clearpath_config.sensors.types.lidars_3d module

class clearpath_config.sensors.types.lidars_3d.BaseLidar3D(idx: int | None = None, name: str | None = None, topic: str = 'points', frame_id: str = 'laser', ip: str = '192.168.131.25', port: int = '2368', urdf_enabled: bool = True, launch_enabled: bool = True, ros_parameters: dict = {}, ros_parameters_template: dict = {}, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0])

Bases: BaseSensor

FRAME_ID = 'laser'

IP_ADDRESS = '192.168.131.25'

IP_PORT = '2368'

class ROS_PARAMETER_KEYS

Bases: object

FRAME_ID = 'node_name.frame_id'

IP_ADDRESS = 'node_name.ip_address'

IP_PORT = 'node_name.ip_port'

SENSOR_MODEL = 'base'

SENSOR_TYPE = 'lidar3d'

TOPIC = 'points'

class TOPICS

Bases: object

NAME = {'points': 'points', 'scan': 'scan'}

POINTS = 'points'

SCAN = 'scan'

TYPE = {'points': 'sensor_msgs/msg/PointCloud2', 'scan': 'sensor_msgs/msg/LaserScan'}

property frame_id: str

classmethod get_frame_id_from_idx(idx: int) → str

classmethod get_ip_from_idx(idx: int) → str

property ip: str

property port: int

set_idx(idx: int) → None

class clearpath_config.sensors.types.lidars_3d.OusterOS1(idx: int | None = None, name: str | None = None, topic: str = 'points', frame_id: str = 'sensor_link', ip: str = '192.168.131.25', port: int = 7502, computer_ip: str = '192.168.131.1', urdf_enabled: bool = True, launch_enabled: bool = True, ros_parameters: str = {}, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0])

Bases: BaseLidar3D

FRAME_ID = 'sensor_link'

IP_COMPUTER_ADDRESS = '192.168.131.1'

IP_PORT = 7502

class ROS_PARAMETER_KEYS

Bases: object

FRAME_ID = 'ouster_driver.lidar_frame'

IMU_FRAME_ID = 'ouster_driver.imu_frame'

IP_ADDRESS = 'ouster_driver.sensor_hostname'

IP_COMPUTER = 'ouster_driver.udp_dest'

IP_PORT = 'ouster_driver.lidar_port'

PCL_FRAME_ID = 'ouster_driver.point_cloud_frame'

SENSOR_FRAME_ID = 'ouster_driver.sensor_frame'

SENSOR_MODEL = 'ouster_os1'

property computer_ip: str

class clearpath_config.sensors.types.lidars_3d.SeyondLidar(idx: int | None = None, name: str | None = None, topic: str = 'points', frame_id: str = 'seyond', ip: str = '192.168.131.25', port: int = 0, device_type: str = 'robin_w', urdf_enabled: bool = True, launch_enabled: bool = False, ros_parameters: str = {}, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0])

Bases: BaseLidar3D

The Seyond Robin W.

At present this lidar us URDF-only; launch files are handled by OutdoorNav

DEVICE_TYPE = 'robin_w'

DEVICE_TYPES = 'robin_w'

FRAME_ID = 'seyond'

IP_PORT = 0

ROBIN_W = 'robin_w'

class ROS_PARAMETER_KEYS

Bases: object

FRAME_ID = 'seyond_driver.frame_id'

IP_ADDRESS = 'seyond_driver.device_ip'

IP_PORT = 'seyond_driver.port'

SENSOR_MODEL = 'seyond_lidar'

property device_type: str

class clearpath_config.sensors.types.lidars_3d.VelodyneLidar(idx: int | None = None, name: str | None = None, topic: str = 'points', frame_id: str = 'laser', ip: str = '192.168.131.25', port: int = 2368, device_type: str = 'VLP16', urdf_enabled: bool = True, launch_enabled: bool = True, ros_parameters: str = {}, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0])

Bases: BaseLidar3D

DEVICE_TYPE = 'VLP16'

DEVICE_TYPES = ('32E', '64E', '64E_S2', '64E_S3', 'VLP16', '32C')

FRAME_ID = 'laser'

HDL_32E = '32E'

HDL_64E = '64E'

HDL_64E_S2 = '64E_S2'

HDL_64E_S3 = '64E_S3'

IP_PORT = 2368

class ROS_PARAMETER_KEYS

Bases: object

DRIVER_NODE_MODEL = 'velodyne_driver_node.model'

FIXED_FRAME = 'velodyne_transform_node.fixed_frame'

FRAME_ID = 'velodyne_driver_node.frame_id'

IP_ADDRESS = 'velodyne_driver_node.device_ip'

IP_PORT = 'velodyne_driver_node.port'

TARGET_FRAME = 'velodyne_transform_node.target_frame'

TRANSFORM_NODE_MODEL = 'velodyne_transform_node.model'

SENSOR_MODEL = 'velodyne_lidar'

VLP_16 = 'VLP16'

VLP_32C = '32C'

property device_type: str