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‎LICENSE

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BSD 3-Clause License
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Copyright (c) 2023, clearpathrobotics
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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1. Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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3. Neither the name of the copyright holder nor the names of its
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contributors may be used to endorse or promote products derived from
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this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

‎clearpath_launch_generator/clearpath_launch_generator/launch_writer.py

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# Software License Agreement (BSD)
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#
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# @author Roni Kreinin <[email protected]>
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# @copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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# * Redistributions of source code must retain the above copyright notice,
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# this list of conditions and the following disclaimer.
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# * Redistributions in binary form must reproduce the above copyright notice,
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# this list of conditions and the following disclaimer in the documentation
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# and/or other materials provided with the distribution.
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# * Neither the name of Clearpath Robotics nor the names of its contributors
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# may be used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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from typing import List
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import os

‎clearpath_launch_generator/package.xml

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<package format="3">
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<name>clearpath_launch_generator</name>
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<version>0.0.0</version>
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<description>TODO: Package description</description>
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<maintainer email="[email protected]">rkreinin</maintainer>
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<license>TODO: License declaration</license>
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<description>Clearpath launch generation scripts</description>
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<author email="[email protected]">rkreinin</author>
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<maintainer email="[email protected]">Luis Camero</maintainer>
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<maintainer email="[email protected]">Roni Kreinin</maintainer>
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<maintainer email="[email protected]">Tony Baltovski</maintainer>
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<license>BSD</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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‎clearpath_platform/a200_hardware.xml

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<?xml version="1.0"?>
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<!--
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Software License Agreement (BSD)
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\file a200_hardware.xml
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\authors Tony Baltovski <[email protected]>
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Roni Kreinin <[email protected]>
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\copyright Copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright notice,
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this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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* Neither the name of Clearpath Robotics nor the names of its contributors
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may be used to endorse or promote products derived from this software
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without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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POSSIBILITY OF SUCH DAMAGE.
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-->
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<library path="a200_hardware">
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<class name="clearpath_platform/A200Hardware"
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type="clearpath_platform::A200Hardware"

‎clearpath_platform/j100_hardware.xml

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<?xml version="1.0"?>
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<!--
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Software License Agreement (BSD)
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\file j100_hardware.xml
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\authors Roni Kreinin <[email protected]>
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\copyright Copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright notice,
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this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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* Neither the name of Clearpath Robotics nor the names of its contributors
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may be used to endorse or promote products derived from this software
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without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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POSSIBILITY OF SUCH DAMAGE.
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-->
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<library path="j100_hardware">
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<class name="clearpath_platform/J100Hardware"
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type="clearpath_platform::J100Hardware"
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The ros2_control J100Hardware using a system hardware interface-type.
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</description>
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</class>
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</library>
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</library>

‎clearpath_platform/launch/platform.launch.py

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# Software License Agreement (BSD)
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#
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# @author Tony Baltovski <[email protected]>
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# @author Roni Kreinin <[email protected]>
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# @copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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# * Redistributions of source code must retain the above copyright notice,
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# this list of conditions and the following disclaimer.
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# * Redistributions in binary form must reproduce the above copyright notice,
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# this list of conditions and the following disclaimer in the documentation
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# and/or other materials provided with the distribution.
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# * Neither the name of Clearpath Robotics nor the names of its contributors
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# may be used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, ExecuteProcess, GroupAction, IncludeLaunchDescription, LogInfo
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from launch.conditions import LaunchConfigurationEquals
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description():
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# Packages

‎clearpath_platform/package.xml

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<author email="[email protected]">Roni Kreinin</author>
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<author email="[email protected]">Tony Baltovski</author>
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<maintainer email="[email protected]">Luis Camero</maintainer>
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<maintainer email="[email protected]">Roni Kreinin</maintainer>
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<maintainer email="[email protected]">Tony Baltovski</maintainer>
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‎clearpath_platform/scripts/check.sh renamed to ‎clearpath_platform/scripts/check

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‎clearpath_platform/scripts/generate.sh renamed to ‎clearpath_platform/scripts/generate

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‎clearpath_platform/scripts/install

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#!/usr/bin/env python3
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# Software License Agreement (BSD)
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#
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# @author Roni Kreinin <[email protected]>
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# @copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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# * Redistributions of source code must retain the above copyright notice,
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# this list of conditions and the following disclaimer.
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# * Redistributions in binary form must reproduce the above copyright notice,
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# this list of conditions and the following disclaimer in the documentation
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# and/or other materials provided with the distribution.
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# * Neither the name of Clearpath Robotics nor the names of its contributors
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# may be used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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import robot_upstart
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'services/clearpath-robot.service')
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robot_service_execpre_contents_path = os.path.join(
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get_package_share_directory('clearpath_platform'),
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'scripts/generate.sh')
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'scripts/generate')
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robot_service_exec_contents_path = os.path.join(
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get_package_share_directory('clearpath_platform'),
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'scripts/check.sh')
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'scripts/check')
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with open(robot_service_path) as f:
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robot_service_contents = f.read()

‎clearpath_sensors/config/sick_lms1xx.yaml

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sick_scan:
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ros__parameters:
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intensity: false
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intensity_resolution_16bit: false
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min_ang: -2.35619
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max_ang: 2.35619
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frame_id: cloud
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use_binary_protocol: true
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scanner_type: sick_lms_1xx
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# Optional range filter configuration: If the range of a scan point is less than range_min or greater than range_max, the point can be filtered.
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# Depending on parameter range_filter_handling, the following filter can be applied for points with a range not within [range_min, range_max],
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# see enumeration RangeFilterResultHandling in range_filter.h:
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# 0: RANGE_FILTER_DEACTIVATED, do not apply range filter (default)
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# 1: RANGE_FILTER_DROP, drop point, if range is not within [range_min, range_max]
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# 2: RANGE_FILTER_TO_ZERO, set range to 0, if range is not within [range_min, range_max]
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# 3: RANGE_FILTER_TO_RANGE_MAX, set range to range_max, if range is not within [range_min, range_max]
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# 4: RANGE_FILTER_TO_FLT_MAX, set range to FLT_MAX, if range is not within [range_min, range_max]
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# 5: RANGE_FILTER_TO_NAN set range to NAN, if range is not within [range_min, range_max]
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# Note: Range filter applies only to Pointcloud messages, not to LaserScan messages.
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# Using range_filter_handling 4 or 5 requires handling of FLT_MAX and NAN values in an application.
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range_min: 0.05
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range_max: 25.0
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range_filter_handling: 0
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hostname: 192.168.0.1
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cloud_topic: cloud
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port: 2112
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timelimit: 5
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sw_pll_only_publish: true
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use_generation_timestamp: true # Use the lidar generation timestamp (true, default) or send timestamp (false) for the software pll converted message timestamp
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start_services: true # start ros service for cola commands
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activate_lferec: true # activate field monitoring by lferec messages
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activate_lidoutputstate: true # activate field monitoring by lidoutputstate messages
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activate_lidinputstate: true # activate field monitoring by lidinputstate messages
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min_intensity: 0.0 # Set range of LaserScan messages to infinity, if intensity < min_intensity (default: 0)
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ang_res: 0.5 # Supported values are "0.25" and "0.50"
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scan_freq: 50 # Supported values are "25" and "50"
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# Note: angular resolution and scanning frequency of a LMS111 can be configured by parameter "ang_res" (values "0.25" or "0.5") and "scan_freq" (values "25" or "50")
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# After setting "ang_res" and "scan_freq", it takes ca. 30 seconds until the pointcloud is published.
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# Recommendation: It is recommended to specify the desired angular resolution and scan rate in this launch file.
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# In this case, it is necessary to wait approx. 30 sec. until the Lidar changes to status "OK".
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# Alternatively, these settings can be configured in SOPAS-ET, transferred to the EEProm of the lidar and
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# then permanently stored. In this case, the explicit specification of scan rate and angular resolution
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# can be omitted and the waiting time can be avoided.
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# Apply an additional transform to the cartesian pointcloud, default: "0,0,0,0,0,0" (i.e. no transform)
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# Note: add_transform_xyz_rpy is specified by 6D pose x, y, z, roll, pitch, yaw in [m] resp. [rad]
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# It transforms a 3D point in cloud coordinates to 3D point in user defined world coordinates:
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# add_transform_xyz_rpy := T[world,cloud] with parent "world" and child "cloud", i.e. P_world = T[world,cloud] * P_cloud
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# The additional transform applies to cartesian lidar pointclouds and visualization marker (fields)
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# It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages
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add_transform_xyz_rpy: "0,0,0,0,0,0"
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add_transform_check_dynamic_updates: false
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message_monitoring_enabled: true # Enable message monitoring with reconnect+reinit in case of timeouts, default: true
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read_timeout_millisec_default: 5000 # 5 sec read timeout in operational mode (measurement mode), default: 5000 milliseconds
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read_timeout_millisec_startup: 120000 # 120 sec read timeout during startup (sensor may be starting up, which can take up to 120 sec.), default: 120000 milliseconds
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read_timeout_millisec_kill_node: 150000 # 150 sec pointcloud timeout, ros node will be killed if no point cloud published within the last 150 sec., default: 150000 milliseconds
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client_authorization_pw: F4724744 # Default password for client authorization
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# Configuration of ROS quality of service:
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# On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher
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# On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values:
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# 0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS()
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# See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS
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# Default value is -1, i.e. queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.
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ros_qos: -1

‎clearpath_sensors/launch/hokuyo_ust10.launch.py

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# Software License Agreement (BSD)
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#
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# @author Roni Kreinin <[email protected]>
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# @copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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# * Redistributions of source code must retain the above copyright notice,
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# this list of conditions and the following disclaimer.
10+
# * Redistributions in binary form must reproduce the above copyright notice,
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# this list of conditions and the following disclaimer in the documentation
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# and/or other materials provided with the distribution.
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# * Neither the name of Clearpath Robotics nor the names of its contributors
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# may be used to endorse or promote products derived from this software
15+
# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20+
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22+
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration, PathJoinSubstitution

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