clearpath_config.clearpath_config module
- class clearpath_config.clearpath_config.ClearpathConfig(config: dict | str | None = None)
Bases:
BaseConfig- DEFAULTS = {'links': {'box': [], 'cylinder': [], 'frame': [], 'mesh': [], 'sphere': []}, 'manipulators': {'arms': []}, 'mounts': {'bracket': [], 'disk': [], 'fath_pivot': [], 'post': [], 'riser': [], 'sick': []}, 'platform': {'attachments': {}, 'battery': {'configuration': 'unknown', 'launch_args': {}, 'model': 'unknown'}, 'control': '', 'controller': 'ps4', 'description': '', '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'}, 'sensors': {'camera': [], 'gps': [], 'imu': [], 'lidar2d': [], 'lidar3d': []}, 'serial_number': 'generic', 'system': {'domain_id': 0, 'hosts': [{'hostname': 'generic-xxxx', 'ip': '192.168.131.1'}], 'localhost': '7b37ce0e21ef', 'middleware': {'discovery': 'simple', 'implementation': 'rmw_fastrtps_cpp', 'override_server_id': False, 'profile': '', 'servers': []}, 'namespace': 'cpr_generic_xxxx', 'username': 'administrator', 'workspaces': []}, 'version': 0}
- KEYS = {'links': 'links', 'manipulators': 'manipulators', 'mounts': 'mounts', 'platform': 'platform', 'sensors': 'sensors', 'serial_number': 'serial_number', 'system': 'system', 'version': 'version'}
- LINKS = 'links'
- MANIPULATORS = 'manipulators'
- MOUNTS = 'mounts'
- PLATFORM = 'platform'
- SENSORS = 'sensors'
- SERIAL_NUMBER = 'serial_number'
- SYSTEM = 'system'
- TEMPLATE = {'links': 'links', 'manipulators': 'manipulators', 'mounts': 'mounts', 'platform': 'platform', 'sensors': 'sensors', 'serial_number': 'serial_number', 'system': 'system', 'version': 'version'}
- VERSION = 'version'
- property links: LinksConfig
- property manipulators: ManipulatorConfig
- property mounts: MountsConfig
- property platform: PlatformConfig
- read(file: str | dict) None
- property sensors: SensorConfig
- property serial_number: str
- property system: SystemConfig
- property version: int
- write(file: str) None