clearpath_config.platform.extras module

class clearpath_config.platform.extras.ExtrasConfig(config: dict = {}, urdf: dict | None = None, launch: dict | None = None, ros_parameters: dict = {})

Bases: BaseConfig

ANG_MAX_ACC = 'angular.z.max_acceleration'

ANG_MAX_VEL = 'angular.z.max_velocity'

ANG_MIN_ACC = 'angular.z.min_acceleration'

ANG_MIN_VEL = 'angular.z.min_velocity'

DEFAULTS = {'launch': None, 'ros_parameters': {'platform_velocity_controller.angular.z.max_acceleration': 1.0, 'platform_velocity_controller.angular.z.max_velocity': 1.0, 'platform_velocity_controller.angular.z.min_acceleration': -1.0, 'platform_velocity_controller.angular.z.min_velocity': -1.0, 'platform_velocity_controller.linear.x.max_acceleration': 1.0, 'platform_velocity_controller.linear.x.max_velocity': 1.0, 'platform_velocity_controller.linear.x.min_acceleration': -1.0, 'platform_velocity_controller.linear.x.min_velocity': -1.0, 'platform_velocity_controller.wheel_radius': 0.1}, 'urdf': None}

EXTRAS = 'extras'

KEYS = {'angular.z.max_acceleration': 'extras.ros_parameters.platform_velocity_controller.angular.z.max_acceleration', 'angular.z.max_velocity': 'extras.ros_parameters.platform_velocity_controller.angular.z.max_velocity', 'angular.z.min_acceleration': 'extras.ros_parameters.platform_velocity_controller.angular.z.min_acceleration', 'angular.z.min_velocity': 'extras.ros_parameters.platform_velocity_controller.angular.z.min_velocity', 'launch': 'extras.launch', 'linear.x.max_acceleration': 'extras.ros_parameters.platform_velocity_controller.linear.x.max_acceleration', 'linear.x.max_velocity': 'extras.ros_parameters.platform_velocity_controller.linear.x.max_velocity', 'linear.x.min_acceleration': 'extras.ros_parameters.platform_velocity_controller.linear.x.min_acceleration', 'linear.x.min_velocity': 'extras.ros_parameters.platform_velocity_controller.linear.x.min_velocity', 'ros_parameters': 'extras.ros_parameters', 'urdf': 'extras.urdf', 'wheel_radius': 'extras.ros_parameters.platform_velocity_controller.wheel_radius'}

LAUNCH = 'launch'

LIN_MAX_ACC = 'linear.x.max_acceleration'

LIN_MAX_VEL = 'linear.x.max_velocity'

LIN_MIN_ACC = 'linear.x.min_acceleration'

LIN_MIN_VEL = 'linear.x.min_velocity'

PLATFORM_VELOCITY_CONTROLLER = 'platform_velocity_controller'

ROS_PARAMETERS = 'ros_parameters'

TEMPLATE = {'extras': {'launch': 'launch', 'ros_parameters': {'platform_velocity_controller': {'angular.z.max_acceleration': 'angular.z.max_acceleration', 'angular.z.max_velocity': 'angular.z.max_velocity', 'angular.z.min_acceleration': 'angular.z.min_acceleration', 'angular.z.min_velocity': 'angular.z.min_velocity', 'linear.x.max_acceleration': 'linear.x.max_acceleration', 'linear.x.max_velocity': 'linear.x.max_velocity', 'linear.x.min_acceleration': 'linear.x.min_acceleration', 'linear.x.min_velocity': 'linear.x.min_velocity', 'wheel_radius': 'wheel_radius'}}, 'urdf': 'urdf'}}

URDF = 'urdf'

WHEEL_RADIUS = 'wheel_radius'

property angular_max_acceleration: float

property angular_max_velocity: float

property angular_min_acceleration: float

property angular_min_velocity: float

property launch: dict

property linear_max_acceleration: float

property linear_max_velocity: float

property linear_min_acceleration: float

property linear_min_velocity: float

property ros_parameters: dict

update(serial_number: bool = False) → None: Update any variables based on inputs.

property urdf: dict

property wheel_radius: float

class clearpath_config.platform.extras.ROSParameterDefaults(platform: str)

Bases: object

A200 = {'platform_velocity_controller.angular.z.max_acceleration': 6.0, 'platform_velocity_controller.angular.z.max_velocity': 2.0, 'platform_velocity_controller.angular.z.min_acceleration': -6.0, 'platform_velocity_controller.angular.z.min_velocity': -2.0, 'platform_velocity_controller.linear.x.max_acceleration': 3.0, 'platform_velocity_controller.linear.x.max_velocity': 1.0, 'platform_velocity_controller.linear.x.min_acceleration': -3.0, 'platform_velocity_controller.linear.x.min_velocity': -1.0, 'platform_velocity_controller.wheel_radius': 0.1651}

DD100 = {'platform_velocity_controller.angular.z.max_acceleration': 2.0, 'platform_velocity_controller.angular.z.max_velocity': 4.0, 'platform_velocity_controller.angular.z.min_acceleration': -2.0, 'platform_velocity_controller.angular.z.min_velocity': -4.0, 'platform_velocity_controller.linear.x.max_acceleration': 1.0, 'platform_velocity_controller.linear.x.max_velocity': 1.3, 'platform_velocity_controller.linear.x.min_acceleration': -1.0, 'platform_velocity_controller.linear.x.min_velocity': -1.3, 'platform_velocity_controller.wheel_radius': 0.049}

DD150 = {'platform_velocity_controller.angular.z.max_acceleration': 2.0, 'platform_velocity_controller.angular.z.max_velocity': 4.0, 'platform_velocity_controller.angular.z.min_acceleration': -2.0, 'platform_velocity_controller.angular.z.min_velocity': -4.0, 'platform_velocity_controller.linear.x.max_acceleration': 1.0, 'platform_velocity_controller.linear.x.max_velocity': 1.3, 'platform_velocity_controller.linear.x.min_acceleration': -1.0, 'platform_velocity_controller.linear.x.min_velocity': -1.3, 'platform_velocity_controller.wheel_radius': 0.049}

DEFAULTS = {'a200': {'platform_velocity_controller.angular.z.max_acceleration': 6.0, 'platform_velocity_controller.angular.z.max_velocity': 2.0, 'platform_velocity_controller.angular.z.min_acceleration': -6.0, 'platform_velocity_controller.angular.z.min_velocity': -2.0, 'platform_velocity_controller.linear.x.max_acceleration': 3.0, 'platform_velocity_controller.linear.x.max_velocity': 1.0, 'platform_velocity_controller.linear.x.min_acceleration': -3.0, 'platform_velocity_controller.linear.x.min_velocity': -1.0, 'platform_velocity_controller.wheel_radius': 0.1651}, 'dd100': {'platform_velocity_controller.angular.z.max_acceleration': 2.0, 'platform_velocity_controller.angular.z.max_velocity': 4.0, 'platform_velocity_controller.angular.z.min_acceleration': -2.0, 'platform_velocity_controller.angular.z.min_velocity': -4.0, 'platform_velocity_controller.linear.x.max_acceleration': 1.0, 'platform_velocity_controller.linear.x.max_velocity': 1.3, 'platform_velocity_controller.linear.x.min_acceleration': -1.0, 'platform_velocity_controller.linear.x.min_velocity': -1.3, 'platform_velocity_controller.wheel_radius': 0.049}, 'dd150': {'platform_velocity_controller.angular.z.max_acceleration': 2.0, 'platform_velocity_controller.angular.z.max_velocity': 4.0, 'platform_velocity_controller.angular.z.min_acceleration': -2.0, 'platform_velocity_controller.angular.z.min_velocity': -4.0, 'platform_velocity_controller.linear.x.max_acceleration': 1.0, 'platform_velocity_controller.linear.x.max_velocity': 1.3, 'platform_velocity_controller.linear.x.min_acceleration': -1.0, 'platform_velocity_controller.linear.x.min_velocity': -1.3, 'platform_velocity_controller.wheel_radius': 0.049}, 'do100': {'platform_velocity_controller.angular.z.max_acceleration': 2.0, 'platform_velocity_controller.angular.z.max_velocity': 4.0, 'platform_velocity_controller.angular.z.min_acceleration': -2.0, 'platform_velocity_controller.angular.z.min_velocity': -4.0, 'platform_velocity_controller.linear.x.max_acceleration': 1.0, 'platform_velocity_controller.linear.x.max_velocity': 1.3, 'platform_velocity_controller.linear.x.min_acceleration': -1.0, 'platform_velocity_controller.linear.x.min_velocity': -1.3, 'platform_velocity_controller.linear.y.max_acceleration': 1.0, 'platform_velocity_controller.linear.y.max_velocity': 1.3, 'platform_velocity_controller.linear.y.min_acceleration': -1.0, 'platform_velocity_controller.linear.y.min_velocity': -1.3, 'platform_velocity_controller.wheel_radius': 0.05}, 'do150': {'platform_velocity_controller.angular.z.max_acceleration': 2.0, 'platform_velocity_controller.angular.z.max_velocity': 4.0, 'platform_velocity_controller.angular.z.min_acceleration': -2.0, 'platform_velocity_controller.angular.z.min_velocity': -4.0, 'platform_velocity_controller.linear.x.max_acceleration': 1.0, 'platform_velocity_controller.linear.x.max_velocity': 1.3, 'platform_velocity_controller.linear.x.min_acceleration': -1.0, 'platform_velocity_controller.linear.x.min_velocity': -1.3, 'platform_velocity_controller.linear.y.max_acceleration': 1.0, 'platform_velocity_controller.linear.y.max_velocity': 1.3, 'platform_velocity_controller.linear.y.min_acceleration': -1.0, 'platform_velocity_controller.linear.y.min_velocity': -1.3, 'platform_velocity_controller.wheel_radius': 0.05}, 'generic': {'platform_velocity_controller.angular.z.max_acceleration': 1.0, 'platform_velocity_controller.angular.z.max_velocity': 1.0, 'platform_velocity_controller.angular.z.min_acceleration': -1.0, 'platform_velocity_controller.angular.z.min_velocity': -1.0, 'platform_velocity_controller.linear.x.max_acceleration': 1.0, 'platform_velocity_controller.linear.x.max_velocity': 1.0, 'platform_velocity_controller.linear.x.min_acceleration': -1.0, 'platform_velocity_controller.linear.x.min_velocity': -1.0, 'platform_velocity_controller.wheel_radius': 0.1}, 'j100': {'platform_velocity_controller.angular.z.max_acceleration': 25.0, 'platform_velocity_controller.angular.z.max_velocity': 4.0, 'platform_velocity_controller.angular.z.min_acceleration': -25.0, 'platform_velocity_controller.angular.z.min_velocity': -4.0, 'platform_velocity_controller.linear.x.max_acceleration': 20.0, 'platform_velocity_controller.linear.x.max_velocity': 2.0, 'platform_velocity_controller.linear.x.min_acceleration': -20.0, 'platform_velocity_controller.linear.x.min_velocity': -2.0, 'platform_velocity_controller.wheel_radius': 0.098}, 'r100': {'platform_velocity_controller.angular.z.max_acceleration': 2.0, 'platform_velocity_controller.angular.z.max_velocity': 4.0, 'platform_velocity_controller.angular.z.min_acceleration': -2.0, 'platform_velocity_controller.angular.z.min_velocity': -4.0, 'platform_velocity_controller.linear.x.max_acceleration': 1.0, 'platform_velocity_controller.linear.x.max_velocity': 1.3, 'platform_velocity_controller.linear.x.min_acceleration': -1.0, 'platform_velocity_controller.linear.x.min_velocity': -1.3, 'platform_velocity_controller.linear.y.max_acceleration': 1.0, 'platform_velocity_controller.linear.y.max_velocity': 1.3, 'platform_velocity_controller.linear.y.min_acceleration': -1.0, 'platform_velocity_controller.linear.y.min_velocity': -1.3, 'platform_velocity_controller.wheel_radius': 0.05}, 'w200': {'platform_velocity_controller.angular.z.max_acceleration': 40.0, 'platform_velocity_controller.angular.z.max_velocity': 4.0, 'platform_velocity_controller.angular.z.min_acceleration': -40.0, 'platform_velocity_controller.angular.z.min_velocity': -4.0, 'platform_velocity_controller.linear.x.max_acceleration': 50.0, 'platform_velocity_controller.linear.x.max_velocity': 5.0, 'platform_velocity_controller.linear.x.min_acceleration': -50.0, 'platform_velocity_controller.linear.x.min_velocity': -5.0, 'platform_velocity_controller.wheel_radius': 0.3}}

DO100 = {'platform_velocity_controller.angular.z.max_acceleration': 2.0, 'platform_velocity_controller.angular.z.max_velocity': 4.0, 'platform_velocity_controller.angular.z.min_acceleration': -2.0, 'platform_velocity_controller.angular.z.min_velocity': -4.0, 'platform_velocity_controller.linear.x.max_acceleration': 1.0, 'platform_velocity_controller.linear.x.max_velocity': 1.3, 'platform_velocity_controller.linear.x.min_acceleration': -1.0, 'platform_velocity_controller.linear.x.min_velocity': -1.3, 'platform_velocity_controller.linear.y.max_acceleration': 1.0, 'platform_velocity_controller.linear.y.max_velocity': 1.3, 'platform_velocity_controller.linear.y.min_acceleration': -1.0, 'platform_velocity_controller.linear.y.min_velocity': -1.3, 'platform_velocity_controller.wheel_radius': 0.05}

DO150 = {'platform_velocity_controller.angular.z.max_acceleration': 2.0, 'platform_velocity_controller.angular.z.max_velocity': 4.0, 'platform_velocity_controller.angular.z.min_acceleration': -2.0, 'platform_velocity_controller.angular.z.min_velocity': -4.0, 'platform_velocity_controller.linear.x.max_acceleration': 1.0, 'platform_velocity_controller.linear.x.max_velocity': 1.3, 'platform_velocity_controller.linear.x.min_acceleration': -1.0, 'platform_velocity_controller.linear.x.min_velocity': -1.3, 'platform_velocity_controller.linear.y.max_acceleration': 1.0, 'platform_velocity_controller.linear.y.max_velocity': 1.3, 'platform_velocity_controller.linear.y.min_acceleration': -1.0, 'platform_velocity_controller.linear.y.min_velocity': -1.3, 'platform_velocity_controller.wheel_radius': 0.05}

GENERIC = {'platform_velocity_controller.angular.z.max_acceleration': 1.0, 'platform_velocity_controller.angular.z.max_velocity': 1.0, 'platform_velocity_controller.angular.z.min_acceleration': -1.0, 'platform_velocity_controller.angular.z.min_velocity': -1.0, 'platform_velocity_controller.linear.x.max_acceleration': 1.0, 'platform_velocity_controller.linear.x.max_velocity': 1.0, 'platform_velocity_controller.linear.x.min_acceleration': -1.0, 'platform_velocity_controller.linear.x.min_velocity': -1.0, 'platform_velocity_controller.wheel_radius': 0.1}

J100 = {'platform_velocity_controller.angular.z.max_acceleration': 25.0, 'platform_velocity_controller.angular.z.max_velocity': 4.0, 'platform_velocity_controller.angular.z.min_acceleration': -25.0, 'platform_velocity_controller.angular.z.min_velocity': -4.0, 'platform_velocity_controller.linear.x.max_acceleration': 20.0, 'platform_velocity_controller.linear.x.max_velocity': 2.0, 'platform_velocity_controller.linear.x.min_acceleration': -20.0, 'platform_velocity_controller.linear.x.min_velocity': -2.0, 'platform_velocity_controller.wheel_radius': 0.098}

R100 = {'platform_velocity_controller.angular.z.max_acceleration': 2.0, 'platform_velocity_controller.angular.z.max_velocity': 4.0, 'platform_velocity_controller.angular.z.min_acceleration': -2.0, 'platform_velocity_controller.angular.z.min_velocity': -4.0, 'platform_velocity_controller.linear.x.max_acceleration': 1.0, 'platform_velocity_controller.linear.x.max_velocity': 1.3, 'platform_velocity_controller.linear.x.min_acceleration': -1.0, 'platform_velocity_controller.linear.x.min_velocity': -1.3, 'platform_velocity_controller.linear.y.max_acceleration': 1.0, 'platform_velocity_controller.linear.y.max_velocity': 1.3, 'platform_velocity_controller.linear.y.min_acceleration': -1.0, 'platform_velocity_controller.linear.y.min_velocity': -1.3, 'platform_velocity_controller.wheel_radius': 0.05}

W200 = {'platform_velocity_controller.angular.z.max_acceleration': 40.0, 'platform_velocity_controller.angular.z.max_velocity': 4.0, 'platform_velocity_controller.angular.z.min_acceleration': -40.0, 'platform_velocity_controller.angular.z.min_velocity': -4.0, 'platform_velocity_controller.linear.x.max_acceleration': 50.0, 'platform_velocity_controller.linear.x.max_velocity': 5.0, 'platform_velocity_controller.linear.x.min_acceleration': -50.0, 'platform_velocity_controller.linear.x.min_velocity': -5.0, 'platform_velocity_controller.wheel_radius': 0.3}