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Feature: Manipulator Extra ROS Parameters #229

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Feature: Manipulator Extra ROS Parameters #229

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acd293e
Pass manipulator ros parameters to generated controller file
luis-camero Jun 23, 2025
6dc8376
Update platform config parameters
luis-camero Jun 25, 2025
72790d2
Remove pprint
luis-camero Jun 25, 2025
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51 changes: 51 additions & 0 deletions clearpath_generator_common/clearpath_generator_common/param/manipulators.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -107,17 +107,33 @@ def generate_parameters(self, use_sim_time: bool = False) -> None:
arm_param_file.parameters,
{r'${name}': f'{arm.name}_{arm.arm_id}'}
)
extra_parameters = replace_dict_items(
arm.ros_parameters,
{r'${name}': f'{arm.name}_{arm.arm_id}'}
)
else:
updated_parameters = replace_dict_items(
arm_param_file.parameters,
{r'${name}': arm.name}
)
extra_parameters = replace_dict_items(
arm.ros_parameters,
{r'${name}': arm.name}
)
updated_parameters = replace_dict_items(
updated_parameters,
{r'${controller_name}': arm.name}
)
extra_parameters = replace_dict_items(
extra_parameters,
{r'${controller_name}': arm.name}
)
self.param_file.parameters = merge_dict(
self.param_file.parameters, updated_parameters)
# Overwrite ros parameters with extra
self.param_file.parameters = merge_dict(
extra_parameters, self.param_file.parameters)

# Grippers
for arm in self.clearpath_config.manipulators.get_all_arms():
if not arm.gripper:
Expand All @@ -139,18 +155,35 @@ def generate_parameters(self, use_sim_time: bool = False) -> None:
gripper_param_file.parameters,
{r'${name}': f'{gripper.name}_{gripper.arm_id}'}
)
extra_parameters = replace_dict_items(
gripper.ros_parameters,
{r'${name}': f'{gripper.name}_{gripper.arm_id}'}
)
else:
updated_parameters = replace_dict_items(
gripper_param_file.parameters,
{r'${name}': gripper.name}
)
extra_parameters = replace_dict_items(
gripper.ros_parameters,
{r'${name}': gripper.name}
)
updated_parameters = replace_dict_items(
updated_parameters,
{r'${controller_name}': gripper.name}
)
extra_parameters = replace_dict_items(
extra_parameters,
{r'${controller_name}': gripper.name}
)

self.param_file.parameters = merge_dict(
self.param_file.parameters, updated_parameters)

# Overwrite ros parameters with extra
self.param_file.parameters = merge_dict(
extra_parameters, self.param_file.parameters)

# Lifts
for lift in self.clearpath_config.manipulators.get_all_lifts():
# Lift Control Parameter File
Expand All @@ -167,9 +200,27 @@ def generate_parameters(self, use_sim_time: bool = False) -> None:
lift_param_file.parameters,
{r'${name}': lift.name}
)
updated_parameters = replace_dict_items(
updated_parameters,
{r'${controller_name}': lift.name}
)

extra_parameters = replace_dict_items(
lift.ros_parameters,
{r'${name}': lift.name}
)
extra_parameters = replace_dict_items(
extra_parameters,
{r'${controller_name}': lift.name}
)

self.param_file.parameters = merge_dict(
self.param_file.parameters, updated_parameters)

# Overwrite ros parameters with extra
self.param_file.parameters = merge_dict(
extra_parameters, self.param_file.parameters)

def generate_parameter_file(self):
param_writer = ParamWriter(self.param_file)
param_writer.write_file()
Expand Down
45 changes: 45 additions & 0 deletions clearpath_generator_common/clearpath_generator_common/param/platform.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -123,17 +123,32 @@ def generate_parameters(self, use_sim_time: bool = False) -> None:
arm_param_file.parameters,
{r'${name}': f'{arm.name}_{arm.arm_id}'}
)
extra_parameters = replace_dict_items(
arm.ros_parameters,
{r'${name}': f'{arm.name}_{arm.arm_id}'}
)
else:
updated_parameters = replace_dict_items(
arm_param_file.parameters,
{r'${name}': arm.name}
)
extra_parameters = replace_dict_items(
arm.ros_parameters,
{r'${name}': arm.name}
)
updated_parameters = replace_dict_items(
updated_parameters,
{r'${controller_name}': arm.name}
)
extra_parameters = replace_dict_items(
extra_parameters,
{r'${controller_name}': arm.name}
)
self.param_file.parameters = merge_dict(
self.param_file.parameters, updated_parameters)
# Overwrite ros parameters with extra
self.param_file.parameters = merge_dict(
extra_parameters, self.param_file.parameters)

# Gripper Control
if self.parameter == PlatformParam.CONTROL and use_sim_time:
Expand All @@ -157,15 +172,27 @@ def generate_parameters(self, use_sim_time: bool = False) -> None:
gripper_param_file.parameters,
{r'${name}': f'{gripper.name}_{gripper.arm_id}'}
)
extra_parameters = replace_dict_items(
gripper.ros_parameters,
{r'${name}': f'{gripper.name}_{gripper.arm_id}'}
)
else:
updated_parameters = replace_dict_items(
gripper_param_file.parameters,
{r'${name}': gripper.name}
)
extra_parameters = replace_dict_items(
gripper.ros_parameters,
{r'${name}': gripper.name}
)
updated_parameters = replace_dict_items(
updated_parameters,
{r'${controller_name}': gripper.name}
)
extra_parameters = replace_dict_items(
extra_parameters,
{r'${controller_name}': gripper.name}
)
self.param_file.parameters = merge_dict(
self.param_file.parameters, updated_parameters)

Expand All @@ -186,9 +213,27 @@ def generate_parameters(self, use_sim_time: bool = False) -> None:
lift_param_file.parameters,
{r'${name}': lift.name}
)
updated_parameters = replace_dict_items(
updated_parameters,
{r'${controller_name}': lift.name}
)

extra_parameters = replace_dict_items(
lift.ros_parameters,
{r'${name}': lift.name}
)
extra_parameters = replace_dict_items(
extra_parameters,
{r'${controller_name}': lift.name}
)

self.param_file.parameters = merge_dict(
self.param_file.parameters, updated_parameters)

# Overwrite ros parameters with extra
self.param_file.parameters = merge_dict(
extra_parameters, self.param_file.parameters)

# Get extra ros parameters from config
extras = self.clearpath_config.platform.extras.ros_parameters
for node in extras:
Expand Down