Add config and launch for inventus

clearpath_generator_robot/clearpath_generator_robot/launch/generator.py

@@ -187,10 +187,11 @@ def __init__(self, setup_path: str = '/etc/clearpath/') -> None:
         elif (self.clearpath_config.platform.battery.model in
               [BatteryConfig.S_24V20_U1]):
 
-            pkg_inventus_bmu = Package('inventus_bmu')
             launch_args = self.clearpath_config.platform.battery.launch_args
 
-            inventus_bmu_params_file = ParamFile('default', package=pkg_inventus_bmu)
+            inventus_bmu_params_file = ParamFile(
+                'inventus_bmu',
+                package=self.pkg_clearpath_sensors)
             inventus_bmu_params = inventus_bmu_params_file.full_path
 
             module_ids = []

clearpath_sensors/config/inventus_bmu.yaml

@@ -0,0 +1,12 @@
+inventus_bmu_node:
+  ros__parameters:
+    can_device: can0
+    eds_file: Enhanced_7623-301-Inventus-Power-Battery-ATSAMC21J18A-RevB2-02-02092022.eds
+    module_ids: [49, 50]
+
+    # List of module IDs that are connected in series in string format
+    # Each series is in parallel with each other
+    # Top level list is parallel, nested lists are series
+    # This is used to calculate the total output voltage & current
+    module_series: '[[49, 50]]'
+

clearpath_sensors/launch/inventus_bmu.launch.py

@@ -0,0 +1,70 @@
+# Software License Agreement (BSD)
+#
+# @author    Luis Camero <[email protected]>
+# @copyright (c) 2025, 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
+
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+ARGUMENTS = [
+    DeclareLaunchArgument('namespace', default_value='',
+                          description='Robot namespace')
+]
+
+
+def generate_launch_description():
+    parameters = LaunchConfiguration('parameters')
+    namespace = LaunchConfiguration('namespace')
+
+    arg_namespace = DeclareLaunchArgument(
+        'namespace',
+        default_value='')
+
+    arg_parameters = DeclareLaunchArgument(
+        'parameters',
+        default_value=PathJoinSubstitution([
+          FindPackageShare('clearpath_sensors'),
+          'config',
+          'inventus_bmu.yaml'
+        ]))
+
+    inventus_node = Node(
+        package='inventus_bmu',
+        namespace=namespace,
+        executable='inventus_bmu_driver',
+        name='inventus_bmu_node',
+        parameters=[parameters],
+        output='screen',
+    )
+
+    ld = LaunchDescription()
+    ld.add_action(arg_namespace)
+    ld.add_action(arg_parameters)
+    ld.add_action(inventus_node)
+    return ld