Initial Ridgeback

clearpath_config/common/types/platform.py

@@ -90,6 +90,7 @@ class Platform:
         A200: PACSProfile(rows=8, columns=7),
         J100: PACSProfile(rows=4, columns=2),
         W200: PACSProfile(rows=100, columns=100),
+        R100: PACSProfile(rows=100, columns=100),
     }
 
     INDEX = {
@@ -100,5 +101,6 @@ class Platform:
         DD150: IndexingProfile(imu=1),
         DO150: IndexingProfile(imu=1),
         J100: IndexingProfile(gps=1, imu=1),
+        R100: IndexingProfile(imu=1),
         W200: IndexingProfile(imu=1),
     }

clearpath_config/platform/attachments/mux.py

@@ -34,6 +34,7 @@
 from clearpath_config.platform.attachments.do150 import DO150Attachment
 from clearpath_config.platform.attachments.generic import GENERICAttachment
 from clearpath_config.platform.attachments.j100 import J100Attachment
+from clearpath_config.platform.attachments.r100 import R100Attachment
 from clearpath_config.platform.attachments.w200 import W200Attachment
 from clearpath_config.platform.types.attachment import BaseAttachment
 
@@ -48,6 +49,7 @@ class AttachmentsConfigMux:
         Platform.GENERIC: AttachmentsConfig(GENERICAttachment),
         Platform.J100: AttachmentsConfig(J100Attachment),
         Platform.W200: AttachmentsConfig(W200Attachment),
+        Platform.R100: AttachmentsConfig(R100Attachment),
     }
 
     def __new__(cls, platform: str, attachments: dict = None) -> AttachmentsConfig:

clearpath_config/platform/attachments/r100.py

@@ -0,0 +1,34 @@
+# Software License Agreement (BSD)
+#
+# @author    Luis Camero <lcamero@clearpathrobotics.com>
+# @copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Clearpath Robotics nor the names of its contributors
+#   may be used to endorse or promote products derived from this software
+#   without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+from clearpath_config.common.types.platform import Platform
+from clearpath_config.platform.types.attachment import PlatformAttachment
+
+
+# R100 Attachments
+class R100Attachment(PlatformAttachment):
+    PLATFORM = Platform.R100

clearpath_config/platform/battery.py

@@ -46,6 +46,8 @@ class BatteryConfig(BaseConfig):
     ES20_12C = "ES20_12C"
     # A200/J100 LiION
     HE2613 = "HE2613"
+    # R100 Lead Acid
+    DTM8A31 = "8A31DTM"
     # W200 Lead Acid
     U1_35 = "U1_35"
     # W200 LiFEPO4
@@ -90,6 +92,9 @@ class BatteryConfig(BaseConfig):
         Platform.J100: {
             HE2613: [S1P1],
         },
+        Platform.R100: {
+            DTM8A31: [S2P1],
+        },
         Platform.W200: {
             U1_35: [S4P3],
             NEC_ALM12V35: [S4P3],

clearpath_config/platform/extras.py

@@ -104,6 +104,22 @@ class ROSParameterDefaults:
         "platform_velocity_controller.angular.z.min_acceleration": -25.0,
     }
 
+    R100 = {
+        "platform_velocity_controller.wheel_radius": 0.05,
+        "platform_velocity_controller.linear.x.max_velocity": 1.3,
+        "platform_velocity_controller.linear.x.min_velocity": -1.3,
+        "platform_velocity_controller.linear.x.max_acceleration": 1.0,
+        "platform_velocity_controller.linear.x.min_acceleration": -1.0,
+        "platform_velocity_controller.linear.y.max_velocity": 1.3,
+        "platform_velocity_controller.linear.y.min_velocity": -1.3,
+        "platform_velocity_controller.linear.y.max_acceleration": 1.0,
+        "platform_velocity_controller.linear.y.min_acceleration": -1.0,
+        "platform_velocity_controller.angular.z.max_velocity": 4.0,
+        "platform_velocity_controller.angular.z.min_velocity": -4.0,
+        "platform_velocity_controller.angular.z.max_acceleration": 2.0,
+        "platform_velocity_controller.angular.z.min_acceleration": -2.0,
+    }
+
     W200 = {
         "platform_velocity_controller.wheel_radius": 0.3,
         "platform_velocity_controller.linear.x.max_velocity": 5.0,
@@ -124,6 +140,7 @@ class ROSParameterDefaults:
         Platform.DO150: DO150,
         Platform.J100: J100,
         Platform.GENERIC: GENERIC,
+        Platform.R100: R100,
         Platform.W200: W200,
     }