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Merged
merged 3 commits into from
Jul 22, 2025
Merged

Feature/monitor default sensors #240

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0d53338
Track default platform IMUs
hilary-luo Jul 8, 2025
01c7527
Track default platform GPS
hilary-luo Jul 8, 2025
99baf93
simplify platform check and no imu on a200
hilary-luo Jul 21, 2025
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48 changes: 44 additions & 4 deletions clearpath_generator_common/clearpath_generator_common/param/platform.py
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,7 @@
from clearpath_config.common.utils.dictionary import merge_dict, replace_dict_items
from clearpath_config.platform.battery import BatteryConfig
from clearpath_config.sensors.types.cameras import BaseCamera, IntelRealsense
from clearpath_config.sensors.types.gps import BaseGPS
from clearpath_config.sensors.types.gps import BaseGPS, NMEA
from clearpath_config.sensors.types.imu import BaseIMU, PhidgetsSpatial
from clearpath_config.sensors.types.lidars_2d import BaseLidar2D
from clearpath_config.sensors.types.lidars_3d import BaseLidar3D
Expand Down Expand Up @@ -224,8 +224,10 @@ def __init__(self,
def generate_parameters(self, use_sim_time: bool = False) -> None:
super().generate_parameters(use_sim_time)

platform_model = self.clearpath_config.get_platform_model()

# Add MCU diagnostic category for all platforms except A200
if self.clearpath_config.get_platform_model() != Platform.A200:
if platform_model != Platform.A200:
self.param_file.update({
self.DIAGNOSTIC_AGGREGATOR_NODE: {
'platform': {
Expand All @@ -245,7 +247,7 @@ def generate_parameters(self, use_sim_time: bool = False) -> None:
})

# Add Lighting for every platform except A200 and J100
if self.clearpath_config.get_platform_model() not in (Platform.A200, Platform.J100):
if platform_model not in (Platform.A200, Platform.J100):
self.param_file.update({
self.DIAGNOSTIC_AGGREGATOR_NODE: {
'platform': {
Expand All @@ -264,7 +266,7 @@ def generate_parameters(self, use_sim_time: bool = False) -> None:
})

# Add cooling for A300 only for now
if self.clearpath_config.get_platform_model() == Platform.A300:
if platform_model == Platform.A300:
self.param_file.update({
self.DIAGNOSTIC_AGGREGATOR_NODE: {
'platform': {
Expand Down Expand Up @@ -316,6 +318,20 @@ def generate_parameters(self, use_sim_time: bool = False) -> None:

sensor_analyzers = {}

if platform_model not in (Platform.A300, Platform.A200):
sensor_analyzers['imu'] = {
'type': 'diagnostic_aggregator/GenericAnalyzer',
'path': 'IMU',
'contains': ['imu']
}

if platform_model == Platform.J100:
sensor_analyzers['gps'] = {
'type': 'diagnostic_aggregator/GenericAnalyzer',
'path': 'GPS',
'contains': ['gps']
}

# List all topics to be monitored from each launched sensor
for sensor in self.clearpath_config.sensors.get_all_sensors():

Expand Down Expand Up @@ -457,6 +473,30 @@ def generate_parameters(self, use_sim_time: bool = False) -> None:
}
})

if platform_model not in (Platform.A300, Platform.A200):
self.param_file.update({
self.DIAGNOSTIC_UPDATER_NODE: {
'topics': {
'sensors/imu_0/data': {
'type': BaseIMU.TOPICS.TYPE[BaseIMU.TOPICS.DATA],
'rate': 50.0
}
}
}
})

if platform_model == Platform.J100:
self.param_file.update({
self.DIAGNOSTIC_UPDATER_NODE: {
'topics': {
'sensors/gps_0/fix': {
'type': NMEA.TOPICS.TYPE[NMEA.TOPICS.FIX],
'rate': 10.0
}
}
}
})

# List all topics to be monitored from each launched sensor
for sensor in self.clearpath_config.sensors.get_all_sensors():

Expand Down