Add the A200 Observer backpack attachment

.github/workflows/ci.yml

@@ -20,3 +20,16 @@ jobs:
       - uses: actions/checkout@v3
       - uses: 'ros-industrial/industrial_ci@master'
         env: ${{matrix.env}}
+
+  clearpath_config_src_ci:
+    name: Jazzy Clearpath Source
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v3
+      - uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: jazzy
+      - uses: ros-tooling/[email protected]
+        id: action_ros_ci_step
+        with:
+          target-ros2-distro: jazzy

clearpath_config/common/types/domain_id.py

@@ -26,6 +26,7 @@
 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 class DomainID:
+
     def __init__(self, _id: int = 0) -> None:
         self.assert_valid(_id)
         self.id = _id

clearpath_config/common/types/file.py

@@ -31,6 +31,7 @@
 # File
 # - file class
 class File:
+
     def __init__(self, path: str, creatable=False, exists=False, make_abs=True) -> None:
         if creatable:
             assert File.is_creatable(path)

clearpath_config/common/types/hostname.py

@@ -32,6 +32,7 @@
 # Hostname
 # - hostname class
 class Hostname:
+
     def __init__(self, hostname: str = 'hostname') -> None:
         self.assert_valid(hostname)
         self.hostname = hostname

clearpath_config/common/types/ip.py

@@ -29,6 +29,7 @@
 # IP
 # - ip class
 class IP:
+
     def __init__(self, ip: str = '0.0.0.0') -> None:
         self.assert_valid(ip)
         self.ip_str = ip

clearpath_config/common/types/port.py

@@ -29,6 +29,7 @@
 # Port
 # - TCP Port
 class Port:
+
     def __init__(self, port: int) -> None:
         self.assert_valid(port)
         self.port = int(port)

clearpath_config/common/types/serial_number.py

@@ -64,6 +64,10 @@ def parse(sn: str) -> tuple:
                 'cpr-j100-0001',
             )
             sn = sn[1:]
+        # Silently replace A201 prefix with A200
+        # Mechanically both are effectively identical, and re-use the same options & payloads
+        if sn[0] == 'a201':
+            sn[0] = 'a200'
         # Match to Robot
         assert sn[0] in Platform.ALL, (
             'Serial Number model entry must match one of %s' % Platform.ALL

clearpath_config/common/types/username.py

@@ -30,6 +30,7 @@
 
 # Username
 class Username:
+
     def __init__(self, username: str = 'administrator') -> None:
         self.assert_valid(username)
         self.username = username

clearpath_config/links/links.py

@@ -65,6 +65,7 @@ def __new__(cls, _type: str, name: str) -> BaseLink:
 
 # LinkListConfig
 class LinkListConfig(ListConfig[BaseLink, str]):
+
     def __init__(self) -> None:
         super().__init__(
             uid=lambda obj: obj.get_name(),

clearpath_config/mounts/mounts.py

@@ -58,6 +58,7 @@ def __new__(cls, model: str) -> BaseMount:
 
 
 class MountListConfig(OrderedListConfig[BaseMount]):
+
     def __init__(self) -> None:
         super().__init__(obj_type=BaseMount)
 

clearpath_config/platform/attachments/a200.py

@@ -97,6 +97,26 @@ def __init__(
         super().__init__(name, model, enabled, parent, xyz, rpy)
 
 
+class A200ObserverBackpack(BaseAttachment):
+    PLATFORM = Platform.A200
+    ATTACHMENT_MODEL = '%s.observer_backpack' % PLATFORM
+    OBSERVER_BACKPACK = 'observer_backpack'
+    MODELS = [OBSERVER_BACKPACK]
+    DEFAULT = OBSERVER_BACKPACK
+    PARENT = 'default_mount'
+
+    def __init__(
+            self,
+            name: str = ATTACHMENT_MODEL,
+            model: str = DEFAULT,
+            enabled: bool = BaseAttachment.ENABLED,
+            parent: str = PARENT,
+            xyz: List[float] = Accessory.XYZ,
+            rpy: List[float] = Accessory.RPY
+            ) -> None:
+        super().__init__(name, model, enabled, parent, xyz, rpy)
+
+
 class A200Attachment(PlatformAttachment):
     PLATFORM = Platform.A200
     # Top Plates
@@ -105,9 +125,12 @@ class A200Attachment(PlatformAttachment):
     BUMPER = A200Bumper.ATTACHMENT_MODEL
     # Archs
     SENSOR_ARCH = A200SensorArch.ATTACHMENT_MODEL
+    # Observer Backpack
+    OBSERVER_BACKPACK = A200ObserverBackpack.ATTACHMENT_MODEL
 
     TYPES = {
         TOP_PLATE: A200TopPlate,
         BUMPER: A200Bumper,
         SENSOR_ARCH: A200SensorArch,
+        OBSERVER_BACKPACK: A200ObserverBackpack,
     }

clearpath_config/platform/attachments/config.py

@@ -33,6 +33,7 @@
 
 
 class AttachmentListConfig(ListConfig[BaseAttachment, str]):
+
     def __init__(self) -> None:
         super().__init__(
             uid=lambda obj: obj.get_name(),
@@ -50,6 +51,7 @@ def to_dict(self) -> dict:
 # Attachments Config
 # - to be used by all platforms.
 class AttachmentsConfig:
+
     def __init__(
             self,
             attachment,

clearpath_config/platform/can.py

@@ -124,6 +124,7 @@ def interface(self, interface: str) -> None:
 
 
 class CANBridgeListConfig(ListConfig[CANBridge, str]):
+
     def __init__(self) -> None:
         super().__init__(
             uid=lambda obj: obj.interface,

clearpath_config/sample/a200/a200_observer.yaml

@@ -0,0 +1,146 @@
+serial_number: a201-0000
+version: 0
+system:
+  hosts:
+    - hostname: cpr-a201-0000
+      ip: 192.168.131.1
+  ros2:
+    namespace: a201_0000
+platform:
+  attachments:
+    - name: front_bumper
+      type: a200.bumper
+      parent: front_bumper_mount
+    - name: rear_bumper
+      type: a200.bumper
+      parent: rear_bumper_mount
+    - name: 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

clearpath_config/sensors/sensors.py

@@ -195,6 +195,7 @@ def __new__(cls, _type: str, _model: str) -> BaseSensor:
 
 
 class SensorListConfig(OrderedListConfig[BaseSensor]):
+
     def __init__(self) -> None:
         super().__init__(obj_type=BaseSensor)
 

clearpath_config/system/servers.py

@@ -194,6 +194,7 @@ def enabled(self, value: bool) -> None:
 
 # LinkListConfig
 class ServerListConfig(ListConfig[ServerConfig, int]):
+
     def __init__(self) -> None:
         super().__init__(
             uid=lambda obj: obj.server_id,