Added Garmin 18x, Novatel smart 6 and 7

clearpathrobotics · Jul 27, 2023 · 94e1fd6 · 94e1fd6
1 parent 1d383de
commit 94e1fd6
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Showing 5 changed files with 67 additions and 9 deletions.
diff --git a/clearpath_generator_common/clearpath_generator_common/description/generator.py b/clearpath_generator_common/clearpath_generator_common/description/generator.py
@@ -82,7 +82,7 @@ def generate(self) -> None:
         print(f'Generated {self.xacro_writer.file_path}robot.urdf.xacro')
 
     def generate_platform(self) -> None:
-        self.platform = self.clearpath_config.platform.get_model()
+        self.platform = self.clearpath_config.platform.get_platform_model()
         platform_description = PlatformDescription(self.platform)
 
         # Platform macro

diff --git a/clearpath_generator_common/clearpath_generator_common/description/sensors.py b/clearpath_generator_common/clearpath_generator_common/description/sensors.py
@@ -31,11 +31,16 @@
 # of Clearpath Robotics.
 
 from clearpath_config.sensors.types.sensor import BaseSensor
-from clearpath_config.sensors.types.lidars_2d import HokuyoUST10, SickLMS1XX, BaseLidar2D
-from clearpath_config.sensors.types.lidars_3d import VelodyneLidar, BaseLidar3D
+from clearpath_config.sensors.types.lidars_2d import BaseLidar2D, HokuyoUST10, SickLMS1XX
+from clearpath_config.sensors.types.lidars_3d import BaseLidar3D, VelodyneLidar
 from clearpath_config.sensors.types.cameras import BaseCamera, IntelRealsense
 from clearpath_config.sensors.types.imu import BaseIMU, Microstrain
-from clearpath_config.sensors.types.gps import SwiftNavDuro
+from clearpath_config.sensors.types.gps import (
+    Garmin18x,
+    NovatelSmart6,
+    NovatelSmart7,
+    SwiftNavDuro
+)
 
 
 from typing import List
@@ -160,7 +165,10 @@ def __init__(self, sensor: IntelRealsense) -> None:
         IntelRealsense.SENSOR_MODEL: IntelRealsenseDescription,
         Microstrain.SENSOR_MODEL: ImuDescription,
         VelodyneLidar.SENSOR_MODEL: Lidar3dDescription,
-        SwiftNavDuro.SENSOR_MODEL: BaseDescription
+        SwiftNavDuro.SENSOR_MODEL: BaseDescription,
+        Garmin18x.SENSOR_MODEL: BaseDescription,
+        NovatelSmart6.SENSOR_MODEL: BaseDescription,
+        NovatelSmart7.SENSOR_MODEL: BaseDescription
     }
 
     def __new__(cls, sensor: BaseSensor) -> BaseDescription:

diff --git a/clearpath_sensors_description/urdf/garmin_18x.urdf.xacro b/clearpath_sensors_description/urdf/garmin_18x.urdf.xacro
@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:macro name="garmin_18x" params="name parent_link *origin">
+    <link name="${name}_link">
+      <visual>
+        <material name="black"/>
+        <geometry>
+          <cylinder radius="0.0305" length="0.0195" />
+        </geometry>
+      </visual>
+      <collision>
+        <material name="black"/>
+        <geometry>
+          <cylinder radius="0.0305" length="0.0195" />
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${name}_joint" type="fixed">
+      <child link="${name}_link"/>
+      <parent link="${parent_link}"/>
+      <xacro:insert_block name="origin"/>
+    </joint>
+
+    <gazebo reference="${name}_link">
+      <sensor name="${name}" type="navsat">
+        <always_on>1</always_on>
+        <update_rate>1</update_rate>
+      </sensor>
+    </gazebo>
+  </xacro:macro>
+</robot>
diff --git a/clearpath_sensors_description/urdf/novatel_smart6.urdf.xacro b/clearpath_sensors_description/urdf/novatel_smart6.urdf.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:macro name="novatel_smart6" params="name">
+  <xacro:macro name="novatel_smart6" params="name parent_link *origin">
     <link name="${name}_link">
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
@@ -12,5 +12,17 @@
         </material>
       </visual>
     </link>
+    <joint name="${name}_joint" type="fixed">
+      <child link="${name}_link"/>
+      <parent link="${parent_link}"/>
+      <xacro:insert_block name="origin"/>
+    </joint>
+
+    <gazebo reference="${name}_link">
+      <sensor name="${name}" type="navsat">
+        <always_on>1</always_on>
+        <update_rate>1</update_rate>
+      </sensor>
+    </gazebo>
   </xacro:macro>
 </robot>
diff --git a/clearpath_sensors_description/urdf/novatel_smart7.urdf.xacro b/clearpath_sensors_description/urdf/novatel_smart7.urdf.xacro
@@ -20,9 +20,16 @@
     </link>
 
     <joint name="${name}_joint" type="fixed">
-      <xacro:insert_block name="origin" />
-      <parent link="${parent_link}" />
-      <child link="${name}_link" />
+      <child link="${name}_link"/>
+      <parent link="${parent_link}"/>
+      <xacro:insert_block name="origin"/>
     </joint>
+
+    <gazebo reference="${name}_link">
+      <sensor name="${name}" type="navsat">
+        <always_on>1</always_on>
+        <update_rate>1</update_rate>
+      </sensor>
+    </gazebo>
   </xacro:macro>
 </robot>