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Initial sample testing tests and samples
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‎clearpath_generator_robot/CMakeLists.txt‎

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@@ -15,6 +15,13 @@ install(PROGRAMS
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DESTINATION lib/${PROJECT_NAME}
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)
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install(DIRECTORY samples
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DESTINATION share/${PROJECT_NAME}
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)
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set(EXCLUDED_DIR samples)
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list(APPEND AMENT_LINT_AUTO_FILE_EXCLUDE "${CMAKE_CURRENT_SOURCE_DIR}/${EXCLUDED_DIR}")
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ament_python_install_package(${PROJECT_NAME})
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if(BUILD_TESTING)
@@ -32,6 +39,7 @@ if(BUILD_TESTING)
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set(_pytest_tests
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test/test_generator_launch.py
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test/test_generator_param.py
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test/test_samples.py
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)
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foreach(_test_path ${_pytest_tests})
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get_filename_component(_test_name ${_test_path} NAME_WE)

‎clearpath_generator_robot/samples/test_a200/manipulators/config/control.yaml‎

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a201_0000/manipulators:
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controller_manager:
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ros__parameters:
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update_rate: 1000
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joint_state_broadcaster:
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type: 'joint_state_broadcaster/JointStateBroadcaster'

‎clearpath_generator_robot/samples/test_a200/manipulators/config/moveit.yaml‎

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a201_0000:
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move_group:
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ros__parameters:
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robot_description_planning:
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cartesian_limits:
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max_trans_vel: 1.0
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max_trans_acc: 2.25
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max_trans_dec: -5.0
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max_rot_vel: 1.57
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publish_planning_scene: True
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publish_robot_description: False
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publish_robot_description_semantic: True
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publish_geometry_updates: True
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publish_state_updates: True
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publish_transforms_updates: True
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ompl:
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planning_plugins: ['ompl_interface/OMPLPlanner']
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path_tolerance: 0.1
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resample_dt: 0.1
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min_angle_change: 0.001
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default_workspace_bounds: 10.0
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start_state_max_bounds_error: 0.1
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start_state_max_dt: 0.5
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jiggle_fraction: 0.05
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max_sampling_attempts: 100
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request_adapters: ['default_planning_request_adapters/ResolveConstraintFrames', 'default_planning_request_adapters/ValidateWorkspaceBounds', 'default_planning_request_adapters/CheckStartStateBounds', 'default_planning_request_adapters/CheckStartStateCollision']
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response_adapters: ['default_planning_response_adapters/AddTimeOptimalParameterization', 'default_planning_response_adapters/ValidateSolution', 'default_planning_response_adapters/DisplayMotionPath']
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planner_configs:
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AnytimePathShortening:
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type: 'geometric::AnytimePathShortening'
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shortcut: True
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hybridize: True
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max_hybrid_paths: 24
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num_planners: 4
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planners: ''
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SBL:
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type: 'geometric::SBL'
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range: 0.0
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EST:
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type: 'geometric::EST'
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range: 0.0
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goal_bias: 0.05
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LBKPIECE:
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type: 'geometric::LBKPIECE'
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range: 0.0
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border_fraction: 0.9
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min_valid_path_fraction: 0.5
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BKPIECE:
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type: 'geometric::BKPIECE'
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range: 0.0
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border_fraction: 0.9
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failed_expansion_score_factor: 0.5
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min_valid_path_fraction: 0.5
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KPIECE:
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type: 'geometric::KPIECE'
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range: 0.0
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goal_bias: 0.05
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border_fraction: 0.9
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failed_expansion_score_factor: 0.5
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min_valid_path_fraction: 0.5
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RRT:
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type: 'geometric::RRT'
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range: 0.0
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goal_bias: 0.05
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RRTConnect:
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type: 'geometric::RRTConnect'
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range: 0.0
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RRTstar:
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type: 'geometric::RRTstar'
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range: 0.0
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goal_bias: 0.05
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delay_collision_checking: 1
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TRRT:
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type: 'geometric::TRRT'
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range: 0.0
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goal_bias: 0.05
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max_states_failed: 10
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temp_change_factor: 2.0
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min_temperature: '10e-10'
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init_temperature: '10e-6'
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frountier_threshold: 0.0
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frountierNodeRatio: 0.1
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k_constant: 0.0
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PRM:
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type: 'geometric::PRM'
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max_nearest_neighbors: 10
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PRMstar:
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type: 'geometric::PRMstar'
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FMT:
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type: 'geometric::FMT'
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num_samples: 1000
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radius_multiplier: 1.1
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nearest_k: 1
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cache_cc: 1
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heuristics: 0
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extended_fmt: 1
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BFMT:
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type: 'geometric::BFMT'
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num_samples: 1000
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radius_multiplier: 1.0
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nearest_k: 1
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balanced: 0
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optimality: 1
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heuristics: 1
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cache_cc: 1
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extended_fmt: 1
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PDST:
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type: 'geometric::PDST'
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STRIDE:
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type: 'geometric::STRIDE'
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range: 0.0
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goal_bias: 0.05
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use_projected_distance: 0
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degree: 16
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max_degree: 18
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min_degree: 12
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max_pts_per_leaf: 6
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estimated_dimension: 0.0
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min_valid_path_fraction: 0.2
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BiTRRT:
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type: 'geometric::BiTRRT'
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range: 0.0
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temp_change_factor: 0.1
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init_temperature: 100
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frountier_threshold: 0.0
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frountier_node_ratio: 0.1
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cost_threshold: '1e300'
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LBTRRT:
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type: 'geometric::LBTRRT'
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range: 0.0
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goal_bias: 0.05
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epsilon: 0.4
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BiEST:
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type: 'geometric::BiEST'
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range: 0.0
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ProjEST:
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type: 'geometric::ProjEST'
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range: 0.0
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goal_bias: 0.05
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LazyPRM:
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type: 'geometric::LazyPRM'
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range: 0.0
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LazyPRMstar:
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type: 'geometric::LazyPRMstar'
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SPARS:
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type: 'geometric::SPARS'
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stretch_factor: 3.0
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sparse_delta_fraction: 0.25
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dense_delta_fraction: 0.001
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max_failures: 1000
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SPARStwo:
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type: 'geometric::SPARStwo'
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stretch_factor: 3.0
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sparse_delta_fraction: 0.25
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dense_delta_fraction: 0.001
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max_failures: 5000
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chomp:
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planning_plugins: ['chomp_interface/CHOMPPlanner']
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enable_failure_recovery: True
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jiggle_fraction: 0.05
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request_adapters: ['default_planning_request_adapters/ResolveConstraintFrames', 'default_planning_request_adapters/ValidateWorkspaceBounds', 'default_planning_request_adapters/CheckStartStateBounds', 'default_planning_request_adapters/CheckStartStateCollision']
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response_adapters: ['default_planning_response_adapters/AddTimeOptimalParameterization', 'default_planning_response_adapters/ValidateSolution', 'default_planning_response_adapters/DisplayMotionPath']
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ridge_factor: 0.01
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start_state_max_bounds_error: 0.1
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path_tolerance: 0.1
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resample_dt: 0.1
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min_angle_change: 0.001
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default_workspace_bounds: 10.0
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start_state_max_dt: 0.5
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max_sampling_attempts: 100
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pilz:
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planning_plugins: ['pilz_industrial_motion_planner/CommandPlanner']
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default_planner_config: 'PTP'
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request_adapters: ['default_planning_request_adapters/ResolveConstraintFrames', 'default_planning_request_adapters/ValidateWorkspaceBounds', 'default_planning_request_adapters/CheckStartStateBounds', 'default_planning_request_adapters/CheckStartStateCollision']
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response_adapters: ['default_planning_response_adapters/ValidateSolution', 'default_planning_response_adapters/DisplayMotionPath']
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capabilities: 'pilz_industrial_motion_planner/MoveGroupSequenceAction pilz_industrial_motion_planner/MoveGroupSequenceService'
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cartesian_limits:
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max_trans_vel: 1.0
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max_trans_acc: 2.25
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max_trans_dec: -5.0
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max_rot_vel: 1.57
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planning_pipelines: ['chomp', 'pilz', 'ompl']
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default_planning_pipeline: 'ompl'
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allow_trajectory_execution: True
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moveit_manage_controllers: False
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trajectory_execution:
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allowed_execution_duration_scaling: 1.2
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allowed_goal_duration_margin: 0.5
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allowed_start_tolerance: 0.01

‎clearpath_generator_robot/samples/test_a200/manipulators/launch/manipulators-service.launch.py‎

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from launch import LaunchDescription
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from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument, ExecuteProcess
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import EnvironmentVariable, FindExecutable, PathJoinSubstitution, LaunchConfiguration
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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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# Create LaunchDescription
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ld = LaunchDescription()
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return ld

‎clearpath_generator_robot/samples/test_a200/platform-extras/launch/platform-extras-service.launch.py‎

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from launch import LaunchDescription
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from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument, ExecuteProcess
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import EnvironmentVariable, FindExecutable, PathJoinSubstitution, LaunchConfiguration
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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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# Include Packages
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pkg_clearpath_common = FindPackageShare('clearpath_common')
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# Declare launch files
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launch_file_platform_extras = PathJoinSubstitution([
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pkg_clearpath_common, 'launch', 'platform_extras.launch.py'])
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# Include launch files
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launch_platform_extras = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([launch_file_platform_extras]),
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launch_arguments=
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[
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(
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'setup_path'
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,
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'/home/lcamero/Workspaces/jazzy_ws/src/clearpath_robot/clearpath_generator_robot/samples/test_a200'
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)
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,
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(
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'use_sim_time'
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,
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'false'
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)
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,
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(
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'namespace'
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,
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'a201_0000'
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)
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,
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]
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)
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# Create LaunchDescription
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ld = LaunchDescription()
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ld.add_action(launch_platform_extras)
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return ld

‎clearpath_generator_robot/samples/test_a200/platform/config/control.yaml‎

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a201_0000:
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controller_manager:
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ros__parameters:
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update_rate: 20
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use_sim_time: False
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joint_state_broadcaster.type: 'joint_state_broadcaster/JointStateBroadcaster'
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platform_velocity_controller.type: 'diff_drive_controller/DiffDriveController'
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platform_velocity_controller:
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ros__parameters:
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use_sim_time: False
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left_wheel_names: ['front_left_wheel_joint', 'rear_left_wheel_joint']
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right_wheel_names: ['front_right_wheel_joint', 'rear_right_wheel_joint']
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wheel_separation: 0.555
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wheels_per_side: 1
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wheel_radius: 0.1651
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wheel_separation_multiplier: 1.875
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left_wheel_radius_multiplier: 1.0
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right_wheel_radius_multiplier: 1.0
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publish_rate: 50.0
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odom_frame_id: 'odom'
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base_frame_id: 'base_link'
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pose_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
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twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
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open_loop: False
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enable_odom_tf: False
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tf_frame_prefix_enable: False
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cmd_vel_timeout: 0.5
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use_stamped_vel: True
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preserve_turning_radius: True
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publish_limited_velocity: True
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publish_wheel_data: True
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linear.x.max_velocity: 1.0
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linear.x.min_velocity: -1.0
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linear.x.max_acceleration: 1.0
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linear.x.max_jerk: nan
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linear.x.min_jerk: nan
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angular.z.max_velocity: 1.0
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angular.z.min_velocity: -1.0
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angular.z.max_acceleration: 1.0
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angular.z.max_deceleration: -1.0
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angular.z.max_jerk: nan
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angular.z.min_jerk: nan

‎clearpath_generator_robot/samples/test_a200/platform/config/diagnostic_aggregator.yaml‎

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a201_0000:
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diagnostic_aggregator:
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ros__parameters:
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path: 'Clearpath Diagnostics'
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platform.type: 'diagnostic_aggregator/AnalyzerGroup'
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platform.path: 'Platform'
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platform.analyzers.power.type: 'diagnostic_aggregator/GenericAnalyzer'
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platform.analyzers.power.path: 'Power'
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platform.analyzers.power.expected: ['clearpath_diagnostic_updater: Battery Management System', 'clearpath_diagnostic_updater: Power Status']
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platform.analyzers.power.contains: ['Battery', 'Power']
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platform.analyzers.stop_status.type: 'diagnostic_aggregator/GenericAnalyzer'
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platform.analyzers.stop_status.path: 'E-stop Status'
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platform.analyzers.stop_status.expected: ['clearpath_diagnostic_updater: E-stop Status']
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platform.analyzers.stop_status.contains: ['E-stop']
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platform.analyzers.drive.type: 'diagnostic_aggregator/GenericAnalyzer'
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platform.analyzers.drive.path: 'Drive System'
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platform.analyzers.drive.expected: ['controller_manager: Controller Manager Activity', 'controller_manager: Controllers Activity', 'controller_manager: Hardware Components Activity']
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platform.analyzers.drive.contains: ['lynx', 'puma', 'sevcon', 'controller_manager', 'twist_mux', 'joy_node']
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platform.analyzers.odometry.type: 'diagnostic_aggregator/GenericAnalyzer'
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platform.analyzers.odometry.path: 'Odometry'
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platform.analyzers.odometry.contains: ['odometry', 'ekf_node']
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platform.analyzers.odometry.expected: ['ekf_node: Filter diagnostic updater', 'ekf_node: odometry/filtered topic status']
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platform.analyzers.networking.type: 'diagnostic_aggregator/GenericAnalyzer'
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platform.analyzers.networking.path: 'Networking'
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platform.analyzers.networking.contains: ['Wi-Fi']
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platform.analyzers.networking.expected: ['wireless_watcher: Wi-Fi Monitor']
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sensors.type: 'diagnostic_aggregator/AnalyzerGroup'
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sensors.path: 'Sensors'
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sensors.analyzers.lidar2d.type: 'diagnostic_aggregator/GenericAnalyzer'
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sensors.analyzers.lidar2d.path: 'Lidar2D'
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sensors.analyzers.lidar2d.contains: ['lidar2d']
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sensors.analyzers.lidar3d.type: 'diagnostic_aggregator/GenericAnalyzer'
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sensors.analyzers.lidar3d.path: 'Lidar3D'
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sensors.analyzers.lidar3d.contains: ['lidar3d']
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sensors.analyzers.cameras.type: 'diagnostic_aggregator/GenericAnalyzer'
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sensors.analyzers.cameras.path: 'Cameras'
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sensors.analyzers.cameras.contains: ['camera']
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sensors.analyzers.imu.type: 'diagnostic_aggregator/GenericAnalyzer'
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sensors.analyzers.imu.path: 'IMU'
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sensors.analyzers.imu.contains: ['imu']
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sensors.analyzers.gps.type: 'diagnostic_aggregator/GenericAnalyzer'
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sensors.analyzers.gps.path: 'GPS'
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sensors.analyzers.gps.contains: ['gps']

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