lookout-config 1.4.0__tar.gz → 1.6.0__tar.gz

{lookout_config-1.4.0 → lookout_config-1.6.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: lookout_config
-Version: 1.4.0
+Version: 1.6.0
 Summary: A library for reading / writing Lookout config files
 Home-page: https://github.com/Greenroom-Robotics/lookout
 Author: Greenroom Robotics
@@ -19,7 +19,7 @@ Requires-Dist: setuptools
 Requires-Dist: dacite
 Requires-Dist: PyYAML
 Requires-Dist: dc-schema
-Requires-Dist: greenstream-config==3.5.3
+Requires-Dist: greenstream-config==3.6.3
 Requires-Dist: gr-urchin
 
 # Lookout Config

lookout_config-1.6.0/lookout_config/generate_urdf.py

@@ -0,0 +1,83 @@
+from lookout_config import LookoutConfig
+from greenstream_config import Offsets, get_cameras_urdf
+from gr_urchin import URDF, Joint, Material, Link, xyz_rpy_to_matrix, Visual, Mesh, Geometry, Box
+from math import radians
+
+
+def joint_from_offsets(offsets: Offsets, parent: str, child: str) -> Joint:
+    return Joint(
+        name=f"{parent}_to_{child}",
+        parent=parent,
+        child=child,
+        joint_type="fixed",
+        origin=xyz_rpy_to_matrix(
+            [
+                offsets.forward or 0.0,
+                offsets.left or 0.0,
+                offsets.up or 0.0,
+                offsets.roll or 0.0,
+                offsets.pitch or 0.0,
+                offsets.yaw or 0.0,
+            ]
+        ),
+    )
+
+
+def generate_urdf(
+    config: LookoutConfig,
+    add_optical_frame: bool = True,
+):
+    mesh_path = f"package://lookout_bringup/meshes/{config.offsets.name}"
+    file_path = f"/tmp/vessel_{config.mode.value}.urdf"
+    camera_links, camera_joints = get_cameras_urdf(config.cameras, [], add_optical_frame)  # type: ignore
+
+    urdf = URDF(
+        name="origins",
+        materials=[
+            Material(name="grey", color=[0.75, 0.75, 0.75, 0.6]),
+            Material(name="blue", color=[0, 0.12, 0.25, 0.9]),
+        ],
+        links=[
+            Link(name="ins", inertial=None, visuals=None, collisions=None),
+            Link(
+                name="waterline",
+                visuals=[
+                    Visual(
+                        name="waterline",
+                        geometry=Geometry(box=Box([10.0, 10.0, 0.01])),
+                        material=Material(name="blue"),
+                    )
+                ],
+                inertial=None,
+                collisions=None,
+            ),
+            Link(
+                name="base_link",
+                visuals=[
+                    Visual(
+                        name="visual",
+                        geometry=Geometry(
+                            mesh=Mesh(filename=mesh_path, combine=False, lazy_filename=mesh_path)
+                        ),
+                        origin=xyz_rpy_to_matrix([0, 0, 0, radians(-90), 0, 0]),
+                        material=Material(name="grey"),
+                    ),
+                ],
+                inertial=None,
+                collisions=None,
+            ),
+            *camera_links,
+        ],
+        joints=[
+            joint_from_offsets(config.offsets.baselink_to_ins, "base_link", "ins"),
+            joint_from_offsets(config.offsets.baselink_to_waterline, "base_link", "waterline"),
+            *camera_joints,
+        ],
+    )
+
+    urdf.save(file_path)
+
+    with open(file_path) as infp:
+        robot_description = infp.read()
+
+    return robot_description

{lookout_config-1.4.0 → lookout_config-1.6.0}/lookout_config/schemas/lookout.schema.json

@@ -442,17 +442,6 @@
           "title": "Password",
           "type": "string"
         },
-        "joystick_topic": {
-          "anyOf": [
-            {
-              "type": "string"
-            },
-            {
-              "type": "null"
-            }
-          ],
-          "title": "Joystick Topic"
-        },
         "ptz_components": {
           "items": {
             "$ref": "#/$defs/PTZComponent"
@@ -478,7 +467,6 @@
         "port",
         "username",
         "password",
-        "joystick_topic",
         "ptz_components"
       ],
       "title": "PTZOnvif",

{lookout_config-1.4.0 → lookout_config-1.6.0}/lookout_config/types.py

@@ -2,12 +2,12 @@
 # * lookout_interfaces/msg/Config.msg
 # * lookout_config_manager/mappers.py
 
-from typing import List, Any
+from typing import Optional, Any
 from enum import Enum
 from pydantic import BaseModel, field_validator, ConfigDict
 from pydantic.fields import Field
 
-from greenstream_config.types import Camera
+from greenstream_config.types import Camera, Offsets
 
 
 class Mode(str, Enum):
@@ -87,6 +87,12 @@ class CameraExtended(Camera):
         return ignore_regions
 
 
+class VesselOffsets(BaseModel):
+    name: str
+    baselink_to_ins: Offsets
+    baselink_to_waterline: Offsets
+
+
 class LookoutConfig(BaseModel):
     # So enum values are written and read to the yml correctly
     model_config = ConfigDict(
@@ -110,6 +116,13 @@ class LookoutConfig(BaseModel):
     gpu: bool = True
     geolocation_mode: GeolocationMode = GeolocationMode.NONE
     positioning_system: PositioningSystem = PositioningSystem.NONE
+    offsets: VesselOffsets = VesselOffsets(
+        name="mars.stl",
+        baselink_to_ins=Offsets(forward=1.4160, left=0.153, up=0.184),
+        baselink_to_waterline=Offsets(
+            up=0.3,
+        ),
+    )
     components: Any = Field(default_factory=dict)
     prod: bool = True
     log_directory: str = "~/greenroom/lookout/logs"

{lookout_config-1.4.0 → lookout_config-1.6.0}/lookout_config.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: lookout_config
-Version: 1.4.0
+Version: 1.6.0
 Summary: A library for reading / writing Lookout config files
 Home-page: https://github.com/Greenroom-Robotics/lookout
 Author: Greenroom Robotics
@@ -19,7 +19,7 @@ Requires-Dist: setuptools
 Requires-Dist: dacite
 Requires-Dist: PyYAML
 Requires-Dist: dc-schema
-Requires-Dist: greenstream-config==3.5.3
+Requires-Dist: greenstream-config==3.6.3
 Requires-Dist: gr-urchin
 
 # Lookout Config

{lookout_config-1.4.0 → lookout_config-1.6.0}/lookout_config.egg-info/requires.txt

@@ -2,5 +2,5 @@ setuptools
 dacite
 PyYAML
 dc-schema
-greenstream-config==3.5.3
+greenstream-config==3.6.3
 gr-urchin

{lookout_config-1.4.0 → lookout_config-1.6.0}/setup.cfg

@@ -1,6 +1,6 @@
 [metadata]
 name = lookout_config
-version = 1.4.0
+version = 1.6.0
 url = https://github.com/Greenroom-Robotics/lookout
 author = Greenroom Robotics
 author_email = team@greenroomrobotics.com
@@ -26,7 +26,7 @@ install_requires =
 	dacite
 	PyYAML
 	dc-schema
-	greenstream-config==3.5.3
+	greenstream-config==3.6.3
 	gr-urchin
 zip_safe = true
 

lookout_config-1.4.0/lookout_config/generate_urdf.py

@@ -1,90 +0,0 @@
-from typing import List
-from lookout_config import LookoutConfig
-from greenstream_config import Camera, Offsets, get_cameras_urdf
-from gr_urchin import URDF, Joint, Material, Link, xyz_rpy_to_matrix, Visual, Mesh, Geometry
-from math import radians
-
-
-def generate_urdf(
-    config: LookoutConfig,
-    cameras: List[Camera],
-    ins_offset: Offsets,
-    mesh_path: str,
-    waterline=0.0,  # meters between the waterline and the base_link
-    add_optical_frame: bool = True,
-):
-
-    file_path = f"/tmp/vessel_{config.mode.value}.urdf"
-
-    # generate links and joints for all vessel cameras
-    camera_links, camera_joints = get_cameras_urdf(
-        cameras, [None], add_optical_frame, namespace=config.namespace_vessel
-    )
-    namespace_prefix = f"{config.namespace_vessel}_" if config.namespace_vessel != "" else ""
-
-    urdf = URDF(
-        name="origins",
-        materials=[
-            Material(name="grey", color=[0.75, 0.75, 0.75, 1]),
-            Material(name="blue", color=[0, 0, 1, 1]),
-        ],
-        links=[
-            Link(name=f"{namespace_prefix}ins_link", inertial=None, visuals=None, collisions=None),
-            Link(
-                name=f"{namespace_prefix}waterline_link",
-                inertial=None,
-                visuals=None,
-                collisions=None,
-            ),
-            Link(
-                name=f"{namespace_prefix}base_link",
-                inertial=None,
-                visuals=[
-                    Visual(
-                        name="visual",
-                        geometry=Geometry(
-                            mesh=Mesh(filename=mesh_path, combine=False, lazy_filename=mesh_path)
-                        ),
-                        origin=xyz_rpy_to_matrix([0, 0, 0, radians(-90), 0, 0]),
-                        material=Material(name="grey"),
-                    )
-                ],
-                collisions=None,
-            ),
-            *camera_links,
-        ],
-        joints=[
-            Joint(
-                name=f"{namespace_prefix}base_to_ins",
-                parent=f"{namespace_prefix}base_link",
-                child=f"{namespace_prefix}ins_link",
-                joint_type="fixed",
-                origin=xyz_rpy_to_matrix(
-                    [
-                        ins_offset.forward,
-                        ins_offset.left,
-                        ins_offset.up,
-                        ins_offset.roll,
-                        ins_offset.pitch,
-                        ins_offset.yaw,
-                    ]
-                ),
-            ),
-            Joint(
-                name=f"{namespace_prefix}base_to_{namespace_prefix}waterline",
-                parent=f"{namespace_prefix}base_link",
-                child=f"{namespace_prefix}waterline_link",
-                joint_type="fixed",
-                origin=xyz_rpy_to_matrix([0, 0, -waterline, 0, 0, 0]),
-            ),
-            *camera_joints,
-        ],
-    )
-
-    urdf.save(file_path)
-
-    # stringify urdf response for robot description
-    with open(file_path) as infp:
-        robot_description = infp.read()
-
-    return robot_description