Merge pull request #33 from clearpathrobotics/humble-devel/samples

Updated samples to include workspace
clearpathrobotics · Aug 16, 2023 · 304aacb · 304aacb
2 parents 10132b2 + 994240f
commit 304aacb
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Showing 8 changed files with 92 additions and 8 deletions.
diff --git a/clearpath_config/sample/a200/a200_default.yaml b/clearpath_config/sample/a200/a200_default.yaml
@@ -12,6 +12,8 @@ system:
     namespace: a200_0000
     domain_id: 0
     rmw_implementation: rmw_fastrtps_cpp
+    workspaces:
+      - /home/administrator/micro_ros_ws/install/setup.bash
 platform:
   controller: ps4
   attachments:
@@ -39,7 +41,16 @@ platform:
       rpy: [0.0, 0.0, 0.0]
   extras:
     urdf: null
-    ros_parameters: {}
+    ros_parameters:
+      platform_velocity_controller:
+        linear.x.max_velocity": 1.0
+        linear.x.min_velocity": -1.0
+        linear.x.max_acceleration": 3.0
+        linear.x.min_acceleration": -3.0
+        angular.z.max_velocity": 2.0
+        angular.z.min_velocity": -2.0
+        angular.z.max_acceleration": 6.0
+        angular.z.min_acceleration": -6.0
 links:
   box: []
   cylinder: []

diff --git a/clearpath_config/sample/a200/a200_dual_laser.yaml b/clearpath_config/sample/a200/a200_dual_laser.yaml
@@ -12,6 +12,8 @@ system:
     namespace: a200_0000
     domain_id: 0
     rmw_implementation: rmw_fastrtps_cpp
+    workspaces:
+      - /home/administrator/micro_ros_ws/install/setup.bash
 platform:
   controller: ps4
   attachments:
@@ -39,7 +41,16 @@ platform:
       rpy: [0.0, 0.0, 0.0]
   extras:
     urdf: null
-    ros_parameters: {}
+    ros_parameters:
+      platform_velocity_controller:
+        linear.x.max_velocity": 1.0
+        linear.x.min_velocity": -1.0
+        linear.x.max_acceleration": 3.0
+        linear.x.min_acceleration": -3.0
+        angular.z.max_velocity": 2.0
+        angular.z.min_velocity": -2.0
+        angular.z.max_acceleration": 6.0
+        angular.z.min_acceleration": -6.0
 links:
   box: []
   cylinder: []

diff --git a/clearpath_config/sample/a200/a200_sample.yaml b/clearpath_config/sample/a200/a200_sample.yaml
@@ -12,6 +12,8 @@ system:
     namespace: a200_0000
     domain_id: 0
     rmw_implementation: rmw_fastrtps_cpp
+    workspaces:
+      - /home/administrator/micro_ros_ws/install/setup.bash
 platform:
   controller: ps4
   attachments:
@@ -39,7 +41,16 @@ platform:
       rpy: [0.0, 0.0, 0.0]
   extras:
     urdf: null
-    control: null
+    ros_parameters:
+      platform_velocity_controller:
+        linear.x.max_velocity": 1.0
+        linear.x.min_velocity": -1.0
+        linear.x.max_acceleration": 3.0
+        linear.x.min_acceleration": -3.0
+        angular.z.max_velocity": 2.0
+        angular.z.min_velocity": -2.0
+        angular.z.max_acceleration": 6.0
+        angular.z.min_acceleration": -6.0
 links:
   box:
   - name: user_bay_cover

diff --git a/clearpath_config/sample/a200/a200_velodyne.yaml b/clearpath_config/sample/a200/a200_velodyne.yaml
@@ -12,6 +12,8 @@ system:
     namespace: a200_0000
     domain_id: 0
     rmw_implementation: rmw_fastrtps_cpp
+    workspaces:
+      - /home/administrator/micro_ros_ws/install/setup.bash
 platform:
   controller: ps4
   attachments:
@@ -39,7 +41,16 @@ platform:
       rpy: [0.0, 0.0, 0.0]
   extras:
     urdf: null
-    ros_parameters: {}
+    ros_parameters:
+      platform_velocity_controller:
+        linear.x.max_velocity": 1.0
+        linear.x.min_velocity": -1.0
+        linear.x.max_acceleration": 3.0
+        linear.x.min_acceleration": -3.0
+        angular.z.max_velocity": 2.0
+        angular.z.min_velocity": -2.0
+        angular.z.max_acceleration": 6.0
+        angular.z.min_acceleration": -6.0
 links:
   box: []
   cylinder: []

diff --git a/clearpath_config/sample/j100/j100_default.yaml b/clearpath_config/sample/j100/j100_default.yaml
@@ -12,6 +12,8 @@ system:
     namespace: j100_0000
     domain_id: 0
     rmw_implementation: rmw_fastrtps_cpp
+    workspaces:
+      - /home/administrator/micro_ros_ws/install/setup.bash
 platform:
   controller: ps4
   attachments:
@@ -23,7 +25,15 @@ platform:
       model: default
   extras:
     urdf: null
-    ros_parameters: {}
+    ros_parameters:
+      linear.x.max_velocity": 2.0
+      linear.x.min_velocity": -2.0
+      linear.x.max_acceleration": 20.0
+      linear.x.min_acceleration": -20.0
+      angular.z.max_velocity": 4.0
+      angular.z.min_velocity": -4.0
+      angular.z.max_acceleration": 25.0
+      angular.z.min_acceleration": -25.0
 links:
   box: []
   cylinder: []

diff --git a/clearpath_config/sample/j100/j100_dual_laser.yaml b/clearpath_config/sample/j100/j100_dual_laser.yaml
@@ -12,6 +12,8 @@ system:
     namespace: j100_0000
     domain_id: 0
     rmw_implementation: rmw_fastrtps_cpp
+    workspaces:
+      - /home/administrator/micro_ros_ws/install/setup.bash
 platform:
   controller: ps4
   attachments:
@@ -23,7 +25,15 @@ platform:
       model: default
   extras:
     urdf: null
-    control: null
+    ros_parameters:
+      linear.x.max_velocity": 2.0
+      linear.x.min_velocity": -2.0
+      linear.x.max_acceleration": 20.0
+      linear.x.min_acceleration": -20.0
+      angular.z.max_velocity": 4.0
+      angular.z.min_velocity": -4.0
+      angular.z.max_acceleration": 25.0
+      angular.z.min_acceleration": -25.0
 links:
   box: []
   cylinder: []

diff --git a/clearpath_config/sample/j100/j100_sample.yaml b/clearpath_config/sample/j100/j100_sample.yaml
@@ -12,6 +12,8 @@ system:
     namespace: j100_0000
     domain_id: 0
     rmw_implementation: rmw_fastrtps_cpp
+    workspaces:
+      - /home/administrator/micro_ros_ws/install/setup.bash
 platform:
   controller: ps4
   attachments:
@@ -23,7 +25,15 @@ platform:
       model: default
   extras:
     urdf: null
-    ros_parameters: {}
+    ros_parameters:
+      linear.x.max_velocity": 2.0
+      linear.x.min_velocity": -2.0
+      linear.x.max_acceleration": 20.0
+      linear.x.min_acceleration": -20.0
+      angular.z.max_velocity": 4.0
+      angular.z.min_velocity": -4.0
+      angular.z.max_acceleration": 25.0
+      angular.z.min_acceleration": -25.0
 links:
   box: []
   cylinder:

diff --git a/clearpath_config/sample/j100/j100_velodyne.yaml b/clearpath_config/sample/j100/j100_velodyne.yaml
@@ -12,6 +12,8 @@ system:
     namespace: j100_0000
     domain_id: 0
     rmw_implementation: rmw_fastrtps_cpp
+    workspaces:
+      - /home/administrator/micro_ros_ws/install/setup.bash
 platform:
   controller: ps4
   attachments:
@@ -23,7 +25,15 @@ platform:
       model: default
   extras:
     urdf: null
-    ros_parameters: {}
+    ros_parameters:
+      linear.x.max_velocity": 2.0
+      linear.x.min_velocity": -2.0
+      linear.x.max_acceleration": 20.0
+      linear.x.min_acceleration": -20.0
+      angular.z.max_velocity": 4.0
+      angular.z.min_velocity": -4.0
+      angular.z.max_acceleration": 25.0
+      angular.z.min_acceleration": -25.0
 links:
   box: []
   cylinder: []