Merge pull request #231 from clearpathrobotics/lcamero/development

Updates to Mounts

docs_versioned_docs/version-ros2humble/components/yaml/attachments/a200/bumper.mdx

@@ -10,24 +10,27 @@
 <td>
 
 ```yaml
-attachments:
-  - name: front_bumper
-    type: a200.bumper
-    model: default
-    parent: front_bumper_mount
-    xyz: [0.0, 0.0, 0.0]
-    rpy: [0.0, 0.0, 0.0]
-    enabled: true
-    extension: 0.0
-  - name: rear_bumper
-    type: a200.bumper
-    model: default
-    parent: rear_bumper_mount
-    xyz: [0.0, 0.0, 0.0]
-    rpy: [0.0, 0.0, 0.0]
-    enabled: true
-    extension: 0.0
+platform:
+  attachments:
+    - name: front_bumper
+      type: a200.bumper
+      model: default
+      parent: front_bumper_mount
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      enabled: true
+      extension: 0.0
+    - name: rear_bumper
+      type: a200.bumper
+      model: default
+      parent: rear_bumper_mount
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      enabled: true
+      extension: 0.0
 ```
 </td>
 </tr>
 </table>
+
+The bumpers can be extended by setting the `extension` parameter.

docs_versioned_docs/version-ros2humble/components/yaml/attachments/a200/sensor_arch_300.mdx

@@ -10,15 +10,18 @@
 <td>
 
 ```yaml
-attachments:
-  - name: sensor_arch
-    type: a200.sensor_arch
-    model: sensor_arch_300
-    parent: mid_mount
-    xyz: [0.0, 0.0, 0.0]
-    rpy: [0.0, 0.0, 0.0]
-    enabled: true
+platform:
+  attachments:
+    - name: sensor_arch
+      type: a200.sensor_arch
+      model: sensor_arch_300
+      parent: default_mount
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      enabled: true
 ```
 </td>
 </tr>
 </table>
+
+Attach accessories to the sensor arch mount by setting the accessory's `parent` parameter to `arch_sensor_mount`.

docs_versioned_docs/version-ros2humble/components/yaml/attachments/a200/sensor_arch_510.mdx

@@ -10,15 +10,18 @@
 <td>
 
 ```yaml
-attachments:
-  - name: sensor_arch
-    type: a200.sensor_arch
-    model: sensor_arch_510
-    parent: mid_mount
-    xyz: [0.0, 0.0, 0.0]
-    rpy: [0.0, 0.0, 0.0]
-    enabled: true
+platform:
+  attachments:
+    - name: sensor_arch
+      type: a200.sensor_arch
+      model: sensor_arch_510
+      parent: default_mount
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      enabled: true
 ```
 </td>
 </tr>
 </table>
+
+Attach accessories to the sensor arch mount by setting the accessory's `parent` parameter to `arch_sensor_mount`.

docs_versioned_docs/version-ros2humble/components/yaml/attachments/a200/top_plate_default.mdx

@@ -10,15 +10,18 @@
 <td>
 
 ```yaml
-attachments:
-  - name: top_plate
-    type: a200.top_plate
-    model: default
-    parent: mid_mount
-    xyz: [0.0, 0.0, 0.0]
-    rpy: [0.0, 0.0, 0.0]
-    enabled: true
+platform:
+  attachments:
+    - name: top_plate
+      type: a200.top_plate
+      model: default
+      parent: default_mount
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      enabled: true
 ```
 </td>
 </tr>
 </table>
+
+Attach accessories to the top plate mounts by setting the accessory's `parent` parameter to either `top_plate_rear_mount`, `top_plate_default_mount`, or `top_plate_front_mount`. The mounts are displayed as axes in the image above.

docs_versioned_docs/version-ros2humble/components/yaml/attachments/a200/top_plate_large.mdx

@@ -10,15 +10,18 @@
 <td>
 
 ```yaml
-attachments:
-  - name: top_plate
-    type: a200.top_plate
-    model: large
-    parent: mid_mount
-    xyz: [0.0, 0.0, 0.0]
-    rpy: [0.0, 0.0, 0.0]
-    enabled: true
+platform:
+  attachments:
+    - name: top_plate
+      type: a200.top_plate
+      model: large
+      parent: default_mount
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      enabled: true
 ```
 </td>
 </tr>
 </table>
+
+Attach accessories to the top plate mounts by setting the accessory's `parent` parameter to either `top_plate_rear_mount`, `top_plate_default_mount`, or `top_plate_front_mount`. The mounts are displayed as axes in the image above.

docs_versioned_docs/version-ros2humble/components/yaml/attachments/a200/top_plate_pacs.mdx

@@ -10,15 +10,18 @@
 <td>
 
 ```yaml
-attachments:
-  - name: top_plate
-    type: a200.top_plate
-    model: pacs
-    parent: mid_mount
-    xyz: [0.0, 0.0, 0.0]
-    rpy: [0.0, 0.0, 0.0]
-    enabled: true
+platform:
+  attachments:
+    - name: top_plate
+      type: a200.top_plate
+      model: pacs
+      parent: default_mount
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      enabled: true
 ```
 </td>
 </tr>
 </table>
+
+Attach accessories to the top plate mounts by setting the accessory's `parent` parameter to one of the grid mounting locations displayed above. The grid mounting locations span from `top_plate_mount_a1` to `top_plate_mount_g8`, where the front left-most location is the `a1` mount and the bottom right-most location is the `g8` mount. The letters correspond to the columns and the number to the rows.

docs_versioned_docs/version-ros2humble/components/yaml/attachments/j100/fender_default.mdx

@@ -10,21 +10,22 @@
 <td>
 
 ```yaml
-attachments:
-  - name: front_fender
-    type: fender
-    model: default
-    parent: base_link
-    xyz: [0.0, 0.0, 0.0]
-    rpy: [0.0, 0.0, 0.0]
-    enabled: true
-  - name: rear_fender
-    type: fender
-    model: default
-    parent: base_link
-    xyz: [0.0, 0.0, 0.0]
-    rpy: [0.0, 0.0, 3.1415]
-    enabled: true
+platform:
+  attachments:
+    - name: front_fender
+      type: j100.fender
+      model: default
+      parent: base_link
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      enabled: true
+    - name: rear_fender
+      type: j100.fender
+      model: default
+      parent: base_link
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 3.1415]
+      enabled: true
 ```
 </td>
 </tr>

docs_versioned_docs/version-ros2humble/components/yaml/attachments/j100/fender_sensor.mdx

@@ -10,22 +10,25 @@
 <td>
 
 ```yaml
-attachments:
-  - name: front_fender
-    type: fender
-    model: sensor
-    parent: base_link
-    xyz: [0.0, 0.0, 0.0]
-    rpy: [0.0, 0.0, 0.0]
-    enabled: true
-  - name: rear_fender
-    type: fender
-    model: sensor
-    parent: base_link
-    xyz: [0.0, 0.0, 0.0]
-    rpy: [0.0, 0.0, 3.1415]
-    enabled: true
+platform:
+  attachments:
+    - name: front_fender
+      type: j100.fender
+      model: sensor
+      parent: base_link
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      enabled: true
+    - name: rear_fender
+      type: j100.fender
+      model: sensor
+      parent: base_link
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 3.1415]
+      enabled: true
 ```
 </td>
 </tr>
 </table>
+
+Attach accessories to the front and rear fender mounts by setting the accessory's `parent` parameter to `front_fender_mount` or `rear_fender_mount`. The mounts are displayed as axes in the image above.

docs_versioned_docs/version-ros2humble/components/yaml/attachments/j100/top_plate_ark_enclosure.mdx

@@ -10,14 +10,15 @@
 <td>
 
 ```yaml
-attachments:
-  - name: ark_enclosure
-    type: top_plate
-    model: ark_enclosure
-    parent: mid_mount
-    xyz: [0.0, 0.0, 0.0]
-    rpy: [0.0, 0.0, 0.0]
-    enabled: true
+platform:
+  attachments:
+    - name: ark_enclosure
+      type: j100.top_plate
+      model: ark_enclosure
+      parent: default_mount
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      enabled: true
 ```
 </td>
 </tr>

docs_versioned_docs/version-ros2humble/components/yaml/attachments/w200/arm_mount.mdx

@@ -10,14 +10,17 @@
 <td>
 
 ```yaml
-attachments:
-  - name: arm_mount
-    type: arm_mount
-    parent: default_mount
-    xyz: [0.0, 0.0, 0.0]
-    rpy: [0.0, 0.0, 0.0]
-    enabled: true
+platform:
+  attachments:
+    - name: arm_plate
+      type: w200.arm_plate
+      parent: default_mount
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      enabled: true
 ```
 </td>
 </tr>
 </table>
+
+Attach accessories to the arm plate mount by setting the accessory's `parent` parameter to `arm_plate_mount`. The mount is displayed as an axis in the image above.

docs_versioned_docs/version-ros2humble/components/yaml/attachments/w200/bulkhead_arm_mount.mdx

@@ -10,15 +10,18 @@
 <td>
 
 ```yaml
-attachments:
-  - name: bulkhead
-    type: bulkhead
-    model: arm_mount
-    parent: default_mount
-    xyz: [0.00705, 0.0, 0.24184]
-    rpy: [0.0, 0.0, 0.0]
-    enabled: true
+platform:
+  attachments:
+    - name: bulkhead
+      type: w200.bulkhead
+      model: arm_plate
+      parent: default_mount
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      enabled: true
 ```
 </td>
 </tr>
 </table>
+
+Attach accessories to the arm plate mount by setting the accessory's `parent` parameter to `arm_plate_mount`. The mount is displayed as an axis in the image above.

docs_versioned_docs/version-ros2humble/components/yaml/attachments/w200/bulkhead_default.mdx

@@ -10,15 +10,18 @@
 <td>
 
 ```yaml
-attachments:
-  - name: bulkhead
-    type: bulkhead
-    model: default
-    parent: default_mount
-    xyz: [0.00705, 0.0, 0.24184]
-    rpy: [0.0, 0.0, 0.0]
-    enabled: true
+platform:
+  attachments:
+    - name: bulkhead
+      type: w200.bulkhead
+      model: default
+      parent: default_mount
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      enabled: true
 ```
 </td>
 </tr>
 </table>
+
+Attach accessories to the bulkhead by setting the accessory's `parent` parameter to `bulkhead_mount`. The mount is displayed as an axis in the image above.

docs_versioned_docs/version-ros2humble/components/yaml/attachments/w200/generator.mdx

@@ -10,13 +10,14 @@
 <td>
 
 ```yaml
-attachments:
-  - name: generator
-    type: generator
-    parent: default_mount
-    xyz: [-0.42506, 0.0, 0.0017]
-    rpy: [0.0, 0.0, 0.0]
-    enabled: true
+platform:
+  attachments:
+    - name: generator
+      type: w200.generator
+      parent: default_mount
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      enabled: true
 ```
 </td>
 </tr>