clearpath_config.sensors.sensors module

class clearpath_config.sensors.sensors.Camera(model: str)

Bases: object

FLIR_BLACKFLY = 'flir_blackfly'

INTEL_REALSENSE = 'intel_realsense'

MODEL = {'flir_blackfly': <class 'clearpath_config.sensors.types.cameras.FlirBlackfly'>, 'intel_realsense': <class 'clearpath_config.sensors.types.cameras.IntelRealsense'>, 'stereolabs_zed': <class 'clearpath_config.sensors.types.cameras.StereolabsZed'>}

STEREOLABS_ZED = 'stereolabs_zed'

classmethod assert_model(model: str) → None

class clearpath_config.sensors.sensors.GlobalPositioningSystem(model: str)

Bases: object

GARMIN_18X = 'garmin_18x'

MODEL = {'garmin_18x': <class 'clearpath_config.sensors.types.gps.Garmin18x'>, 'novatel_smart6': <class 'clearpath_config.sensors.types.gps.NovatelSmart6'>, 'novatel_smart7': <class 'clearpath_config.sensors.types.gps.NovatelSmart7'>, 'swiftnav_duro': <class 'clearpath_config.sensors.types.gps.SwiftNavDuro'>}

NOVATEL_SMART6 = 'novatel_smart6'

NOVATEL_SMART7 = 'novatel_smart7'

SWIFTNAV_DURO = 'swiftnav_duro'

classmethod assert_model(model: str) → None

class clearpath_config.sensors.sensors.InertialMeasurementUnit(model: str)

Bases: object

CHROBOTICS_UM6 = 'chrobotics_um6'

MICROSTRAIN_IMU = 'microstrain_imu'

MODEL = {'chrobotics_um6': <class 'clearpath_config.sensors.types.imu.CHRoboticsUM6'>, 'microstrain_imu': <class 'clearpath_config.sensors.types.imu.Microstrain'>, 'redshift_um7': <class 'clearpath_config.sensors.types.imu.RedshiftUM7'>}

REDSHIFT_UM7 = 'redshift_um7'

classmethod assert_model(model: str) → None

class clearpath_config.sensors.sensors.Lidar2D(model: str)

Bases: object

HOKUYO_UST = 'hokuyo_ust'

MODEL = {'hokuyo_ust': <class 'clearpath_config.sensors.types.lidars_2d.HokuyoUST'>, 'sick_lms1xx': <class 'clearpath_config.sensors.types.lidars_2d.SickLMS1XX'>}

SICK_LMS1XX = 'sick_lms1xx'

classmethod assert_model(model: str) → None

class clearpath_config.sensors.sensors.Lidar3D(model: str)

Bases: object

MODEL = {'velodyne_lidar': <class 'clearpath_config.sensors.types.lidars_3d.VelodyneLidar'>}

VELODYNE_LIDAR = 'velodyne_lidar'

classmethod assert_model(model: str) → None

class clearpath_config.sensors.sensors.Sensor(_type: str, _model: str)

Bases: object

CAMERA = 'camera'

GPS = 'gps'

IMU = 'imu'

LIDAR2D = 'lidar2d'

LIDAR3D = 'lidar3d'

TYPE = {'camera': <class 'clearpath_config.sensors.sensors.Camera'>, 'gps': <class 'clearpath_config.sensors.sensors.GlobalPositioningSystem'>, 'imu': <class 'clearpath_config.sensors.sensors.InertialMeasurementUnit'>, 'lidar2d': <class 'clearpath_config.sensors.sensors.Lidar2D'>, 'lidar3d': <class 'clearpath_config.sensors.sensors.Lidar3D'>}

classmethod assert_type(_type: str) → None

class clearpath_config.sensors.sensors.SensorConfig(config: dict = {}, camera: List[BaseCamera] = [], gps: List[BaseGPS] = [], imu: List[BaseIMU] = [], lidar2d: List[BaseLidar2D] = [], lidar3d: List[BaseLidar3D] = [])

Bases: BaseConfig

CAMERA = 'camera'

CAMERA_INDEX = 0

DEFAULTS = {'camera': [], 'gps': [], 'imu': [], 'lidar2d': [], 'lidar3d': []}

GPS = 'gps'

GPS_INDEX = 0

IMU = 'imu'

IMU_INDEX = 0

KEYS = {'camera': 'sensors.camera', 'gps': 'sensors.gps', 'imu': 'sensors.imu', 'lidar2d': 'sensors.lidar2d', 'lidar3d': 'sensors.lidar3d'}

LIDAR2D = 'lidar2d'

LIDAR2D_INDEX = 0

LIDAR3D = 'lidar3d'

LIDAR3D_INDEX = 0

SENSORS = 'sensors'

TEMPLATE = {'sensors': {'camera': 'camera', 'gps': 'gps', 'imu': 'imu', 'lidar2d': 'lidar2d', 'lidar3d': 'lidar3d'}}

add_blackfly(blackfly: FlirBlackfly | None = None, connection_type: str = 'USB3', encoding: str = 'BayerRG8', fps: int = 30, serial: str = '0', urdf_enabled: bool = True, launch_enabled: bool = True, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0]) → None

add_camera(camera: BaseCamera | None = None, model: str | None = None, fps: int = 30, serial: str = '0', 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]) → None

add_duro(duro: SwiftNavDuro | None = None, frame_id: str = 'link', ip: str = '192.168.131.30', port: int = 55555, urdf_enabled: bool = True, launch_enabled: bool = True, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0]) → None

add_gps(gps: BaseGPS | None = None, model: str | None = None, frame_id: str = 'link', urdf_enabled: bool = True, launch_enabled: bool = True, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0]) → None

add_imu(imu: BaseIMU | None = None, model: str | None = None, frame_id: str = 'link', port: str = '/dev/clearpath/imu', use_enu: bool = True, urdf_enabled: bool = True, launch_enabled: bool = True, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0]) → None

add_lidar2d(lidar2d: BaseLidar2D | None = None, model: str | None = None, 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, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0]) → None

add_lidar3d(lidar3d: BaseLidar3D | None = None, model: str | None = None, frame_id: str = 'laser', ip: str = '192.168.131.25', port: int = '2368', urdf_enabled: bool = True, launch_enabled: bool = True, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0]) → None

add_lms1xx(lms1xx: SickLMS1XX | None = None, 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, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0]) → None

add_microstrain(imu: Microstrain | None = None, frame_id: str = 'link', port: str = '/dev/microstrain_main', use_enu: bool = True, urdf_enabled: bool = True, launch_enabled: bool = True, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0]) → None

add_realsense(realsense: IntelRealsense | None = None, serial: str = '0', device_type: str = 'd435', color_enabled: bool = True, color_fps: bool = 30, color_width: int = 640, color_height: int = 480, depth_enabled: bool = True, depth_fps: int = 30, depth_width: int = 640, depth_height: int = 480, pointcloud_enabled: bool = True, 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]) → None

add_ust(ust: HokuyoUST | None = None, 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, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0]) → None

add_velodyne(velodyne: VelodyneLidar | None = None, frame_id: str = 'laser', ip: str = '192.168.131.25', port: int = 2368, device_type: str = 'VLP16', urdf_enabled: bool = True, launch_enabled: bool = True, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0]) → None

property camera: OrderedListConfig

get_all_blackfly() → List[FlirBlackfly]

get_all_cameras() → List[BaseCamera]

get_all_cameras_by_model(model: str) → List[BaseCamera]

get_all_duro() → List[SwiftNavDuro]

get_all_gps() → List[BaseGPS]

get_all_gps_by_model(model: str) → List[BaseGPS]

get_all_imu() → List[BaseIMU]

get_all_imu_by_model(model: str) → List[BaseIMU]

get_all_lidar_2d() → List[BaseLidar2D]

get_all_lidar_2d_by_model(model: str) → List[BaseLidar2D]

get_all_lidar_3d() → List[BaseLidar3D]

get_all_lidar_3d_by_model(model: str) → List[BaseLidar3D]

get_all_lms1xx() → List[SickLMS1XX]

get_all_microstrain() → List[Microstrain]

get_all_realsense() → List[IntelRealsense]

get_all_sensors() → List[BaseSensor]

get_all_ust() → List[HokuyoUST]

get_all_velodyne() → List[VelodyneLidar]

get_camera(idx: int) → BaseCamera

get_gps(idx: int) → BaseGPS

get_imu(idx: int) → BaseIMU

get_lidar_2d(idx: int) → BaseLidar2D

get_lidar_3d(idx: int) → BaseLidar3D

property gps: OrderedListConfig

property imu: OrderedListConfig

property lidar2d: OrderedListConfig

property lidar3d: OrderedListConfig

remove_camera(camera: BaseCamera | int) → None

remove_gps(gps: BaseGPS | int) → None

remove_imu(imu: BaseIMU | int) → None

remove_lidar_2d(lidar_2d: BaseLidar2D | int) → None

remove_lidar_3d(lidar_3d: BaseLidar3D | int) → None

set_all_camera(cameras: List[BaseCamera]) → None

set_all_gps(all_gps: List[BaseGPS]) → None

set_all_imu(all_imu: List[BaseIMU]) → None

set_all_lidar_2d(all_lidar_2d: List[BaseLidar2D]) → None

set_all_lidar_3d(all_lidar_3d: List[BaseLidar3D]) → None

set_camera(camera: BaseCamera) → None

set_gps(gps: BaseGPS) → None

set_imu(imu: BaseIMU) → None

set_lidar_2d(lidar_2d: BaseLidar2D) → None

set_lidar_3d(lidar_3d: BaseLidar3D) → None

update(serial_number=False) → None

Update any variables based on inputs.

class clearpath_config.sensors.sensors.SensorListConfig

Bases: OrderedListConfig[BaseSensor]

to_dict() → List[dict]