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Add A300 AMP attachments (#200)
* Add meshes, URDFs for the A300 AMP and AMP Observer attachments * Add spotlight attachment with light plugin for simulation * Add Seyond description with lower-than-reality resolution & correct FoV for simulation. Fix math for calculating the number of samples * Add GPS plugins for the Fixposition description
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-137
lines changed

17 files changed

+421
-137
lines changed

‎clearpath_generator_common/clearpath_generator_common/description/attachments.py

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@@ -32,6 +32,7 @@
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from typing import List
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from clearpath_config.platform.attachments.a200 import A200Attachment
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from clearpath_config.platform.attachments.a300 import A300Attachment
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from clearpath_config.platform.attachments.config import BaseAttachment
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from clearpath_config.platform.attachments.dd100 import DD100Attachment
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from clearpath_config.platform.attachments.dd150 import DD150Attachment
@@ -125,6 +126,12 @@ def __init__(self, attachment: BaseAttachment) -> None:
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A200Attachment.TOP_PLATE: BaseDescription,
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A200Attachment.SENSOR_ARCH: BaseDescription,
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A200Attachment.OBSERVER_BACKPACK: BaseDescription,
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# A300
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A300Attachment.BUMPER: BumperDescription,
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A300Attachment.TOP_PLATE: BaseDescription,
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A300Attachment.AMP_SENSOR_ARCH: BaseDescription,
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A300Attachment.AMP_ENCLOSURE: BaseDescription,
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A300Attachment.SPOTLIGHT: BaseDescription,
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# J100
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J100Attachment.FENDER: BaseDescription,
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J100Attachment.TOP_PLATE: BaseDescription,

‎clearpath_generator_common/clearpath_generator_common/description/sensors.py

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@@ -193,15 +193,36 @@ def __init__(self, sensor: BaseINS) -> None:
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class OusterOS1Description(Lidar3dDescription):
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SAMPLES_HORIZONTAL = 'samples_h'
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SAMPLES_VERTICAL = 'samples_v'
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BASE_TYPE = 'base'
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CAP_TYPE = 'cap'
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def __init__(self, sensor: BaseLidar3D) -> None:
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def __init__(self, sensor: OusterOS1) -> None:
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super().__init__(sensor)
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del self.parameters[self.ANGULAR_RESOLUTION_H]
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del self.parameters[self.ANGULAR_RESOLUTION_V]
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self.parameters.update({
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self.SAMPLES_HORIZONTAL: 1024,
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self.SAMPLES_VERTICAL: 64
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self.SAMPLES_VERTICAL: 64,
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self.BASE_TYPE: sensor.base_type,
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self.CAP_TYPE: sensor.cap_type,
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})
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class SeyondLidarDescription(Lidar3dDescription):
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def __init__(self, sensor: BaseLidar3D) -> None:
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super().__init__(sensor)
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self.parameters.update({
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self.ANGULAR_RESOLUTION_H: 0.01,
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self.ANGULAR_RESOLUTION_V: 0.01,
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self.MINIMUM_ANGLE_H: -1.0471975511965976,
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self.MAXIMUM_ANGLE_H: 1.0471975511965976,
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self.MINIMUM_ANGLE_V: -0.6108652381980153,
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self.MAXIMUM_ANGLE_V: 0.6108652381980153,
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self.MINIMUM_RANGE: 0.1,
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self.MAXIMUM_RANGE: 150.0,
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self.UPDATE_RATE: 20 # TODO: link to clearpath_config property
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})
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class ImuDescription(BaseDescription):
@@ -276,7 +297,7 @@ def __init__(self, sensor: StereolabsZed) -> None:
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AxisCamera.SENSOR_MODEL: AxisCameraDescription,
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Microstrain.SENSOR_MODEL: ImuDescription,
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OusterOS1.SENSOR_MODEL: OusterOS1Description,
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SeyondLidar.SENSOR_MODEL: Lidar3dDescription,
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SeyondLidar.SENSOR_MODEL: SeyondLidarDescription,
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VelodyneLidar.SENSOR_MODEL: Lidar3dDescription,
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CHRoboticsUM6.SENSOR_MODEL: ImuDescription,
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RedshiftUM7.SENSOR_MODEL: ImuDescription,

‎clearpath_platform_description/meshes/a300/attachments/observer_access_panels.stl

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‎clearpath_platform_description/meshes/a300/attachments/observer_arch.stl

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‎clearpath_platform_description/meshes/a300/attachments/observer_cellular_antenna.stl

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‎clearpath_platform_description/meshes/a300/attachments/observer_enclosure.stl

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‎clearpath_platform_description/meshes/a300/attachments/observer_wifi_antennas.stl

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‎clearpath_platform_description/meshes/a300/attachments/wireless_charger.stl

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‎clearpath_platform_description/urdf/a300/attachments/amp_enclosure.urdf.xacro

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<?xml version="1.0" ?>
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<robot xmlns:xacro="http://wiki.ros.org.xacro">
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<xacro:macro name="amp_enclosure" params="name parent_link:=base_link model:=amp_enclosure *origin">
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<link name="${name}_enclosure_link">
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<visual>
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<geometry>
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<mesh filename="package://clearpath_platform_description/meshes/a300/attachments/observer_enclosure.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<material name="dark_grey"><color rgba="0.1 0.1 0.1 1.0" /></material>
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<origin xyz="0 0 0" rpy="0 0 0" />
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://clearpath_platform_description/meshes/a300/attachments/observer_enclosure.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<origin xyz="0 0 0" rpy="0 0 0" />
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</collision>
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</link>
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<gazebo reference="${name}_enclosure_link">
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<material>Gazebo/Black</material>
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</gazebo>
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<joint name="${name}_enclosure_joint" type="fixed">
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<parent link="${parent_link}" />
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<child link="${name}_enclosure_link" />
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<xacro:insert_block name="origin"/>
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</joint>
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<link name="${name}_access_panels_link">
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<visual>
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<geometry>
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<mesh filename="package://clearpath_platform_description/meshes/a300/attachments/observer_access_panels.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<material name="yellow"><color rgba="1 0.6038269 0 1.0" /></material>
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<origin xyz="0 0 0" rpy="0 0 0" />
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</visual>
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</link>
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<joint name="${name}_access_panels_joint" type="fixed">
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<parent link="${name}_enclosure_link" />
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<child link="${name}_access_panels_link" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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</joint>
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<gazebo reference="${name}_access_panels_link">
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<material>Gazebo/DarkYellow</material>
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</gazebo>
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<!--
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Mount points for sensors, other accessories
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-->
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<!-- center of the adjustable track on top -->
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<link name="${name}_center_mount" />
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<joint name="${name}_center_joint" type="fixed">
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<parent link="${name}_enclosure_link" />
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<child link="${name}_center_mount" />
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<origin xyz="0 0 0.4074593" rpy="0 0 0" />
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</joint>
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<!-- standard rear-mounted antennas -->
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<link name="${name}_antenna_mount" />
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<joint name="${name}_antenna_mount_link" type="fixed">
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<parent link="${name}_enclosure_link" />
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<child link="${name}_antenna_mount" />
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<origin xyz="-0.4028 0 0.4074593" rpy="0 0 0" />
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</joint>
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<!-- rear-mounted fixposition -->
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<link name="${name}_ins_mount" />
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<joint name="${name}_ins_mouint_link" type="fixed">
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<parent link="${name}_enclosure_link" />
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<child link="${name}_ins_mount" />
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<origin xyz="-0.4 0.0 0.3192593" rpy="3.14159 0 3.14159" />
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</joint>
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<!-- front-mounted robin -->
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<link name="${name}_front_lidar_mount" />
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<joint name="${name}_front_lidar_mount_link" type="fixed">
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<parent link="${name}_enclosure_link" />
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<child link="${name}_front_lidar_mount" />
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<origin xyz="0.40 0 0.2708593" rpy="0 0 0" />
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</joint>
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</xacro:macro>
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</robot>

‎clearpath_platform_description/urdf/a300/attachments/amp_frame.urdf.xacro

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