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Add A300 to supported platforms #63

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merged 6 commits into from
Dec 16, 2024
Merged

Add A300 to supported platforms #63

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93132a5
Add A300 to the supported platforms
civerachb-cpr Dec 2, 2024
14391e9
Add pan & tilt velocity commands
civerachb-cpr Dec 5, 2024
831adef
Revert "Add pan & tilt velocity commands"
civerachb-cpr Dec 6, 2024
c1783db
Move the cmd_vel and odom bridges to a common components array
civerachb-cpr Dec 9, 2024
e018a82
Add the common components directly to the platform components, instea…
civerachb-cpr Dec 9, 2024
5dcb8cc
Fix typo
civerachb-cpr Dec 16, 2024
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53 changes: 18 additions & 35 deletions clearpath_generator_gz/clearpath_generator_gz/launch/generator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -149,66 +149,49 @@ def __init__(self, setup_path: str = '/etc/clearpath/') -> None:
}]
)

# Common components for all platforms
self.common_platform_components = [
self.cmd_vel_node,
self.odom_base_node
]

# Components required for each platform
self.platform_components = {
Platform.J100: [
self.cmd_vel_node,
self.odom_base_node,
Platform.J100: self.common_platform_components + [
self.imu_0_bridge_node,
self.imu_filter_arg,
self.imu_filter_node,
self.gps_0_bridge_node,
],
Platform.A200: [
self.cmd_vel_node,
self.odom_base_node,
],
Platform.A300: [
self.cmd_vel_node,
self.odom_base_node,
],
Platform.DD100: [
self.cmd_vel_node,
self.odom_base_node,
Platform.A200: self.common_platform_components,
Platform.A300: self.common_platform_components,
Platform.DD100: self.common_platform_components + [
self.imu_0_bridge_node,
self.imu_filter_arg,
self.imu_filter_node,
],
Platform.DD150: [
self.cmd_vel_node,
self.odom_base_node,
self.imu_0_bridge_node,
Platform.DD150: self.common_platform_components + [
self.imu_0_bidge_node,
self.imu_filter_arg,
self.imu_filter_node,
],
Platform.DO100: [
self.cmd_vel_node,
self.odom_base_node,
Platform.DO100: self.common_platform_components + [
self.imu_0_bridge_node,
self.imu_filter_arg,
self.imu_filter_node,
],
Platform.DO150: [
self.cmd_vel_node,
self.odom_base_node,
Platform.DO150: self.common_platform_components + [
self.imu_0_bridge_node,
self.imu_filter_arg,
self.imu_filter_node,
],
Platform.GENERIC: [
self.cmd_vel_node,
self.odom_base_node,
],
Platform.R100: [
self.cmd_vel_node,
self.odom_base_node,
Platform.GENERIC: self.common_platform_components,
Platform.R100: self.common_platform_components + [
self.imu_0_bridge_node,
self.imu_filter_arg,
self.imu_filter_node,
],
Platform.W200: [
self.cmd_vel_node,
self.odom_base_node,
Platform.W200: self.common_platform_components + [
self.imu_0_bridge_node,
self.imu_filter_arg,
self.imu_filter_node,
Expand Down Expand Up @@ -237,7 +220,7 @@ def generate_platform(self) -> None:
platform_service_launch_writer.add_launch_file(self.platform_launch_file)

# Platform components
for component in self.platform_components[self.platform_model]:
for component in self.latform_components[self.platform_model]:
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Typo

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...how did that not trigger an error when i tested it? now i have so many questions about what's wrong with my environment. that's alarming...

platform_service_launch_writer.add(component)

platform_service_launch_writer.generate_file()
Expand Down