Merge branch 'jazzy' into jazzy-2.0RC

clearpathrobotics · Jan 14, 2025 · d0a3a08 · d0a3a08
2 parents 12e21f3 + 56fee90
commit d0a3a08
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Showing 4 changed files with 96 additions and 2 deletions.
diff --git a/clearpath_config/manipulators/types/arms.py b/clearpath_config/manipulators/types/arms.py
@@ -250,6 +250,93 @@ class UniversalRobots(BaseArm):
     }
 
 
+class UniversalRobots(BaseArm):
+    MANIPULATOR_MODEL = "universal_robots"
+
+    # Description Variables
+    UR_TYPE = 'ur_type'
+    INITIAL_POSITIONS = 'initial_positions'
+    INITIAL_POSITIONS_FILE = 'initial_positions_file'
+    JOINT_LIMITS_PARAMETERS_FILE = 'joint_limits_parameters_file'
+    KINEMATICS_PARAMETERS_FILE = 'kinematics_parameters_file'
+    PHYSICAL_PARAMETERS_FILE = 'physical_parameters_file'
+    VISUAL_PARAMETERS_FILE = 'visual_parameters_file'
+    SAFETY_LIMITS = 'safety_limits'
+    SAFETY_POS_MARGIN = 'safety_pos_margin'
+    SAFETY_K_POSITION = 'safety_k_position'
+    # Control Parameters
+    GENERATE_ROS2_CONTROL_TAG = 'generate_ros2_control_tag'
+    HEADLESS_MODE = 'headless_mode'
+    IP_ADDRESS = 'robot_ip'
+    SCRIPT_FILENAME = 'script_filename'
+    OUTPUT_RECIPE_FILENAME = 'output_recipe_filename'
+    INPUT_RECIPE_FILENAME = 'input_recipe_filename'
+    REVERSE_IP = 'reverse_ip'
+    SCRIPT_COMMAND_PORT = 'script_command_port'
+    REVERSE_PORT = 'reverse_port'
+    SCRIPT_SENDER_PORT = 'script_sender_port'
+    TRAJECTORY_PORT = 'trajectory_port'
+    TRANSMISSION_HW_INTERFACE = 'transmission_hw_interface'
+    NON_BLOCKING_READ = 'non_blocking_read'
+    KEEP_ALIVE_COUNT = 'keep_alive_count'
+    # Tool Communication Parameters
+    USE_TOOL_COMMUNICATION = 'use_tool_communication'
+    TOOL_VOLTAGE = 'tool_voltage'
+    TOOL_PARITY = 'tool_parity'
+    TOOL_BAUD_RATE = 'tool_baud_rate'
+    TOOL_STOP_BITS = 'tool_stop_bits'
+    TOOL_RX_IDLE_CHARS = 'tool_rx_idle_chars'
+    TOOL_TX_IDLE_CHARS = 'tool_tx_idle_chars'
+    TOOL_DEVICE_NAME = 'tool_device_name'
+    TOOL_TCP_PORT = 'tool_tcp_port'
+    # Simulation Parameters
+    USE_FAKE_HARDWARE = 'use_fake_hardware'
+    FAKE_SENSOR_COMMANDS = 'fake_sensor_commands'
+    SIM_GAZEBO = 'sim_gazebo'
+    SIM_IGNITION = 'sim_ignition'
+
+    # URDF Parameters
+    URDF_PARAMETERS = {
+        UR_TYPE: '',
+        INITIAL_POSITIONS: '',
+        INITIAL_POSITIONS_FILE: '',
+        JOINT_LIMITS_PARAMETERS_FILE: '',
+        KINEMATICS_PARAMETERS_FILE: '',
+        PHYSICAL_PARAMETERS_FILE: '',
+        VISUAL_PARAMETERS_FILE: '',
+        SAFETY_LIMITS: '',
+        SAFETY_POS_MARGIN: '',
+        SAFETY_K_POSITION: '',
+        GENERATE_ROS2_CONTROL_TAG: '',
+        HEADLESS_MODE: '',
+        IP_ADDRESS: '',
+        SCRIPT_FILENAME: '',
+        OUTPUT_RECIPE_FILENAME: '',
+        INPUT_RECIPE_FILENAME: '',
+        REVERSE_IP: '',
+        SCRIPT_COMMAND_PORT: '',
+        REVERSE_PORT: '',
+        SCRIPT_SENDER_PORT: '',
+        TRAJECTORY_PORT: '',
+        TRANSMISSION_HW_INTERFACE: '',
+        NON_BLOCKING_READ: '',
+        KEEP_ALIVE_COUNT: '',
+        USE_TOOL_COMMUNICATION: '',
+        TOOL_VOLTAGE: '',
+        TOOL_PARITY: '',
+        TOOL_BAUD_RATE: '',
+        TOOL_STOP_BITS: '',
+        TOOL_RX_IDLE_CHARS: '',
+        TOOL_TX_IDLE_CHARS: '',
+        TOOL_DEVICE_NAME: '',
+        TOOL_TCP_PORT: '',
+        USE_FAKE_HARDWARE: '',
+        FAKE_SENSOR_COMMANDS: '',
+        SIM_GAZEBO: '',
+        SIM_IGNITION: '',
+    }
+
+
 class Arm():
     KINOVA_GEN3_6DOF = KinovaGen3Dof6.MANIPULATOR_MODEL
     KINOVA_GEN3_7DOF = KinovaGen3Dof7.MANIPULATOR_MODEL

diff --git a/clearpath_config/platform/can.py b/clearpath_config/platform/can.py
@@ -124,7 +124,6 @@ def interface(self, interface: str) -> None:
 
 
 class CANBridgeListConfig(ListConfig[CANBridge, str]):
-
     def __init__(self) -> None:
         super().__init__(
             uid=lambda obj: obj.interface,
@@ -146,6 +145,7 @@ class CANBridgeConfig:
         }
     ]
 
+
     A300_DEFAULT = [
         {
             CANBridge.INTERFACE: 'vcan0',

diff --git a/clearpath_config/sensors/types/cameras.py b/clearpath_config/sensors/types/cameras.py
@@ -29,6 +29,7 @@
 from typing import List
 
 from clearpath_config.common.ros import ROS_DISTRO
+
 from clearpath_config.common.types.accessory import Accessory
 from clearpath_config.common.types.exception import UnsupportedAccessoryException
 from clearpath_config.common.utils.dictionary import extend_flat_dict
@@ -1082,6 +1083,7 @@ class AxisCamera(BaseCamera):
         DOME_PTZ,
         DOME_FIXED,
     ]
+
     DEFAULT = DOME_FIXED
 
     HOSTNAME = '192.168.10.0'
@@ -1129,7 +1131,6 @@ class ROS_PARAMETER_KEYS:
         SERIAL = 'axis_camera.serial'  # required by superclass, not used locally
 
         DEVICE_TYPE = 'axis_camera.device_type'
-
         TF_PREFIX = 'axis_camera.tf_prefix'
 
         HOSTNAME = 'axis_camera.hostname'

diff --git a/setup.py b/setup.py
@@ -38,6 +38,12 @@
     for file in files:
         samples.append(os.path.join(path, file))
 
+# 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',