clearpath_config.sensors.types.lidars_3d module
- class clearpath_config.sensors.types.lidars_3d.BaseLidar3D(idx: int | None = None, name: str | None = None, topic: str = 'points', frame_id: str = 'laser', ip: str = '192.168.131.25', port: int = '2368', urdf_enabled: bool = True, launch_enabled: bool = True, ros_parameters: dict = {}, ros_parameters_template: dict = {}, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0])
Bases:
BaseSensor
- FRAME_ID = 'laser'
- IP_ADDRESS = '192.168.131.25'
- IP_PORT = '2368'
- class ROS_PARAMETER_KEYS
Bases:
object
- FRAME_ID = 'node_name.frame_id'
- IP_ADDRESS = 'node_name.ip_address'
- IP_PORT = 'node_name.ip_port'
- SENSOR_MODEL = 'base'
- SENSOR_TYPE = 'lidar3d'
- TOPIC = 'points'
- class TOPICS
Bases:
object
- NAME = {'points': 'points', 'scan': 'scan'}
- POINTS = 'points'
- RATE = {'points': 10, 'scan': 10}
- SCAN = 'scan'
- property frame_id: str
- get_frame_id() str
- classmethod get_frame_id_from_idx(idx: int) str
- get_ip() str
- classmethod get_ip_from_idx(idx: int) str
- get_port() int
- property ip: str
- property port: int
- set_frame_id(link: str) None
- set_idx(idx: int) None
- set_ip(ip: str) None
- set_port(port: int) None
- class clearpath_config.sensors.types.lidars_3d.VelodyneLidar(idx: int | None = None, name: str | None = None, topic: str = 'points', 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, ros_parameters: str = {}, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0])
Bases:
BaseLidar3D
- DEVICE_TYPE = 'VLP16'
- DEVICE_TYPES = ['32E', '64E', '64E_S2', '64E_S3', 'VLP16', '32C']
- FRAME_ID = 'laser'
- HDL_32E = '32E'
- HDL_64E = '64E'
- HDL_64E_S2 = '64E_S2'
- HDL_64E_S3 = '64E_S3'
- IP_PORT = 2368
- class ROS_PARAMETER_KEYS
Bases:
object
- DRIVER_NODE_MODEL = 'velodyne_driver_node.model'
- FIXED_FRAME = 'velodyne_transform_node.fixed_frame'
- FRAME_ID = 'velodyne_driver_node.frame_id'
- IP_ADDRESS = 'velodyne_driver_node.device_ip'
- IP_PORT = 'velodyne_driver_node.port'
- TARGET_FRAME = 'velodyne_transform_node.target_frame'
- TRANSFORM_NODE_MODEL = 'velodyne_transform_node.model'
- SENSOR_MODEL = 'velodyne_lidar'
- class TOPICS
Bases:
object
- NAME = {'points': 'points', 'scan': 'scan'}
- POINTS = 'points'
- RATE = {'points': 10, 'scan': 10}
- SCAN = 'scan'
- VLP_16 = 'VLP16'
- VLP_32C = '32C'
- property device_type: str
- get_device_type() str
- set_device_type(device_type: str) None