Jazzy 2.0 RC

.github/ISSUE_TEMPLATE/bug.md

@@ -8,8 +8,8 @@ assignees: clearpathrobotics/clearpath-platform-team
 ---
 
 **Please provide the following information:**
- - OS: (e.g. Ubuntu 22.04)
- - ROS 2 Distro: (e.g. Humble)
+ - OS: (e.g. Ubuntu 24.04)
+ - ROS 2 Distro: (e.g. Jazzy)
  - Built from source or installed:
  - Package version: (if from repository, give version from `sudo dpkg -s ros-$ROS_VERSION-clearpath-common`, if from source, give commit hash)
  - Real hardware or simulation:

.github/workflows/ci.yml

@@ -8,14 +8,14 @@ on:
 
 jobs:
   build_and_test:
-    name: humble
+    name: jazzy
     strategy:
       matrix:
         env:
-          - {ROS_DISTRO: humble, ROS_REPO: testing}
-          - {ROS_DISTRO: humble, ROS_REPO: main}
+          - {ROS_DISTRO: jazzy, ROS_REPO: testing}
+          - {ROS_DISTRO: jazzy, ROS_REPO: main}
       fail-fast: false
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@v3
       - uses: 'ros-industrial/industrial_ci@master'

.github/workflows/python-package.yml

@@ -12,11 +12,11 @@ on:
 jobs:
   build:
 
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     strategy:
       fail-fast: false
       matrix:
-        python-version: ["3.10"]
+        python-version: ["3.12"]
 
     steps:
     - uses: actions/checkout@v3

CHANGELOG.rst

@@ -2,6 +2,12 @@
 Changelog for package clearpath_config
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.3.4 (2024-10-04)
+------------------
+* Add OAKD
+* Add phidgets spatial to config
+* Contributors: Luis Camero
+
 0.3.3 (2024-09-29)
 ------------------
 * Allow all parameters to be modified

clearpath_config/clearpath_config.py

@@ -27,27 +27,27 @@
 # POSSIBILITY OF SUCH DAMAGE.
 from clearpath_config.common.types.config import BaseConfig
 from clearpath_config.common.utils.yaml import read_yaml, write_yaml
-from clearpath_config.system.system import SystemConfig
-from clearpath_config.platform.platform import PlatformConfig
 from clearpath_config.links.links import LinksConfig
 from clearpath_config.manipulators.manipulators import ManipulatorConfig
 from clearpath_config.mounts.mounts import MountsConfig
+from clearpath_config.platform.platform import PlatformConfig
 from clearpath_config.sensors.sensors import SensorConfig
+from clearpath_config.system.system import SystemConfig
 
 
 # ClearpathConfig:
 #  - top level configurator
 #  - contains
 class ClearpathConfig(BaseConfig):
 
-    VERSION = "version"
-    SERIAL_NUMBER = "serial_number"
-    SYSTEM = "system"
-    PLATFORM = "platform"
-    LINKS = "links"
-    MANIPULATORS = "manipulators"
-    MOUNTS = "mounts"
-    SENSORS = "sensors"
+    VERSION = 'version'
+    SERIAL_NUMBER = 'serial_number'
+    SYSTEM = 'system'
+    PLATFORM = 'platform'
+    LINKS = 'links'
+    MANIPULATORS = 'manipulators'
+    MOUNTS = 'mounts'
+    SENSORS = 'sensors'
 
     TEMPLATE = {
         SERIAL_NUMBER: SERIAL_NUMBER,
@@ -63,7 +63,7 @@ class ClearpathConfig(BaseConfig):
     KEYS = TEMPLATE
 
     DEFAULTS = {
-        SERIAL_NUMBER: "generic",
+        SERIAL_NUMBER: 'generic',
         VERSION: 0,
         SYSTEM: SystemConfig.DEFAULTS,
         PLATFORM: PlatformConfig.DEFAULTS,
@@ -136,9 +136,7 @@ def version(self) -> int:
 
     @version.setter
     def version(self, v: int) -> None:
-        assert isinstance(v, int), (
-            "version must be of type 'int'"
-        )
+        assert isinstance(v, int), 'version must be of type "int"'
         self._version = v
         # Add propagators here
 

clearpath_config/common/ros.py

@@ -0,0 +1,31 @@
+# Software License Agreement (BSD)
+#
+# @author    Chris Iverach-Brereton <[email protected]>
+# @copyright (c) 2024, Clearpath Robotics, Inc., All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Clearpath Robotics nor the names of its contributors
+#   may be used to endorse or promote products derived from this software
+#   without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# 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.
+
+import os
+
+ROS_DISTRO = os.environ.get('ROS_DISTRO', 'jazzy')

clearpath_config/common/types/accessory.py

@@ -27,10 +27,12 @@
 # POSSIBILITY OF SUCH DAMAGE.
 from typing import List
 
+from clearpath_config.common.types.exception import UnsupportedAccessoryException
+
 
 class Accessory():
     # Defaults
-    PARENT = "default_mount"
+    PARENT = 'default_mount'
     XYZ = [0.0, 0.0, 0.0]
     RPY = [0.0, 0.0, 0.0]
 
@@ -41,10 +43,15 @@ def __init__(
             xyz: List[float] = XYZ,
             rpy: List[float] = RPY
             ) -> None:
-        self.name = str()
-        self.parent = str()
-        self.xyz = list()
-        self.rpy = list()
+
+        self.assert_is_supported()
+        if self.is_deprecated:
+            print(f'{type(self)} is deprecated')
+
+        self.name = ''
+        self.parent = ''
+        self.xyz = []
+        self.rpy = []
         self.set_name(name)
         self.set_parent(parent)
         self.set_xyz(xyz)
@@ -88,7 +95,7 @@ def get_xyz(self) -> List[float]:
     def set_xyz(self, xyz: List[float]) -> None:
         self.assert_valid_triplet(
             xyz,
-            "XYZ must be a list of exactly three float values"
+            'XYZ must be a list of exactly three float values'
         )
         self.xyz = xyz
 
@@ -98,33 +105,68 @@ def get_rpy(self) -> List[float]:
     def set_rpy(self, rpy: List[float]) -> None:
         self.assert_valid_triplet(
             rpy,
-            "RPY must be a list of exactly three float values"
+            'RPY must be a list of exactly three float values'
         )
         self.rpy = rpy
 
     @staticmethod
     def assert_valid_link(link: str) -> None:
         # Link name must be a string
-        assert isinstance(link, str), "Link name '%s' must be string" % link
+        assert isinstance(link, str), f'Link name "{link}" must be string'
         # Link name must not be empty
-        assert link, "Link name '%s' must not be empty" % link
+        assert link, f'Link name "{link}" must not be empty'
         # Link name must not have spaces
-        assert " " not in link, "Link name '%s' must no have spaces" % link
+        assert ' ' not in link, f'Link name "{link}" must no have spaces'
         # Link name must not start with a digit
-        assert not link[0].isdigit(), (
-            "Link name '%s' must not start with a digit" % link
-        )
+        assert not link[0].isdigit(), f'Link name "{link} must not start with a digit'
 
     @staticmethod
     def assert_valid_triplet(tri: List[float], msg: str = None) -> None:
         if msg is None:
-            msg = "Triplet must be a list of three float values"
+            msg = 'Triplet must be a list of three float values'
         # Triplet must be a list
         assert isinstance(tri, list), msg
         # Triplet must have a length of 3
         assert len(tri) == 3, msg
         # Triplet must be all floats
-        assert all([isinstance(i, float) for i in tri])
+        assert all([isinstance(i, float) for i in tri])  # noqa:C419
+
+    @staticmethod
+    def assert_is_supported():
+        """
+        Override this method to temporarily disable accessories that are not currently supported.
+
+        When disabling an accessory, raise a
+        clearpath_config.common.types.exception.UnsupportedAccessoryException
+        with a suitable mesage (e.g. 'SpamEggs driver is not yet released for ROS 2 Jazzy')
+
+        @return None
+
+        @exception  Raises a clearpath_config.common.types.exception.UnsupportedAccessoryException
+                    if the accessory is not supported
+        """
+        pass
+
+    @property
+    def is_suppported(self):
+        try:
+            self.assert_is_supported()
+            return True
+        except UnsupportedAccessoryException:
+            return False
+
+    @property
+    def is_deprecated(self):
+        """
+        Override this method to indicate that this accessory has been deprecated.
+
+        Deprecated accessories may be removed completely in the future.  See:
+        - is_supported
+        - assert_is_supported
+
+        When flagging an accessory for deprecation, simply override it to return True
+        """
+        return False
 
 
 class IndexedAccessory(Accessory):
@@ -155,12 +197,12 @@ def __init__(
 
     @classmethod
     def get_name_from_idx(idx):
-        return "accessory_%s" % idx
+        return 'accessory_%s' % idx
 
     def get_idx(self) -> str:
         return self.idx
 
     def set_idx(self, idx: int) -> None:
-        assert isinstance(idx, int), "Index must be an integer"
-        assert idx >= 0, "Index must be a positive integer"
+        assert isinstance(idx, int), 'Index must be an integer'
+        assert idx >= 0, 'Index must be a positive integer'
         self.name = self.get_name_from_idx(idx)

clearpath_config/common/types/config.py

@@ -25,23 +25,24 @@
 # 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 clearpath_config.common.types.serial_number import SerialNumber
+from typing import Any
+
 from clearpath_config.common.types.namespace import Namespace
+from clearpath_config.common.types.serial_number import SerialNumber
 from clearpath_config.common.utils.dictionary import (
     flatten_dict,
     get_from_dict,
     is_in_dict,
     set_in_dict,
     unflatten_dict
 )
-from typing import Any
 
 
 class BaseConfig:
-    _SERIAL_NUMBER = SerialNumber("generic")
+    _SERIAL_NUMBER = SerialNumber('generic')
     _NAMESPACE = Namespace()
     _VERSION = 0
-    DLIM = "."
+    DLIM = '.'
 
     def __init__(
             self,
@@ -71,14 +72,12 @@ def template(self) -> dict:
 
     @template.setter
     def template(self, value: dict) -> None:
-        assert isinstance(value, dict), (
-            "template must of type 'dict'"
-        )
+        assert isinstance(value, dict), 'template must be of type "dict"'
         # Check that template has all properties
         flat_template = flatten_dict(d=value, dlim=BaseConfig.DLIM)
         for _, val in flat_template.items():
             assert isinstance(val, property), (
-                "All entries in template must be properties"
+                'All entries in template must be properties'
             )
         self._template = value
 
@@ -94,13 +93,11 @@ def config(self) -> dict:
     def config(self, value: dict) -> None:
         if value is None:
             return
-        assert isinstance(value, dict), (
-            "config must be of type 'dict'"
-        )
+        assert isinstance(value, dict), 'config must be of type "dict"'
         if self._parent_key is not None and self._parent_key not in value:
             value = {self._parent_key: value}
         value = unflatten_dict(value)
-        for map, prop in flatten_dict(
+        for map, prop in flatten_dict(  # noqa:A001
                 d=self.template, dlim=BaseConfig.DLIM).items():
             keys = map.split(BaseConfig.DLIM)
             if is_in_dict(value, keys):
@@ -143,6 +140,4 @@ def set_namespace(cls, namespace: str | Namespace) -> None:
         elif isinstance(namespace, str):
             BaseConfig._NAMESPACE = Namespace(namespace)
         else:
-            assert isinstance(namespace, str) or isinstance(namespace, Namespace), (
-                "Namespace must be of type 'str' or 'Namespace'"
-            )
+            assert isinstance(namespace, str) or isinstance(namespace, Namespace), 'Namespace must be of type "str" or "Namespace"'  # noqa:E501

clearpath_config/common/types/discovery.py

@@ -27,8 +27,8 @@
 # POSSIBILITY OF SUCH DAMAGE.
 
 class Discovery:
-    SIMPLE = "simple"
-    SERVER = "server"
+    SIMPLE = 'simple'
+    SERVER = 'server'
 
     # All supported discovery modes, currently only set up for FastDDS
     ALL_SUPPORTED = [SIMPLE, SERVER]
@@ -60,7 +60,7 @@ def is_valid(cls, mode: str) -> bool:
 
     @classmethod
     def assert_valid(cls, mode: str) -> None:
-        assert cls.is_valid(mode), ("\n".join[
-            f"Discovery mode '{mode}' not supported."
-            f"Discovery mode must be one of: '{cls.ALL_SUPPORTED}'"
+        assert cls.is_valid(mode), ('\n'.join[
+            f'Discovery mode "{mode}" not supported.'
+            f'Discovery mode must be one of: "{cls.ALL_SUPPORTED}"'
         ])