clearpath_config.platform.platform module
- class clearpath_config.platform.platform.DescriptionPackagePath(package: str = None, path: str = None, macro: str = None, parameters: dict = None)
Bases:
PackagePath
- MACRO = 'macro'
- PARAMETERS = 'parameters'
- from_dict(config: dict) None
- property macro: str
- property parameters: dict
- to_dict() dict
- class clearpath_config.platform.platform.PlatformConfig(config: dict = {}, controller: str = 'ps4', attachments: dict = {}, can_bridges: dict = {}, battery: dict = {'configuration': 'unknown', 'launch_args': {}, 'model': 'unknown'}, extras: dict = {'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}, wheel: dict = 'default', enable_ekf: bool = True)
Bases:
BaseConfig
- ATTACHMENTS = 'attachments'
- BATTERY = 'battery'
- CAN_BRIDGES = 'can_bridges'
- CONTROL = 'control'
- CONTROLLER = 'controller'
- CONTROLLERS = ['ps4', 'ps5', 'logitech', 'xbox']
- DEFAULTS = {'attachments': {}, 'battery': {'configuration': 'unknown', 'launch_args': {}, 'model': 'unknown'}, 'can_bridges': {}, 'control': '', 'controller': 'ps4', 'description': '', 'enable_ekf': True, 'extras': {'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}, 'launch': '', 'wheel': 'default'}
- DESCRIPTION = 'description'
- ENABLE_EKF = 'enable_ekf'
- EXTRAS = 'extras'
- KEYS = {'attachments': 'platform.attachments', 'battery': 'platform.battery', 'can_bridges': 'platform.can_bridges', 'control': 'platform.control', 'controller': 'platform.controller', 'description': 'platform.description', 'enable_ekf': 'platform.enable_ekf', 'extras': 'platform.extras', 'launch': 'platform.launch', 'wheel': 'platform.wheel'}
- LAUNCH = 'launch'
- LOGITECH = 'logitech'
- PLATFORM = 'platform'
- PS4 = 'ps4'
- PS5 = 'ps5'
- TEMPLATE = {'platform': {'attachments': 'attachments', 'battery': 'battery', 'can_bridges': 'can_bridges', 'control': 'control', 'controller': 'controller', 'description': 'description', 'enable_ekf': 'enable_ekf', 'extras': 'extras', 'launch': 'launch', 'wheel': 'wheel'}}
- WHEEL = 'wheel'
- XBOX = 'xbox'
- property attachments: AttachmentsConfig
- property battery: BatteryConfig
- property can_bridges: CANBridgeConfig
- property control: dict
- property controller: str
- property description: dict
- property enable_ekf: bool
- property extras: ExtrasConfig
- get_controller() str
- property launch: dict
- update(serial_number=False) None
Update any variables based on inputs.
- property wheel: str