clearpath_config.platform.platform module

class clearpath_config.platform.platform.DescriptionPackagePath(package: str | None = None, path: str | None = None, macro: str | None = None, parameters: dict | None = 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: str = {}, 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')

Bases: BaseConfig

ATTACHMENTS = 'attachments'

BATTERY = 'battery'

CONTROL = 'control'

CONTROLLER = 'controller'

DEFAULTS = {'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'}

DESCRIPTION = 'description'

EXTRAS = 'extras'

KEYS = {'attachments': 'platform.attachments', 'battery': 'platform.battery', 'control': 'platform.control', 'controller': 'platform.controller', 'description': 'platform.description', 'extras': 'platform.extras', 'launch': 'platform.launch', 'wheel': 'platform.wheel'}

LAUNCH = 'launch'

LOGITECH = 'logitech'

PLATFORM = 'platform'

PS4 = 'ps4'

TEMPLATE = {'platform': {'attachments': 'attachments', 'battery': 'battery', 'control': 'control', 'controller': 'controller', 'description': 'description', 'extras': 'extras', 'launch': 'launch', 'wheel': 'wheel'}}

WHEEL = 'wheel'

property attachments: AttachmentsConfig

property battery: BatteryConfig

property control: dict

property controller: str

property description: dict

property extras: ExtrasConfig

get_controller() → str

property launch: dict

update(serial_number=False) → None

Update any variables based on inputs.

property wheel: str