description>TODO: Package description</description>
-  <maintainer email="[email protected]">rkreinin</maintainer>
-  <license>TODO: License declaration</license>
+  <description>Clearpath launch generation scripts</description>
+
+  <author email="[email protected]">rkreinin</author>
+  <maintainer email="[email protected]">Luis Camero</maintainer>
+  <maintainer email="[email protected]">Roni Kreinin</maintainer>
+  <maintainer email="[email protected]">Tony Baltovski</maintainer>
+
+  <license>BSD</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 

clearpath_platform/a200_hardware.xml

@@ -1,3 +1,34 @@
+<?xml version="1.0"?>
+<!--
+Software License Agreement (BSD)
+
+\file      a200_hardware.xml
+\authors   Tony Baltovski <[email protected]>
+           Roni Kreinin <[email protected]>
+\copyright Copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+* Redistributions of source code must retain the above copyright notice,
+  this list of conditions and the following disclaimer.
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+* Neither the name of Clearpath Robotics nor the names of its contributors
+  may be used to endorse or promote products derived from this software
+  without specific prior written permission.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+-->
 <library path="a200_hardware">
   <class name="clearpath_platform/A200Hardware"
          type="clearpath_platform::A200Hardware"

clearpath_platform/j100_hardware.xml

@@ -1,3 +1,33 @@
+<?xml version="1.0"?>
+<!--
+Software License Agreement (BSD)
+
+\file      j100_hardware.xml
+\authors   Roni Kreinin <[email protected]>
+\copyright Copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+* Redistributions of source code must retain the above copyright notice,
+  this list of conditions and the following disclaimer.
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+* Neither the name of Clearpath Robotics nor the names of its contributors
+  may be used to endorse or promote products derived from this software
+  without specific prior written permission.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+-->
 <library path="j100_hardware">
     <class name="clearpath_platform/J100Hardware"
            type="clearpath_platform::J100Hardware"
@@ -6,4 +36,4 @@
         The ros2_control J100Hardware using a system hardware interface-type.
       </description>
     </class>
-  </library>
+  </library>

clearpath_platform/launch/platform.launch.py

@@ -1,3 +1,31 @@
+# Software License Agreement (BSD)
+#
+# @author    Tony Baltovski <[email protected]>
+# @author    Roni Kreinin <[email protected]>
+# @copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Clearpath Robotics nor the names of its contributors
+#   may be used to endorse or promote products derived from this software
+#   without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, ExecuteProcess, GroupAction, IncludeLaunchDescription, LogInfo
 from launch.conditions import LaunchConfigurationEquals
@@ -6,6 +34,7 @@
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
 
+
 def generate_launch_description():
 
     # Packages

clearpath_platform/package.xml

@@ -10,6 +10,7 @@
   <author email="[email protected]">Roni Kreinin</author>
   <author email="[email protected]">Tony Baltovski</author>
 
+  <maintainer email="[email protected]">Luis Camero</maintainer>
   <maintainer email="[email protected]">Roni Kreinin</maintainer>
   <maintainer email="[email protected]">Tony Baltovski</maintainer>
 

clearpath_platform/scripts/install

@@ -1,4 +1,31 @@
 #!/usr/bin/env python3
+# Software License Agreement (BSD)
+#
+# @author    Roni Kreinin <[email protected]>
+# @copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Clearpath Robotics nor the names of its contributors
+#   may be used to endorse or promote products derived from this software
+#   without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
 
 import robot_upstart
 
@@ -79,10 +106,10 @@ class RobotProvider(robot_upstart.providers.Generic):
             'services/clearpath-robot.service')
         robot_service_execpre_contents_path = os.path.join(
             get_package_share_directory('clearpath_platform'),
-            'scripts/generate.sh')
+            'scripts/generate')
         robot_service_exec_contents_path = os.path.join(
             get_package_share_directory('clearpath_platform'),
-            'scripts/check.sh')
+            'scripts/check')
 
         with open(robot_service_path) as f:
             robot_service_contents = f.read()

clearpath_sensors/config/sick_lms1xx.yaml

@@ -0,0 +1,69 @@
+sick_scan:
+  ros__parameters:
+    intensity: false
+    intensity_resolution_16bit: false
+    min_ang: -2.35619
+    max_ang: 2.35619
+    frame_id: cloud
+    use_binary_protocol: true
+    scanner_type: sick_lms_1xx
+
+    #  Optional range filter configuration: If the range of a scan point is less than range_min or greater than range_max, the point can be filtered. 
+    #  Depending on parameter range_filter_handling, the following filter can be applied for points with a range not within [range_min, range_max],   
+    #  see enumeration RangeFilterResultHandling in range_filter.h:                                           
+    #    0: RANGE_FILTER_DEACTIVATED,  do not apply range filter (default)                                    
+    #    1: RANGE_FILTER_DROP,         drop point, if range is not within [range_min, range_max]              
+    #    2: RANGE_FILTER_TO_ZERO,      set range to 0, if range is not within [range_min, range_max]          
+    #    3: RANGE_FILTER_TO_RANGE_MAX, set range to range_max, if range is not within [range_min, range_max]  
+    #    4: RANGE_FILTER_TO_FLT_MAX,   set range to FLT_MAX, if range is not within [range_min, range_max]    
+    #    5: RANGE_FILTER_TO_NAN        set range to NAN, if range is not within [range_min, range_max]        
+    #  Note: Range filter applies only to Pointcloud messages, not to LaserScan messages.                     
+    #  Using range_filter_handling 4 or 5 requires handling of FLT_MAX and NAN values in an application.      
+    range_min: 0.05
+    range_max: 25.0
+    range_filter_handling: 0
+
+    hostname: 192.168.0.1
+    cloud_topic: cloud
+    port: 2112
+    timelimit: 5
+    sw_pll_only_publish: true
+    use_generation_timestamp: true # Use the lidar generation timestamp (true, default) or send timestamp (false) for the software pll converted message timestamp 
+    start_services: true #  start ros service for cola commands 
+    activate_lferec: true # activate field monitoring by lferec messages 
+    activate_lidoutputstate: true #  activate field monitoring by lidoutputstate messages 
+    activate_lidinputstate: true # activate field monitoring by lidinputstate messages 
+    min_intensity: 0.0 # Set range of LaserScan messages to infinity, if intensity < min_intensity (default: 0) 
+
+    ang_res: 0.5 #  Supported values are "0.25" and "0.50" 
+    scan_freq: 50 #  Supported values are "25" and "50" 
+    #  Note: angular resolution and scanning frequency of a LMS111 can be configured by parameter "ang_res" (values "0.25" or "0.5") and "scan_freq"  (values "25" or "50") 
+    #  After setting "ang_res" and "scan_freq", it takes ca. 30 seconds until the pointcloud is published. 
+    #  Recommendation: It is recommended to specify the desired angular resolution and scan rate in this launch file. 
+    #  In this case, it is necessary to wait approx. 30 sec. until the Lidar changes to status "OK". 
+    #  Alternatively, these settings can be configured in SOPAS-ET, transferred to the EEProm of the lidar and 
+    #  then permanently stored. In this case, the explicit specification of scan rate and angular resolution 
+    #  can be omitted and the waiting time can be avoided.   
+
+    #  Apply an additional transform to the cartesian pointcloud, default: "0,0,0,0,0,0" (i.e. no transform) 
+    #  Note: add_transform_xyz_rpy is specified by 6D pose x, y, z, roll, pitch, yaw in [m] resp. [rad] 
+    #  It transforms a 3D point in cloud coordinates to 3D point in user defined world coordinates:  
+    #  add_transform_xyz_rpy := T[world,cloud] with parent "world" and child "cloud", i.e. P_world = T[world,cloud] * P_cloud 
+    #  The additional transform applies to cartesian lidar pointclouds and visualization marker (fields) 
+    #  It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages 
+    add_transform_xyz_rpy: "0,0,0,0,0,0" 
+    add_transform_check_dynamic_updates: false
+
+    message_monitoring_enabled: true       #  Enable message monitoring with reconnect+reinit in case of timeouts, default: true 
+    read_timeout_millisec_default: 5000     #  5 sec read timeout in operational mode (measurement mode), default: 5000 milliseconds 
+    read_timeout_millisec_startup: 120000   #  120 sec read timeout during startup (sensor may be starting up, which can take up to 120 sec.), default: 120000 milliseconds 
+    read_timeout_millisec_kill_node: 150000 #  150 sec pointcloud timeout, ros node will be killed if no point cloud published within the last 150 sec., default: 150000 milliseconds 
+    client_authorization_pw: F4724744    #  Default password for client authorization 
+
+    #  Configuration of ROS quality of service: 
+    #  On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher 
+    #  On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values: 
+    #  0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS() 
+    #  See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS 
+    #  Default value is -1, i.e. queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.
+    ros_qos: -1

clearpath_sensors/launch/hokuyo_ust10.launch.py

@@ -1,3 +1,30 @@
+# Software License Agreement (BSD)
+#
+# @author    Roni Kreinin <[email protected]>
+# @copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Clearpath Robotics nor the names of its contributors
+#   may be used to endorse or promote products derived from this software
+#   without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.substitutions import LaunchConfiguration, PathJoinSubstitution