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UST changes #10

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merged 2 commits into from
Aug 8, 2023
Merged

UST changes #10

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c147e2b
Renamed UST10 to UST
roni-kreinin Aug 2, 2023
c258464
Linter
roni-kreinin Aug 2, 2023
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6 changes: 3 additions & 3 deletions clearpath_generator_gz/clearpath_generator_gz/launch/sensors.py
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Original file line number Diff line number Diff line change
Expand Up @@ -31,7 +31,7 @@
# of Clearpath Robotics.

from clearpath_config.sensors.types.sensor import BaseSensor
from clearpath_config.sensors.types.lidars_2d import BaseLidar2D, HokuyoUST10, SickLMS1XX
from clearpath_config.sensors.types.lidars_2d import BaseLidar2D, HokuyoUST, SickLMS1XX
from clearpath_config.sensors.types.lidars_3d import BaseLidar3D, VelodyneLidar
from clearpath_config.sensors.types.cameras import BaseCamera, IntelRealsense
from clearpath_config.sensors.types.imu import BaseIMU, Microstrain
Expand Down Expand Up @@ -255,7 +255,7 @@ def __init__(self,
]

MODEL = {
HokuyoUST10.SENSOR_MODEL: Lidar2dLaunch,
HokuyoUST.SENSOR_MODEL: Lidar2dLaunch,
SickLMS1XX.SENSOR_MODEL: Lidar2dLaunch,
IntelRealsense.SENSOR_MODEL: IntelRealsenseLaunch,
Microstrain.SENSOR_MODEL: ImuLaunch,
Expand All @@ -268,5 +268,5 @@ def __new__(cls,
robot_namespace: str,
launch_path: str,
param_path: str) -> BaseLaunch:
return SensorLaunch.MODEL[sensor.SENSOR_MODEL](
return SensorLaunch.MODEL.setdefault(sensor.SENSOR_MODEL, SensorLaunch.BaseLaunch)(
sensor, robot_namespace, launch_path, param_path)
2 changes: 1 addition & 1 deletion clearpath_generator_gz/clearpath_generator_gz/param/generator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -41,7 +41,7 @@ def generate_sensors(self) -> None:
pass

def generate_platform(self) -> None:
for param in PlatformParam.PARAMETER:
for param in PlatformParam.PARAMETERS:
platform_param = PlatformParam(
param,
self.clearpath_config,
Expand Down
5 changes: 4 additions & 1 deletion clearpath_gz/launch/robot_spawn.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,8 @@
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare

import os


ARGUMENTS = [
DeclareLaunchArgument('rviz', default_value='false',
Expand Down Expand Up @@ -67,7 +69,8 @@ def launch_setup(context, *args, **kwargs):
yaw = LaunchConfiguration('yaw')

# Parse robot YAML into config
clearpath_config = ClearpathConfig(str(setup_path.perform(context) + 'robot.yaml'))
clearpath_config = ClearpathConfig(os.path.join(
str(setup_path.perform(context)), 'robot.yaml'))

namespace = clearpath_config.system.namespace
if namespace in ('', '/'):
Expand Down