clearpath_config.sensors.types.ins module

class clearpath_config.sensors.types.ins.BaseINS(idx: int = None, name: str = None, topic: str = 'odom', frame_id: str = 'link', urdf_enabled: bool = True, launch_enabled: bool = True, ros_parameters: dict = {}, ros_parameters_template: dict = {}, parent: str = 'default_mount', xyz: ~typing.List[float] = [0.0, 0.0, 0.0], rpy: ~typing.List[float] = [0.0, 0.0, 0.0], antennas: ~typing.List[~clearpath_config.sensors.types.ins.InsAntenna] = [<clearpath_config.sensors.types.ins.InsAntenna object>])

Bases: BaseSensor

Base class for all INS sensors.

INS sensors have 2-3 relevant frames: - primary sensor frame - 1-2 GPS antenna frames

These sensors output the following topics in the sensors/ins_N namespace: - gps_0/fix (NavSatFix) - gps_0/vel (Twist) - gps_1/fix (NavSatFix) (if 2 GPS frames, otherwise skipped) - gps_1/vel (Twist) (as above) - imu/data (Imu) - odom (Odometry)

DEFAULT_ANTENNAS = [<clearpath_config.sensors.types.ins.InsAntenna object>]

FIX_TOPICS = ['gps_0/fix']

FRAME_ID = 'link'

IMU_TOPIC = 'imu/data'

ODOM_TOPIC = 'odom'

SENSOR_MODEL = 'base'

SENSOR_TYPE = 'ins'

VEL_TOPICS = ['gps_0/vel']

property antennas: List[InsAntenna]

property frame_id: str

from_dict(d)

class clearpath_config.sensors.types.ins.Fixposition(idx: int = None, name: str = None, topic: str = 'odom', frame_id: str = 'link', urdf_enabled: bool = True, launch_enabled: bool = True, ros_parameters: dict = {}, ros_parameters_template: dict = {}, parent: str = 'default_mount', xyz: ~typing.List[float] = [0.0, 0.0, 0.0], rpy: ~typing.List[float] = [0.0, 0.0, 0.0], antennas: ~typing.List[~clearpath_config.sensors.types.ins.InsAntenna] = [<clearpath_config.sensors.types.ins.InsAntenna object>], device_type: str = 'xvn')

Bases: BaseINS

DEVICE_TYPE = 'xvn'

DEVICE_TYPES = 'xvn'

IP_ADDRESS = 'ip'

class ROS_PARAMETER_KEYS

Bases: object

CONNECTION_TYPE = 'fixposition_driver.fp_output.type'

FORMATS = 'fixposition_driver.fp_output.formats'

IP_ADDRESS = 'fixposition_driver.fp_output.ip'

PORT = 'fixposition_driver.fp_output.port'

RATE = 'fixposition_driver.fp_output.rate'

RECONNECT = 'fixposition_driver.fp_output.reconnect'

RTCM_TOPIC = 'fixposition_driver.customer_input.rtcm_topic'

WHEEL_SPEED_TOPIC = 'fixposition_driver.customer_input.speed_topic'

SENSOR_MODEL = 'fixposition'

TCP_PORT = 'port'

XVN = 'xvn'

XVN_CONNECTION_TYPE = 'tcp'

XVN_FORMATS = ['ODOMETRY', 'LLH', 'RAWIMU', 'CORRIMU']

XVN_IP = '192.168.131.35'

XVN_PORT = '21001'

XVN_RATE = 200

XVN_RECONNECT = 5

XVN_RTCM_TOPIC = 'xvn/rtcm'

XVN_WHEEL_SPEED_TOPIC = 'xvn/speed'

property connection_type: str

property device_type: str

property formats: List[str]

from_dict(d: dict) → None

property ip_address: str

property port: str

property rate: int

property reconnect: int

property rtcm_topic: str

property wheel_speed_topic: str

class clearpath_config.sensors.types.ins.InsAntenna(idx: int = 0, prefix: str = 'ins_0', parent: str = 'default_mount', type: str = 'spherical', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0])

Bases: Accessory

Container class for the GNSS antenna(s) used by the INS sensor.

Supports 3 types

DEFAULT_TYPE = 'spherical'

TYPES = ('helical', 'patch', 'spherical')

TYPE_HELICAL = 'helical'

TYPE_PATCH = 'patch'

TYPE_SPHERICAL = 'spherical'

property antenna_type: str