Merge pull request #18 from clearpathrobotics/rkreinin/ust

Renamed UST10 to UST
clearpathrobotics · Aug 3, 2023 · d3ddbdb · d3ddbdb
2 parents 6fea31e + 870cdb1
commit d3ddbdb
Show file tree

Hide file tree

Showing 4 changed files with 3 additions and 59 deletions.
diff --git a/clearpath_generator_robot/clearpath_generator_robot/launch/sensors.py b/clearpath_generator_robot/clearpath_generator_robot/launch/sensors.py
@@ -31,20 +31,6 @@
 # of Clearpath Robotics.
 
 from clearpath_config.sensors.types.sensor import BaseSensor
-from clearpath_config.sensors.types.lidars_2d import HokuyoUST10, SickLMS1XX
-from clearpath_config.sensors.types.lidars_3d import VelodyneLidar
-from clearpath_config.sensors.types.cameras import IntelRealsense
-from clearpath_config.sensors.types.imu import (
- CHRoboticsUM6,
- Microstrain,
- RedshiftUM7
-)
-from clearpath_config.sensors.types.gps import (
- Garmin18x,
- NovatelSmart6,
- NovatelSmart7,
- SwiftNavDuro
-)
 
 from clearpath_generator_common.common import LaunchFile, Package, ParamFile
 from clearpath_generator_common.launch.writer import LaunchWriter
@@ -110,26 +96,12 @@ def model(self) -> str:
  """Return sensor model"""
  return self.sensor.SENSOR_MODEL
 
- MODEL = {
- HokuyoUST10.SENSOR_MODEL: BaseLaunch,
- SickLMS1XX.SENSOR_MODEL: BaseLaunch,
- IntelRealsense.SENSOR_MODEL: BaseLaunch,
- Microstrain.SENSOR_MODEL: BaseLaunch,
- VelodyneLidar.SENSOR_MODEL: BaseLaunch,
- SwiftNavDuro.SENSOR_MODEL: BaseLaunch,
- Garmin18x.SENSOR_MODEL: BaseLaunch,
- NovatelSmart6.SENSOR_MODEL: BaseLaunch,
- NovatelSmart7.SENSOR_MODEL: BaseLaunch,
- CHRoboticsUM6.SENSOR_MODEL: BaseLaunch,
- RedshiftUM7.SENSOR_MODEL: BaseLaunch
- }
-
  def __new__(cls,
  sensor: BaseSensor,
  robot_namespace: str,
  launch_path: str,
  param_path: str) -> BaseLaunch:
- return SensorLaunch.MODEL[sensor.SENSOR_MODEL](
+ return SensorLaunch.BaseLaunch(
  sensor,
  robot_namespace,
  launch_path,

diff --git a/clearpath_generator_robot/clearpath_generator_robot/param/sensors.py b/clearpath_generator_robot/clearpath_generator_robot/param/sensors.py
@@ -31,20 +31,6 @@
 # of Clearpath Robotics.
 
 from clearpath_config.sensors.types.sensor import BaseSensor
-from clearpath_config.sensors.types.lidars_2d import HokuyoUST10, SickLMS1XX
-from clearpath_config.sensors.types.lidars_3d import VelodyneLidar
-from clearpath_config.sensors.types.cameras import IntelRealsense
-from clearpath_config.sensors.types.imu import (
- CHRoboticsUM6,
- Microstrain,
- RedshiftUM7
-)
-from clearpath_config.sensors.types.gps import (
- Garmin18x,
- NovatelSmart6,
- NovatelSmart7,
- SwiftNavDuro
-)
 
 from clearpath_generator_common.common import ParamFile, Package
 from clearpath_generator_common.param.writer import ParamWriter
@@ -91,22 +77,8 @@ def generate_config(self):
  sensor_writer.write_file()
  print('Generated config: {0}'.format(self.param_file.full_path))
 
- MODEL = {
- HokuyoUST10.SENSOR_MODEL: BaseParam,
- SickLMS1XX.SENSOR_MODEL: BaseParam,
- IntelRealsense.SENSOR_MODEL: BaseParam,
- Microstrain.SENSOR_MODEL: BaseParam,
- VelodyneLidar.SENSOR_MODEL: BaseParam,
- SwiftNavDuro.SENSOR_MODEL: BaseParam,
- Garmin18x.SENSOR_MODEL: BaseParam,
- NovatelSmart6.SENSOR_MODEL: BaseParam,
- NovatelSmart7.SENSOR_MODEL: BaseParam,
- CHRoboticsUM6.SENSOR_MODEL: BaseParam,
- RedshiftUM7.SENSOR_MODEL: BaseParam
- }
-
  def __new__(cls,
  sensor: BaseSensor,
  namespace: str,
  param_path: str) -> BaseParam:
- return SensorParam.MODEL[sensor.SENSOR_MODEL](sensor, namespace, param_path)
+ return SensorParam.BaseParam(sensor, namespace, param_path)
diff --git a/clearpath_sensors/config/hokuyo_ust10.yaml → clearpath_sensors/config/hokuyo_ust.yaml b/clearpath_sensors/config/hokuyo_ust10.yaml → clearpath_sensors/config/hokuyo_ust.yaml
diff --git a/...ath_sensors/launch/hokuyo_ust10.launch.py → ...rpath_sensors/launch/hokuyo_ust.launch.py b/...ath_sensors/launch/hokuyo_ust10.launch.py → ...rpath_sensors/launch/hokuyo_ust.launch.py
@@ -46,7 +46,7 @@ def generate_launch_description():
  default_value=PathJoinSubstitution([
  FindPackageShare('clearpath_sensors'),
  'config',
- 'hokuyo_ust10.yaml'
+ 'hokuyo_ust.yaml'
  ]))
 
  urg_node = Node(