Merge pull request #84 from clearpathrobotics/lcamero/sensor_samples

Add a sample for each sensor

clearpath_config/sample/sensors/chrobotics_um6.yaml

@@ -0,0 +1,15 @@
+serial_number: a200-0000
+version: 0
+sensors:
+  imu:
+    - model: chrobotics_um6
+      urdf_enabled: true
+      launch_enabled: true
+      parent: base_link
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      ros_parameters:
+        um6_driver:
+          port: /dev/clearpath/imu
+          frame_id: imu_0_link
+          tf_ned_to_enu: true

clearpath_config/sample/sensors/flir_blackfly.yaml

@@ -0,0 +1,25 @@
+serial_number: a200-0000
+version: 0
+sensors:
+  camera:
+    - model: flir_blackfly
+      urdf_enabled: true
+      launch_enabled: true
+      parent: base_link
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      ros_parameters:
+        flir_blackfly:
+          serial_number: ''
+          gain_auto: Continuous
+          pixel_format: BayerRG8
+          # Resolution
+          # image_width: 1408
+          # image_height: 1080
+          # offset_x: 0
+          # offset_y: 0
+          # binning_x: 1
+          # binning_y: 1
+          frame_rate_enable: true
+          frame_rate_auto: Off
+          frame_rate: 40

clearpath_config/sample/sensors/garmin_18x.yaml

@@ -0,0 +1,15 @@
+serial_number: a200-0000
+version: 0
+sensors:
+  gps:
+    - model: garmin_18x
+      urdf_enabled: true
+      launch_enabled: true
+      parent: base_link
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      ros_parameters:
+        nmea_navsat_driver:
+          frame_id: gps_0_link
+          port: "/dev/clearpath/gps"
+          baud: 115200

clearpath_config/sample/sensors/hokuyo_ust.yaml

@@ -0,0 +1,17 @@
+serial_number: a200-0000
+version: 0
+sensors:
+  lidar2d:
+    - model: hokuyo_ust
+      urdf_enabled: true
+      launch_enabled: true
+      parent: base_link
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      ros_parameters:
+        urg_node:
+          laser_frame_id: lidar2d_0_laser
+          ip_address: 192.168.131.20
+          ip_port: 10940
+          angle_min: -2.356
+          angle_max: 2.356

clearpath_config/sample/sensors/intel_realsense.yaml

@@ -0,0 +1,20 @@
+serial_number: a200-0000
+version: 0
+sensors:
+  camera:
+    - model: intel_realsense
+      urdf_enabled: true
+      launch_enabled: true
+      parent: base_link
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      ros_parameters:
+        intel_realsense:
+          camera_name: camera_0
+          device_type: d435
+          serial_no: "0"
+          enable_color: true
+          rgb_camera.profile: 640,480,30
+          enable_depth: true
+          depth_module.profile: 640,480,30
+          pointcloud.enable: true

clearpath_config/sample/sensors/luxonis_oakd.yaml

@@ -0,0 +1,34 @@
+serial_number: a200-0000
+version: 0
+sensors:
+  camera:
+  - model: luxonis_oakd
+    urdf_enabled: true
+    launch_enabled: true
+    parent: top_plate_front_mount
+    xyz: [0.0, 0.0, 0.0]
+    rpy: [0.0, 0.0, 0.0]
+    ros_parameters:
+      oakd:
+        camera:
+          i_enable_imu: false
+          i_enable_ir: false
+          i_floodlight_brightness: 0
+          i_laser_dot_brightness: 100
+          i_nn_type: none
+          i_pipeline_type: RGB
+          i_usb_speed: SUPER_PLUS
+          i_usb_port_id: ''
+        rgb:
+          i_board_socket_id: 0
+          i_fps: 30.0
+          i_height: 720
+          i_interleaved: false
+          i_max_q_size: 10
+          i_preview_size: 250
+          i_enable_preview: true
+          i_low_bandwidth: true
+          i_keep_preview_aspect_ratio: true
+          i_publish_topic: false
+          i_resolution: '1080P'
+          i_width: 1280

clearpath_config/sample/sensors/microstrain_gq7.yaml

@@ -0,0 +1,36 @@
+serial_number: a200-0000
+version: 0
+links:
+  box:
+    - name: antenna_bar
+      parent: default_mount
+      xyz: [0.0, 0.0, 0.0175]
+      rpy: [0.0, 0.0, 0.0]
+      size: [0.075, 1.0, 0.035]
+  cylinder:
+    - name: left_antenna
+      parent: antenna_bar_link
+      xyz: [0.0, 0.475, 0.0225]
+      rpy: [0.0, 0.0, 0.0]
+      radius: 0.02
+      length: 0.01
+    - name: right_antenna
+      parent: antenna_bar_link
+      xyz: [0.0, -0.475, 0.0225]
+      rpy: [0.0, 0.0, 0.0]
+      radius: 0.02
+      length: 0.01
+sensors:
+  gps:
+  - model: microstrain_gq7
+    urdf_enabled: true
+    launch_enabled: true
+    parent: default_mount
+    xyz: [-0.2, 0.0, 0.0]
+    rpy: [0.0, 0.0, 0.0]
+    ros_parameters:
+      microstrain_inertial_driver:
+        port: "/dev/microstrain_main"
+        baudrate: 115200
+        gnss1_frame_id: "left_antenna_link"
+        gnss2_frame_id: "right_antenna_link"

clearpath_config/sample/sensors/microstrain_imu.yaml

@@ -0,0 +1,15 @@
+serial_number: a200-0000
+version: 0
+sensors:
+  imu:
+    - model: microstrain_imu
+      urdf_enabled: true
+      launch_enabled: true
+      parent: base_link
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      ros_parameters:
+        microstrain_inertial_driver:
+          imu_frame_id: imu_0_link
+          port: /dev/microstrain_main
+          use_enu_frame: true

clearpath_config/sample/sensors/novatel_smart6.yaml

@@ -0,0 +1,15 @@
+serial_number: a200-0000
+version: 0
+sensors:
+  gps:
+    - model: novatel_smart6
+      urdf_enabled: true
+      launch_enabled: true
+      parent: base_link
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      ros_parameters:
+        nmea_navsat_driver:
+          frame_id: gps_0_link
+          port: "/dev/clearpath/gps"
+          baud: 115200

clearpath_config/sample/sensors/novatel_smart7.yaml

@@ -0,0 +1,15 @@
+serial_number: a200-0000
+version: 0
+sensors:
+  gps:
+    - model: novatel_smart7
+      urdf_enabled: true
+      launch_enabled: true
+      parent: base_link
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      ros_parameters:
+        nmea_navsat_driver:
+          frame_id: gps_0_link
+          port: "/dev/clearpath/gps"
+          baud: 115200

clearpath_config/sample/sensors/redshift_um7.yaml

@@ -0,0 +1,15 @@
+serial_number: a200-0000
+version: 0
+sensors:
+  imu:
+    - model: redshift_um7
+      urdf_enabled: true
+      launch_enabled: true
+      parent: base_link
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      ros_parameters:
+        um7_driver:
+          port: /dev/clearpath/imu
+          frame_id: imu_0_link
+          tf_ned_to_enu: true

clearpath_config/sample/sensors/sick_lms1xx.yaml

@@ -0,0 +1,15 @@
+serial_number: a200-0000
+version: 0
+sensors:
+  lidar2d:
+    - model: sick_lms1xx
+      urdf_enabled: true
+      launch_enabled: true
+      parent: base_link
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      ros_parameters:
+        lms1xx:
+          frame_id: lidar2d_0_laser
+          host: 192.168.131.20
+          port: 2111

clearpath_config/sample/sensors/stereolabs_zed.yaml

@@ -0,0 +1,16 @@
+serial_number: a200-0000
+version: 0
+sensors:
+  camera:
+    - model: stereolabs_zed
+      urdf_enabled: true
+      launch_enabled: true
+      parent: base_link
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      ros_parameters:
+        stereolabs_zed:
+          general.grab_frame_rate: 30
+          general.serial_number: 0
+          general.camera_model: 'zed2'
+          general.grab_resolution: 'AUTO'

clearpath_config/sample/sensors/swiftnav_duro.yaml

@@ -0,0 +1,16 @@
+serial_number: a200-0000
+version: 0
+sensors:
+  gps:
+    - model: swiftnav_duro
+      urdf_enabled: true
+      launch_enabled: true
+      parent: base_link
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      ros_parameters:
+        duro_node:
+          gps_receiver_frame_id: gps_0_link
+          ip_address: 192.168.131.30
+          ip_port: 55555
+          imu_frame_id: gps_0_link

clearpath_config/sample/sensors/velodyne_lidar.yaml

@@ -0,0 +1,20 @@
+serial_number: a200-0000
+version: 0
+sensors:
+  lidar3d:
+    - model: velodyne_lidar
+      urdf_enabled: true
+      launch_enabled: true
+      parent: base_link
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      ros_parameters:
+        velodyne_driver_node:
+          frame_id: lidar3d_0_laser
+          device_ip: 192.168.131.25
+          port: 2368
+          model: VLP16
+        velodyne_transform_node:
+          model: VLP16
+          fixed_frame: lidar3d_0_laser
+          target_frame: lidar3d_0_laser

setup.py

@@ -30,6 +30,12 @@
 
 package_name = "clearpath_config"
 
+# Samples
+samples = []
+for path, dirs, files in os.walk(os.path.join(package_name, "sample")):
+    for file in files:
+        samples.append(os.path.join(path, file))
+
 setup(
     name=package_name,
     version="0.3.4",
@@ -57,43 +63,7 @@
             ["resource/" + package_name]),
         # Include the package.xml file
         (os.path.join("share", package_name), ["package.xml"]),
-        (os.path.join("share", package_name, "sample"), [
-            package_name + "/sample/a200/a200_default.yaml",
-            package_name + "/sample/a200/a200_dual_laser.yaml",
-            package_name + "/sample/a200/a200_sample.yaml",
-            package_name + "/sample/a200/a200_outline.yaml",
-            package_name + "/sample/a200/a200_velodyne.yaml",
-            package_name + "/sample/j100/j100_default.yaml",
-            package_name + "/sample/j100/j100_dual_laser.yaml",
-            package_name + "/sample/j100/j100_sample.yaml",
-            package_name + "/sample/j100/j100_velodyne.yaml",
-            package_name + "/sample/j100/j100_outline.yaml",
-            package_name + "/sample/j100/j100_microstrain_gq7.yaml",
-            package_name + "/sample/w200/w200_default.yaml",
-            package_name + "/sample/w200/w200_outline.yaml",
-            package_name + "/sample/w200/w200_dual_laser.yaml",
-            package_name + "/sample/w200/w200_velodyne.yaml",
-            package_name + "/sample/dd150/dd150_outline.yaml",
-            package_name + "/sample/dd150/dd150_dual_laser.yaml",
-            package_name + "/sample/dd150/dd150_velodyne.yaml",
-            package_name + "/sample/dd150/dd150_default.yaml",
-            package_name + "/sample/dd100/dd100_dual_laser.yaml",
-            package_name + "/sample/dd100/dd100_velodyne.yaml",
-            package_name + "/sample/dd100/dd100_default.yaml",
-            package_name + "/sample/dd100/dd100_outline.yaml",
-            package_name + "/sample/r100/r100_outline.yaml",
-            package_name + "/sample/r100/r100_dual_laser.yaml",
-            package_name + "/sample/r100/r100_dual_laser_hokuyo.yaml",
-            package_name + "/sample/r100/r100_default.yaml",
-            package_name + "/sample/do100/do100_outline.yaml",
-            package_name + "/sample/do100/do100_default.yaml",
-            package_name + "/sample/do100/do100_velodyne.yaml",
-            package_name + "/sample/do100/do100_dual_laser.yaml",
-            package_name + "/sample/do150/do150_dual_laser.yaml",
-            package_name + "/sample/do150/do150_outline.yaml",
-            package_name + "/sample/do150/do150_velodyne.yaml",
-            package_name + "/sample/do150/do150_default.yaml",
-            ]),
+        (os.path.join("share", package_name, "sample"), samples),
     ],
     install_requires=[
         "setuptools",