clearpath_config.sensors.types.lidars_2d module

class clearpath_config.sensors.types.lidars_2d.BaseLidar2D(idx: int = None, name: str = None, topic: str = 'scan', frame_id: str = 'laser', ip: str = '192.168.131.20', port: int = 6000, min_angle: float = -3.141592653589793, max_angle: float = 3.141592653589793, urdf_enabled: bool = True, launch_enabled: bool = True, ros_parameters: dict = {}, ros_parameters_template: dict = {}, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0])

Bases: BaseSensor

FRAME_ID = 'laser'

IP_ADDRESS = '192.168.131.20'

IP_PORT = 6000

MAX_ANGLE = 3.141592653589793

MIN_ANGLE = -3.141592653589793

class ROS_PARAMETER_KEYS

Bases: object

FRAME_ID = 'node_name.frame_id'

IP_ADDRESS = 'node_name.ip_address'

IP_PORT = 'node_name.ip_port'

MAX_ANGLE = 'node_name.max_angle'

MIN_ANGLE = 'node_name.min_angle'

SENSOR_MODEL = 'base'

SENSOR_TYPE = 'lidar2d'

TOPIC = 'scan'

class TOPICS

Bases: object

NAME = {'scan': 'scan'}

SCAN = 'scan'

TYPE = {'scan': 'sensor_msgs/msg/LaserScan'}

property frame_id: str

classmethod get_frame_id_from_idx(idx: int) → str

classmethod get_ip_from_idx(idx: int) → str

property ip: str

property max_angle: float

property min_angle: float

property port: int

set_idx(idx: int) → None

class clearpath_config.sensors.types.lidars_2d.HokuyoUST(idx: int = None, name: str = None, topic: str = 'scan', frame_id: str = 'laser', ip: str = '192.168.131.20', port: int = 10940, min_angle: float = -3.141592653589793, max_angle: float = 3.141592653589793, urdf_enabled: bool = True, launch_enabled: bool = True, ros_parameters: dict = {}, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0])

Bases: BaseLidar2D

FRAME_ID = 'laser'

IP_PORT = 10940

MAX_ANGLE = 3.141592653589793

MIN_ANGLE = -3.141592653589793

class ROS_PARAMETER_KEYS

Bases: object

FRAME_ID = 'urg_node.laser_frame_id'

IP_ADDRESS = 'urg_node.ip_address'

IP_PORT = 'urg_node.ip_port'

MAX_ANGLE = 'urg_node.angle_max'

MIN_ANGLE = 'urg_node.angle_min'

SENSOR_MODEL = 'hokuyo_ust'

class clearpath_config.sensors.types.lidars_2d.SickLMS1XX(idx: int = None, name: str = None, topic: str = 'scan', frame_id: str = 'laser', ip: str = '192.168.131.20', port: int = 2111, min_angle: float = -2.391, max_angle: float = 2.391, urdf_enabled: bool = True, launch_enabled: bool = True, ros_parameters: dict = {}, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0])

Bases: BaseLidar2D

FRAME_ID = 'laser'

IP_PORT = 2111

MAX_ANGLE = 2.391

MIN_ANGLE = -2.391

class ROS_PARAMETER_KEYS

Bases: object

FRAME_ID = 'lms1xx.frame_id'

IP_ADDRESS = 'lms1xx.host'

IP_PORT = 'lms1xx.port'

MAX_ANGLE = 'lms1xx.max_ang'

MIN_ANGLE = 'lms1xx.min_ang'

SENSOR_MODEL = 'sick_lms1xx'