Add HE2410 & HE2411 battery support (#110)

clearpath_config/manipulators/types/arms.py

@@ -249,94 +249,6 @@ class UniversalRobots(BaseArm):
         SIM_IGNITION: '',
     }
 
-
-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

clearpath_config/platform/battery.py

@@ -46,6 +46,8 @@ class BatteryConfig(BaseConfig):
     ES20_12C = 'ES20_12C'
     # A200/J100 LiION
     HE2613 = 'HE2613'
+    HE2411 = 'HE2411'
+    HE2410 = 'HE2410'
     # A300 LiFEPO4
     S_24V20_U1 = 'S_24V20_U1'
     # R100 Lead Acid
@@ -76,6 +78,8 @@ class BatteryConfig(BaseConfig):
         Platform.A200: {
             ES20_12C: [S2P1],
             HE2613: [S1P3, S1P4],
+            HE2411: [S1P3, S1P4],
+            HE2410: [S1P3, S1P4],
         },
         Platform.A300: {
             S_24V20_U1: [S1P2, S1P4, S1P6],
@@ -98,6 +102,8 @@ class BatteryConfig(BaseConfig):
         },
         Platform.J100: {
             HE2613: [S1P1],
+            HE2411: [S1P1],
+            HE2410: [S1P1],
         },
         Platform.R100: {
             DTM8A31: [S1P2],

clearpath_config/platform/can.py

@@ -125,6 +125,7 @@ def interface(self, interface: str) -> None:
 
 class CANBridgeListConfig(ListConfig[CANBridge, str]):
     def __init__(self) -> None:
+
         super().__init__(
             uid=lambda obj: obj.interface,
             obj_type=CANBridge,
@@ -145,7 +146,6 @@ class CANBridgeConfig:
         }
     ]
 
-
     A300_DEFAULT = [
         {
             CANBridge.INTERFACE: 'vcan0',

setup.py

@@ -38,12 +38,6 @@
     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',