Revert "A300"

clearpath_config/common/types/platform.py

@@ -70,8 +70,6 @@ class Platform:
     J100 = 'j100'
     # Husky V2
     A200 = 'a200'
-    # Husky V3
-    A300 = 'a300'
     # Ridgeback V1
     R100 = 'r100'
     # Warthog V2
@@ -86,7 +84,6 @@ class Platform:
         DO150,
         J100,
         A200,
-        A300,
         R100,
         W200,
         GENERIC
@@ -95,7 +92,6 @@ class Platform:
     PACS = {
         GENERIC: PACSProfile(rows=100, columns=100),
         A200: PACSProfile(rows=8, columns=7),
-        A300: PACSProfile(rows=8, columns=7),
         J100: PACSProfile(rows=4, columns=2),
         W200: PACSProfile(rows=100, columns=100),
         R100: PACSProfile(rows=100, columns=100),
@@ -104,7 +100,6 @@ class Platform:
     INDEX = {
         GENERIC: IndexingProfile(),
         A200: IndexingProfile(),
-        A300: IndexingProfile(),
         DD100: IndexingProfile(imu=1),
         DO100: IndexingProfile(imu=1),
         DD150: IndexingProfile(imu=1),

clearpath_config/manipulators/types/arms.py

@@ -40,9 +40,9 @@ class BaseArm(BaseManipulator):
     MANIPULATOR_MODEL = 'base'
     MANIPULATOR_TYPE = 'arm'
 
-    IP_ADDRESS = 'ip'
-    IP_PORT = 'port'
-    DEFAULT_IP_ADDRESS = '192.168.131.40'
+    IP_ADDRESS = "ip"
+    IP_PORT = "port"
+    DEFAULT_IP_ADDRESS = "192.168.131.40"
     DEFAULT_IP_PORT = 10000
 
     URDF_PARAMETERS = {}
@@ -164,7 +164,7 @@ def assert_is_supported():
 
 
 class UniversalRobots(BaseArm):
-    MANIPULATOR_MODEL = 'universal_robots'
+    MANIPULATOR_MODEL = "universal_robots"
 
     # Description Variables
     UR_TYPE = 'ur_type'

clearpath_config/platform/attachments/mux.py

@@ -27,7 +27,6 @@
 # POSSIBILITY OF SUCH DAMAGE.
 from clearpath_config.common.types.platform import Platform
 from clearpath_config.platform.attachments.a200 import A200Attachment
-from clearpath_config.platform.attachments.a300 import A300Attachment
 from clearpath_config.platform.attachments.config import AttachmentsConfig
 from clearpath_config.platform.attachments.dd100 import DD100Attachment
 from clearpath_config.platform.attachments.dd150 import DD150Attachment
@@ -43,7 +42,6 @@
 class AttachmentsConfigMux:
     PLATFORM = {
         Platform.A200: AttachmentsConfig(A200Attachment),
-        Platform.A300: AttachmentsConfig(A300Attachment),
         Platform.DD100: AttachmentsConfig(DD100Attachment),
         Platform.DO100: AttachmentsConfig(DO100Attachment),
         Platform.DD150: AttachmentsConfig(DD150Attachment),

clearpath_config/platform/battery.py

@@ -46,8 +46,6 @@ class BatteryConfig(BaseConfig):
     ES20_12C = 'ES20_12C'
     # A200/J100 LiION
     HE2613 = 'HE2613'
-    # A300 LiFEPO4
-    S_24V20_U1 = 'S_24V20_U1'
     # R100 Lead Acid
     DTM8A31 = '8A31DTM'
     # W200 Lead Acid
@@ -64,7 +62,6 @@ class BatteryConfig(BaseConfig):
     S1P2 = 'S1P2'
     S1P3 = 'S1P3'
     S1P4 = 'S1P4'
-    S1P6 = 'S1P6'
     S2P1 = 'S2P1'
     S4P1 = 'S4P1'
     S4P3 = 'S4P3'
@@ -77,9 +74,6 @@ class BatteryConfig(BaseConfig):
             ES20_12C: [S2P1],
             HE2613: [S1P3, S1P4],
         },
-        Platform.A300: {
-            S_24V20_U1: [S1P2, S1P4, S1P6],
-        },
         Platform.DD100: {
             TLV1222: [S1P1],
             PH3054: [S1P1],

clearpath_config/platform/can.py

@@ -25,11 +25,12 @@
 # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
-from typing import List
-
 from clearpath_config.common.types.config import BaseConfig
 from clearpath_config.common.types.list import ListConfig
 from clearpath_config.common.types.platform import Platform
+from typing import List
+
+from clearpath_config.common.types.list import ListConfig
 
 
 class CANBridge:
@@ -135,40 +136,18 @@ def __init__(self) -> None:
 class CANBridgeConfig:
     SINGLE_VCAN_DEFAULT = [
         {
-            CANBridge.INTERFACE: 'vcan0',
-            CANBridge.ENABLE_CAN_FD: False,
-            CANBridge.INTERVAL: 0.01,
-            CANBridge.USE_BUS_TIME: False,
-            CANBridge.FILTERS: '0:0',
-            CANBridge.AUTO_CONFIGURE: True,
-            CANBridge.AUTO_ACTIVATE: True,
-        }
-    ]
-
-    A300_DEFAULT = [
-        {
-            CANBridge.INTERFACE: 'can0',
-            CANBridge.ENABLE_CAN_FD: False,
-            CANBridge.INTERVAL: 0.01,
-            CANBridge.USE_BUS_TIME: False,
-            CANBridge.FILTERS: '0:0',
-            CANBridge.AUTO_CONFIGURE: True,
-            CANBridge.AUTO_ACTIVATE: True,
-        },
-        {
-            CANBridge.INTERFACE: 'vcan1',
+            CANBridge.INTERFACE: "vcan0",
             CANBridge.ENABLE_CAN_FD: False,
             CANBridge.INTERVAL: 0.01,
             CANBridge.USE_BUS_TIME: False,
-            CANBridge.FILTERS: '0:0',
+            CANBridge.FILTERS: "0:0",
             CANBridge.AUTO_CONFIGURE: True,
             CANBridge.AUTO_ACTIVATE: True,
         }
     ]
 
     DEFAULTS = {
         Platform.A200: [],
-        Platform.A300: A300_DEFAULT,
         Platform.DD100: SINGLE_VCAN_DEFAULT,
         Platform.DD150: SINGLE_VCAN_DEFAULT,
         Platform.DO100: SINGLE_VCAN_DEFAULT,

clearpath_config/platform/extras.py

@@ -48,18 +48,6 @@ class ROSParameterDefaults:
         'platform_velocity_controller.angular.z.min_acceleration': -6.0,
     }
 
-    A300 = {
-        'platform_velocity_controller.wheel_radius': 0.1625,
-        'platform_velocity_controller.linear.x.max_velocity': 2.0,
-        'platform_velocity_controller.linear.x.min_velocity': -2.0,
-        'platform_velocity_controller.linear.x.max_acceleration': 4.0,
-        'platform_velocity_controller.linear.x.min_acceleration': -4.0,
-        'platform_velocity_controller.angular.z.max_velocity': 2.0,
-        'platform_velocity_controller.angular.z.min_velocity': -2.0,
-        'platform_velocity_controller.angular.z.max_acceleration': 4.0,
-        'platform_velocity_controller.angular.z.min_acceleration': -4.0,
-    }
-
     DD100 = {
         'platform_velocity_controller.wheel_radius': 0.049,
         'platform_velocity_controller.linear.x.max_velocity': 1.3,
@@ -146,7 +134,6 @@ class ROSParameterDefaults:
 
     DEFAULTS = {
         Platform.A200: A200,
-        Platform.A300: A300,
         Platform.DD100: DD100,
         Platform.DO100: DO100,
         Platform.DD150: DD150,

clearpath_config/sensors/types/cameras.py

@@ -25,7 +25,9 @@
 # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
+from typing import List
 from math import pi
+
 from typing import List
 
 from clearpath_config.common.types.accessory import Accessory
@@ -1357,7 +1359,7 @@ def device_type(self) -> str:
     @device_type.setter
     def device_type(self, device_type: str) -> None:
         assert device_type in self.DEVICE_TYPES, (
-            'Device type "%s" is not one of "%s"' % (
+            "Device type '%s' is not one of '%s'" % (
                 device_type,
                 self.DEVICE_TYPES
             )

setup.py

@@ -34,13 +34,13 @@
 
 # Samples
 samples = []
-for path, dirs, files in os.walk(os.path.join(package_name, 'sample')):
+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',
+    version="0.3.4",
     packages=[
         package_name,
         package_name + '.common',
@@ -64,8 +64,8 @@
         ('share/ament_index/resource_index/packages',
             ['resource/' + package_name]),
         # Include the package.xml file
-        (os.path.join('share', package_name), ['package.xml']),
-        (os.path.join('share', package_name, 'sample'), samples),
+        (os.path.join("share", package_name), ["package.xml"]),
+        (os.path.join("share", package_name, "sample"), samples),
     ],
     install_requires=[
         'setuptools',