clearpath_config.common.types.accessory module

class clearpath_config.common.types.accessory.Accessory(name: str, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0])

Bases: object

PARENT = 'default_mount'
RPY = [0.0, 0.0, 0.0]
XYZ = [0.0, 0.0, 0.0]
static assert_is_supported()

Override this method to temporarily disable accessories that are not currently supported.

When disabling an accessory, raise a clearpath_config.common.types.exception.UnsupportedAccessoryException with a suitable mesage (e.g. ‘SpamEggs driver is not yet released for ROS 2 Jazzy’)

@return None

@exception Raises a clearpath_config.common.types.exception.UnsupportedAccessoryException

if the accessory is not supported

static assert_valid_triplet(tri: List[float], msg: str = None) None
from_dict(d: dict) None
get_name() str
get_parent() str
get_rpy() List[float]
get_xyz() List[float]
property is_deprecated

Override this method to indicate that this accessory has been deprecated.

Deprecated accessories may be removed completely in the future. See: - is_supported - assert_is_supported

When flagging an accessory for deprecation, simply override it to return True

property is_suppported
set_name(name: str) None
set_parent(parent: str) None
set_rpy(rpy: List[float]) None
set_xyz(xyz: List[float]) None
to_dict() dict
class clearpath_config.common.types.accessory.IndexedAccessory(idx: int = None, name: str = None, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0])

Bases: Accessory

get_idx() str
classmethod get_name_from_idx()
set_idx(idx: int) None