Update samples

Author: luis-camero

clearpath_generator_common/samples/test_a200/robot.srdf

@@ -12,82 +12,71 @@
   <!-- Attachments -->
 
   <xacro:include filename="$(find clearpath_platform_description)/urdf/a200/attachments/bumper.urdf.xacro"/>
-  <xacro:bumper name="front_bumper" model="default" parent_link="front_bumper_mount" extension="0.0">
+  <xacro:bumper name="front_bumper" model="default" parent_link="front_bumper_mount" extension="0.2">
     <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
   </xacro:bumper>
 
   <xacro:include filename="$(find clearpath_platform_description)/urdf/a200/attachments/bumper.urdf.xacro"/>
-  <xacro:bumper name="rear_bumper" model="default" parent_link="rear_bumper_mount" extension="0.0">
+  <xacro:bumper name="rear_bumper" model="default" parent_link="rear_bumper_mount" extension="0.2">
     <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
   </xacro:bumper>
 
-  <xacro:include filename="$(find clearpath_platform_description)/urdf/a200/attachments/observer_backpack.urdf.xacro"/>
-  <xacro:observer_backpack name="backpack" model="observer_backpack" parent_link="default_mount">
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
-  </xacro:observer_backpack>
-
-
-  <!-- Links -->
+  <xacro:include filename="$(find clearpath_platform_description)/urdf/a200/attachments/top_plate.urdf.xacro"/>
+  <xacro:top_plate name="top_plate_default" model="default" parent_link="default_mount">
+    <origin xyz="0.0 -2.0 0.0" rpy="0.0 0.0 0.0"/>
+  </xacro:top_plate>
 
+  <xacro:include filename="$(find clearpath_platform_description)/urdf/a200/attachments/top_plate.urdf.xacro"/>
+  <xacro:top_plate name="top_plate_large" model="large" parent_link="default_mount">
+    <origin xyz="0.0 -1.0 0.0" rpy="0.0 0.0 0.0"/>
+  </xacro:top_plate>
 
-  <!-- Mounts -->
-
-
-  <!-- Sensors -->
+  <xacro:include filename="$(find clearpath_platform_description)/urdf/a200/attachments/top_plate.urdf.xacro"/>
+  <xacro:top_plate name="top_plate_pacs" model="pacs" parent_link="default_mount">
+    <origin xyz="0.0 1.0 0.0" rpy="0.0 0.0 0.0"/>
+  </xacro:top_plate>
 
-  <!-- lidar2d_0 -->
-  <xacro:include filename="$(find clearpath_sensors_description)/urdf/hokuyo_ust.urdf.xacro"/>
-  <xacro:hokuyo_ust name="lidar2d_0" parent_link="backpack_front_lidar_mount" ang_res="0.5" min_ang="-1.5707963267948966" max_ang="1.5707963267948966" min_range="0.05" max_range="25.0" update_rate="40">
+  <xacro:include filename="$(find clearpath_platform_description)/urdf/a200/attachments/sensor_arch.urdf.xacro"/>
+  <xacro:sensor_arch name="sensor_arch_300" model="sensor_arch_300" parent_link="top_plate_default_default_mount">
     <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
-  </xacro:hokuyo_ust>
+  </xacro:sensor_arch>
 
-  <!-- lidar2d_1 -->
-  <xacro:include filename="$(find clearpath_sensors_description)/urdf/hokuyo_ust.urdf.xacro"/>
-  <xacro:hokuyo_ust name="lidar2d_1" parent_link="backpack_rear_lidar_mount" ang_res="0.5" min_ang="-1.5707963267948966" max_ang="1.5707963267948966" min_range="0.05" max_range="25.0" update_rate="40">
+  <xacro:include filename="$(find clearpath_platform_description)/urdf/a200/attachments/sensor_arch.urdf.xacro"/>
+  <xacro:sensor_arch name="sensor_arch_510" model="sensor_arch_510" parent_link="top_plate_large_default_mount">
     <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
-  </xacro:hokuyo_ust>
+  </xacro:sensor_arch>
 
-  <!-- lidar3d_0 -->
-  <xacro:include filename="$(find clearpath_sensors_description)/urdf/velodyne_lidar.urdf.xacro"/>
-  <xacro:velodyne_lidar name="lidar3d_0" parent_link="backpack_center_lidar_mount" ang_res_h="0.4" ang_res_v="2.0" min_ang_h="-3.141592" max_ang_h="3.141592" min_ang_v="-0.261799" max_ang_v="0.261799" min_range="0.9" max_range="130.0" update_rate="20">
+  <xacro:include filename="$(find clearpath_platform_description)/urdf/a200/attachments/observer_backpack.urdf.xacro"/>
+  <xacro:observer_backpack name="observer_backpack" model="observer_backpack" parent_link="default_mount">
     <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
-  </xacro:velodyne_lidar>
+  </xacro:observer_backpack>
 
-  <!-- camera_0 -->
-  <xacro:include filename="$(find clearpath_sensors_description)/urdf/intel_realsense.urdf.xacro"/>
-  <xacro:intel_realsense name="camera_0" parent_link="backpack_front_realsense_mount" update_rate="30" image_height="480" image_width="640" model="d435">
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
-  </xacro:intel_realsense>
 
-  <!-- camera_1 -->
-  <xacro:include filename="$(find clearpath_sensors_description)/urdf/intel_realsense.urdf.xacro"/>
-  <xacro:intel_realsense name="camera_1" parent_link="backpack_rear_realsense_mount" update_rate="30" image_height="480" image_width="640" model="d435">
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
-  </xacro:intel_realsense>
+  <!-- Links -->
 
-  <!-- camera_2 -->
-  <xacro:include filename="$(find clearpath_sensors_description)/urdf/axis_camera.urdf.xacro"/>
-  <xacro:axis_camera name="camera_2" parent_link="backpack_center_mount" update_rate="20" model="q62">
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
-  </xacro:axis_camera>
 
-  <!-- imu_0 -->
-  <xacro:include filename="$(find clearpath_sensors_description)/urdf/microstrain_imu.urdf.xacro"/>
-  <xacro:microstrain_imu name="imu_0" parent_link="backpack_imu_mount" update_rate="100">
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
-  </xacro:microstrain_imu>
+  <!-- Mounts -->
 
-  <!-- gps_0 -->
-  <xacro:include filename="$(find clearpath_sensors_description)/urdf/swiftnav_duro.urdf.xacro"/>
-  <xacro:swiftnav_duro name="gps_0" parent_link="backpack_right_antenna_mount">
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
-  </xacro:swiftnav_duro>
+  <!-- riser_0 -->
+  <xacro:include filename="$(find clearpath_mounts_description)/urdf/pacs/riser.urdf.xacro"/>
+  <xacro:riser name="riser_0" parent_link="top_plate_pacs_mount_a1" rows="8" columns="7" thickness="0.00635">
+    <origin xyz="0.0 0.0 0.1" rpy="0.0 0.0 0.0"/>
+  </xacro:riser>
 
-  <!-- gps_1 -->
-  <xacro:include filename="$(find clearpath_sensors_description)/urdf/swiftnav_duro.urdf.xacro"/>
-  <xacro:swiftnav_duro name="gps_1" parent_link="backpack_left_antenna_mount">
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
-  </xacro:swiftnav_duro>
+  <!-- riser_1 -->
+  <xacro:include filename="$(find clearpath_mounts_description)/urdf/pacs/riser.urdf.xacro"/>
+  <xacro:riser name="riser_1" parent_link="top_plate_pacs_mount_a8" rows="1" columns="7" thickness="0.00635">
+    <origin xyz="0.0 0.0 0.2" rpy="0.0 0.0 0.0"/>
+  </xacro:riser>
+
+  <!-- riser_2 -->
+  <xacro:include filename="$(find clearpath_mounts_description)/urdf/pacs/riser.urdf.xacro"/>
+  <xacro:riser name="riser_2" parent_link="top_plate_pacs_mount_c1" rows="4" columns="4" thickness="0.00635">
+    <origin xyz="0.0 0.0 0.3" rpy="0.0 0.0 0.0"/>
+  </xacro:riser>
+
+
+  <!-- Sensors -->
 
 
   <!-- Manipulators -->

clearpath_generator_common/samples/test_a200/robot.urdf.xacro

@@ -1,146 +1,67 @@
-serial_number: a201-0000
+serial_number: a200-0000
 version: 0
 system:
   hosts:
-    - hostname: cpr-a201-0000
+    - hostname: cpr-a200-0000
       ip: 192.168.131.1
   ros2:
-    namespace: a201_0000
+    namespace: a200_0000
 platform:
   attachments:
+    # Bumpers
     - name: front_bumper
       type: a200.bumper
       parent: front_bumper_mount
+      model: default
+      extension: 0.2
     - name: rear_bumper
       type: a200.bumper
       parent: rear_bumper_mount
-    - name: backpack
+      model: default
+      extension: 0.2
+    # Top Plates
+    - name: top_plate_default
+      type: a200.top_plate
+      model: default
+      xyz: [0.0, -2.0, 0.0]
+    - name: top_plate_large
+      type: a200.top_plate
+      model: large
+      xyz: [0.0, -1.0, 0.0]
+    - name: top_plate_pacs
+      type: a200.top_plate
+      model: pacs
+      xyz: [0.0, 1.0, 0.0]
+    # Sensor
+    - name: sensor_arch_300
+      type: a200.sensor_arch
+      model: sensor_arch_300
+      parent: top_plate_default_default_mount
+    - name: sensor_arch_510
+      type: a200.sensor_arch
+      model: sensor_arch_510
+      parent: top_plate_large_default_mount
+    # Observer Backpack
+    - name: observer_backpack
       type: a200.observer_backpack
-sensors:
-  lidar2d:
-    - model: hokuyo_ust
-      urdf_enabled: true
-      launch_enabled: true
-      parent: backpack_front_lidar_mount
-      ros_parameters:
-        urg_node:
-          laser_frame_id: lidar2d_0_laser
-          ip_address: 192.168.131.21
-          ip_port: 10940
-          angle_min: -1.5707963267948966
-          angle_max: 1.5707963267948966
-    - model: hokuyo_ust
-      urdf_enabled: true
-      launch_enabled: true
-      parent: backpack_rear_lidar_mount
-      ros_parameters:
-        urg_node:
-          laser_frame_id: lidar2d_1_laser
-          ip_address: 192.168.131.22
-          ip_port: 10940
-          angle_min: -1.5707963267948966
-          angle_max: 1.5707963267948966
-  lidar3d:
-    - model: velodyne_lidar
-      urdf_enabled: true
-      launch_enabled: true
-      parent: backpack_center_lidar_mount
-      ros_parameters:
-        velodyne_driver_node:
-          frame_id: lidar3d_0_laser
-          device_ip: 192.168.131.20
-          port: 2368
-          model: VLP16
-        velodyne_transform_node:
-          model: VLP16
-          fixed_frame: lidar3d_0_laser
-          target_frame: lidar3d_0_laser
-  camera:
-    - model: intel_realsense
-      parent: backpack_front_realsense_mount
-      ros_parameters:
-        intel_realsense:
-          camera_name: camera_0
-          device_type: d435
-          serial_no: "1234567890"
-    - model: intel_realsense
-      parent: backpack_rear_realsense_mount
-      ros_parameters:
-        intel_realsense:
-          camera_name: camera_1
-          device_type: d435
-          serial_no: "9876543210"
-    - model: axis_camera
-      parent: backpack_center_mount
-      ros_parameters:
-        axis_camera:
-          device_type: q62
-          hostname: "192.168.131.10"
-          http_port: 80
-          username: "root"
-          password: ""
-          width: 640
-          height: 480
-          fps: 20
-          tf_prefix: "axis"
-          camera_info_url: ""
-          use_encrypted_password : False
-          camera : 1
-          ir: True
-          defog: True
-          wiper: True
-          ptz: True
-          min_pan: -3.141592653589793
-          max_pan: 3.141592653589793
-          min_tilt: 0.0
-          max_tilt: 1.5707963267948966
-          min_zoom: 1
-          max_zoom: 24
-          max_pan_speed: 2.61
-          max_tilt_speed: 2.61
-          ptz_teleop: True
-          button_enable_pan_tilt : -1
-          button_enable_zoom     : -1
-          axis_pan      : 3
-          axis_tilt     : 4
-          invert_tilt   : False
-          axis_zoom_in: 5
-          axis_zoom_out: 2
-          zoom_in_offset: -1.0
-          zoom_out_offset: -1.0
-          zoom_in_scale: -0.5
-          zoom_out_scale: 0.5
-          scale_pan     : 2.61
-          scale_tilt    : 2.61
-          scale_zoom    : 100.0
-  gps:
-    - model: swiftnav_duro
-      urdf_enabled: true
-      launch_enabled: true
-      parent: backpack_right_antenna_mount
-      ros_parameters:
-        duro_node:
-          gps_receiver_frame_id: gps_0_link
-          ip_address: 192.168.131.31
-          ip_port: 55555
-          imu_frame_id: gps_0_link
-    - model: swiftnav_duro
-      urdf_enabled: true
-      launch_enabled: true
-      parent: backpack_left_antenna_mount
-      ros_parameters:
-        duro_node:
-          gps_receiver_frame_id: gps_1_link
-          ip_address: 192.168.131.32
-          ip_port: 55555
-          imu_frame_id: gps_1_link
-  imu:
-    - model: microstrain_imu
-      urdf_enabled: true
-      launch_enabled: true
-      parent: backpack_imu_mount
-      ros_parameters:
-        microstrain_inertial_driver:
-          imu_frame_id: imu_0_link
-          port: /dev/microstrain_main
-          use_enu_frame: true
+mounts:
+  # Risers
+  riser:
+    - parent: top_plate_pacs_mount_a1
+      xyz: [0.0, 0.0, 0.1]
+      rpy: [0.0, 0.0, 0.0]
+      rows: 8 # rows of 80mm x 80mm grid
+      columns: 7 # columns of 80mm x 80mm grid
+      thickness: 0.00635
+    - parent: top_plate_pacs_mount_a8
+      xyz: [0.0, 0.0, 0.2]
+      rpy: [0.0, 0.0, 0.0]
+      rows: 1 # rows of 80mm x 80mm grid
+      columns: 7 # columns of 80mm x 80mm grid
+      thickness: 0.00635
+    - parent: top_plate_pacs_mount_c1
+      xyz: [0.0, 0.0, 0.3]
+      rpy: [0.0, 0.0, 0.0]
+      rows: 4 # rows of 80mm x 80mm grid
+      columns: 4 # columns of 80mm x 80mm grid
+      thickness: 0.00635

clearpath_generator_common/samples/test_a200/robot.yaml

@@ -1,4 +1,4 @@
-# Bash setup generated at 2025-11-07 19:27:15.827087+00:00
+# Bash setup generated at 2025-12-01 20:39:55.256190+00:00
 # Core ROS setup
 source /opt/ros/jazzy/setup.bash
 # ROS configuration