lookout-config 1.8.0__py3-none-any.whl → 1.10.0__py3-none-any.whl
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- lookout_config/generate_urdf.py +1 -1
- lookout_config/launch_parameters.py +62 -2
- lookout_config/schemas/lookout.schema.json +113 -261
- lookout_config/types.py +3 -1
- {lookout_config-1.8.0.dist-info → lookout_config-1.10.0.dist-info}/METADATA +2 -2
- lookout_config-1.10.0.dist-info/RECORD +13 -0
- {lookout_config-1.8.0.dist-info → lookout_config-1.10.0.dist-info}/WHEEL +1 -1
- lookout_config-1.8.0.dist-info/RECORD +0 -13
- {lookout_config-1.8.0.dist-info → lookout_config-1.10.0.dist-info}/top_level.txt +0 -0
- {lookout_config-1.8.0.dist-info → lookout_config-1.10.0.dist-info}/zip-safe +0 -0
lookout_config/generate_urdf.py
CHANGED
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@@ -29,7 +29,7 @@ def generate_urdf(
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):
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mesh_path = f"package://lookout_bringup/meshes/{config.offsets.name}"
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file_path = f"/tmp/vessel_{config.mode.value}.urdf"
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camera_links, camera_joints = get_cameras_urdf(config.cameras,
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camera_links, camera_joints = get_cameras_urdf(config.cameras, add_optical_frame) # type: ignore
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urdf = URDF(
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name="origins",
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@@ -2,8 +2,68 @@
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from __future__ import annotations
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from
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from typing import List, Optional
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from pydantic import BaseModel, Field
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class WebBridgeParameters(BaseModel):
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address: Optional[str] = Field(
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None, description="The host address to bind the WebSocket server to"
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)
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asset_uri_allowlist: Optional[List[str]] = Field(
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None,
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description="List of regular expressions (ECMAScript) of whitelisted parameter names.",
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)
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capabilities: Optional[List[str]] = Field(None, description="Server capabilities")
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certfile: Optional[str] = Field(None, description="Path to the certificate to use for TLS")
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client_topic_whitelist: Optional[List[str]] = Field(
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None,
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description="List of regular expressions (ECMAScript) of whitelisted parameter names.",
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)
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disable_load_message: Optional[bool] = Field(
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None,
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description="Do not publish as loaned message when publishing a client message",
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)
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include_hidden: Optional[bool] = Field(None, description="Include hidden topics and services")
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keyfile: Optional[str] = Field(None, description="Path to the private key to use for TLS")
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max_qos_depth: Optional[int] = Field(
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None, description="Maximum depth used for the QoS profile of subscriptions."
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)
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min_qos_depth: Optional[int] = Field(
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None, description="Minimum depth used for the QoS profile of subscriptions."
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)
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param_whitelist: Optional[List[str]] = Field(
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None,
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description="List of regular expressions (ECMAScript) of whitelisted parameter names.",
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)
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port: Optional[int] = Field(None, description="The TCP port to bind the WebSocket server to")
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send_buffer_limit: Optional[int] = Field(
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None,
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description="Connection send buffer limit in bytes. Messages will be dropped when a connection's send buffer reaches this limit to avoid a queue of outdated messages building up.",
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)
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service_whitelist: Optional[List[str]] = Field(
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None,
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description="List of regular expressions (ECMAScript) of whitelisted service names.",
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)
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tls: Optional[bool] = Field(
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None, description="Use Transport Layer Security for encrypted communication"
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)
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topic_whitelist: Optional[List[str]] = Field(
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None,
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description="List of regular expressions (ECMAScript) of whitelisted topic names.",
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)
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use_compression: Optional[bool] = Field(
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None,
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description="Use websocket compression (permessage-deflate). Suited for connections with smaller bandwidth, at the cost of additional CPU load.",
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)
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class LookoutGreenstreamBringupParameters(BaseModel):
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launch_package: Optional[str] = Field(None, description="")
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launch_executable: Optional[str] = Field(None, description="")
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class LaunchParameters(BaseModel):
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web_bridge: Optional[WebBridgeParameters] = None
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lookout_greenstream_bringup: Optional[LookoutGreenstreamBringupParameters] = None
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@@ -10,116 +10,20 @@
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"title": "Order",
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"type": "integer"
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},
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"elements": {
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"items": {
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"type": "string"
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},
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"title": "Elements",
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"type": "array"
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},
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"pixel_width": {
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"title": "Pixel Width",
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"type": "integer"
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},
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"pixel_height": {
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"title": "Pixel Height",
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"type": "integer"
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},
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"camera_frame_topic": {
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"anyOf": [
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{
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"type": "string"
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},
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{
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"type": "null"
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}
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],
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"title": "Camera Frame Topic"
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},
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"camera_info_topic": {
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"anyOf": [
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{
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"type": "string"
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},
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{
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"type": "null"
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}
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],
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"title": "Camera Info Topic"
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},
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"k_intrinsic": {
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"anyOf": [
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{
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"items": {
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"type": "number"
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},
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"type": "array"
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},
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{
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"type": "null"
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}
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],
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"title": "K Intrinsic"
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},
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"distortion_parameters": {
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"items": {
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"type": "number"
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"type": "array"
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"type": "null"
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}
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],
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"title": "Distortion Parameters"
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},
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"distortion_model": {
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"default": "plumb_bob",
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"title": "Distortion Model",
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"type": "string"
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},
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"publish_camera_info": {
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"default": true,
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"title": "Publish Camera Info",
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"type": "boolean"
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},
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"distortion_kmat_alpha": {
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"default": 0.5,
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"title": "Distortion Kmat Alpha",
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"type": "number"
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},
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"offsets": {
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"anyOf": [
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{
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"$ref": "#/$defs/Offsets"
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],
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"default": null
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},
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"type": {
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"default": "color",
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"title": "Type",
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"type": "string"
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"
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"default": 1e-07,
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"title": "Ros Throttle Time",
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"type": "number"
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},
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"undistort_image": {
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"ptz": {
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"default": false,
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"title": "
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"title": "Ptz",
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"type": "boolean"
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"camera_offsets": {
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"$ref": "#/$defs/Offsets"
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"default": null
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"ptz_offsets": {
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"default": [],
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"items": {
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"$ref": "#/$defs/PTZOffsets"
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},
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"title": "Ptz Offsets",
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"type": "array"
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},
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"ignore_regions": {
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"$ref": "#/$defs/Polygon"
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},
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"required": [
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"name",
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"order"
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"title": "CameraExtended",
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"type": "object"
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"title": "Offsets",
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"home": {
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"$ref": "#/$defs/PTZComponent"
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|
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},
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"title": "Ptz Components",
|
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|
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"default": {
|
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|
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"absolute_move_tolerance": 0.0175,
|
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"query_timeout": 2,
|
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|
-
"check_camera_rate": 1.0,
|
|
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|
-
"publish_rate": 10.0,
|
|
459
|
-
"wsdl_dir": "/home/ros/.local/lib/python3.12/site-packages/wsdl",
|
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|
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"continuous_state_publishing": true,
|
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|
-
"frd_to_flu_transform": true
|
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|
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}
|
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|
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|
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"required": [
|
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"
|
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|
-
"port",
|
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|
-
"username",
|
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|
-
"password",
|
|
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|
-
"ptz_components"
|
|
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|
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"type"
|
|
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|
],
|
|
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|
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"title": "
|
|
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|
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"title": "PTZOffsets",
|
|
473
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|
"type": "object"
|
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259
|
},
|
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|
"Point": {
|
|
@@ -518,6 +303,27 @@
|
|
|
518
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|
],
|
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519
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|
"title": "PositioningSystem",
|
|
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305
|
"type": "string"
|
|
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|
+
},
|
|
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"VesselOffsets": {
|
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"properties": {
|
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"name": {
|
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|
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"title": "Name",
|
|
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|
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"type": "string"
|
|
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|
+
},
|
|
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|
+
"baselink_to_ins": {
|
|
314
|
+
"$ref": "#/$defs/Offsets"
|
|
315
|
+
},
|
|
316
|
+
"baselink_to_waterline": {
|
|
317
|
+
"$ref": "#/$defs/Offsets"
|
|
318
|
+
}
|
|
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|
+
},
|
|
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|
+
"required": [
|
|
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|
+
"name",
|
|
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|
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"baselink_to_ins",
|
|
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|
+
"baselink_to_waterline"
|
|
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|
+
],
|
|
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|
+
"title": "VesselOffsets",
|
|
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|
+
"type": "object"
|
|
521
327
|
}
|
|
522
328
|
},
|
|
523
329
|
"properties": {
|
|
@@ -544,11 +350,19 @@
|
|
|
544
350
|
"type": "boolean"
|
|
545
351
|
},
|
|
546
352
|
"mode": {
|
|
547
|
-
"
|
|
353
|
+
"allOf": [
|
|
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|
+
{
|
|
355
|
+
"$ref": "#/$defs/Mode"
|
|
356
|
+
}
|
|
357
|
+
],
|
|
548
358
|
"default": "hardware"
|
|
549
359
|
},
|
|
550
360
|
"log_level": {
|
|
551
|
-
"
|
|
361
|
+
"allOf": [
|
|
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|
+
{
|
|
363
|
+
"$ref": "#/$defs/LogLevel"
|
|
364
|
+
}
|
|
365
|
+
],
|
|
552
366
|
"default": "info"
|
|
553
367
|
},
|
|
554
368
|
"cameras": {
|
|
@@ -559,7 +373,11 @@
|
|
|
559
373
|
"type": "array"
|
|
560
374
|
},
|
|
561
375
|
"network": {
|
|
562
|
-
"
|
|
376
|
+
"allOf": [
|
|
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|
+
{
|
|
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|
+
"$ref": "#/$defs/Network"
|
|
379
|
+
}
|
|
380
|
+
],
|
|
563
381
|
"default": "host"
|
|
564
382
|
},
|
|
565
383
|
"gpu": {
|
|
@@ -568,13 +386,47 @@
|
|
|
568
386
|
"type": "boolean"
|
|
569
387
|
},
|
|
570
388
|
"geolocation_mode": {
|
|
571
|
-
"
|
|
389
|
+
"allOf": [
|
|
390
|
+
{
|
|
391
|
+
"$ref": "#/$defs/GeolocationMode"
|
|
392
|
+
}
|
|
393
|
+
],
|
|
572
394
|
"default": "none"
|
|
573
395
|
},
|
|
574
396
|
"positioning_system": {
|
|
575
|
-
"
|
|
397
|
+
"allOf": [
|
|
398
|
+
{
|
|
399
|
+
"$ref": "#/$defs/PositioningSystem"
|
|
400
|
+
}
|
|
401
|
+
],
|
|
576
402
|
"default": "none"
|
|
577
403
|
},
|
|
404
|
+
"offsets": {
|
|
405
|
+
"allOf": [
|
|
406
|
+
{
|
|
407
|
+
"$ref": "#/$defs/VesselOffsets"
|
|
408
|
+
}
|
|
409
|
+
],
|
|
410
|
+
"default": {
|
|
411
|
+
"name": "mars.stl",
|
|
412
|
+
"baselink_to_ins": {
|
|
413
|
+
"forward": 1.416,
|
|
414
|
+
"left": 0.153,
|
|
415
|
+
"pitch": null,
|
|
416
|
+
"roll": null,
|
|
417
|
+
"up": 0.184,
|
|
418
|
+
"yaw": null
|
|
419
|
+
},
|
|
420
|
+
"baselink_to_waterline": {
|
|
421
|
+
"forward": null,
|
|
422
|
+
"left": null,
|
|
423
|
+
"pitch": null,
|
|
424
|
+
"roll": null,
|
|
425
|
+
"up": 0.3,
|
|
426
|
+
"yaw": null
|
|
427
|
+
}
|
|
428
|
+
}
|
|
429
|
+
},
|
|
578
430
|
"components": {
|
|
579
431
|
"title": "Components"
|
|
580
432
|
},
|
lookout_config/types.py
CHANGED
|
@@ -106,7 +106,6 @@ class LookoutConfig(BaseModel):
|
|
|
106
106
|
},
|
|
107
107
|
)
|
|
108
108
|
ros_domain_id: int = 0
|
|
109
|
-
static_peers: list[str] = Field(default_factory=list)
|
|
110
109
|
namespace_vessel: str = "vessel_1"
|
|
111
110
|
gama_vessel: bool = False
|
|
112
111
|
mode: Mode = Mode.HARDWARE
|
|
@@ -127,3 +126,6 @@ class LookoutConfig(BaseModel):
|
|
|
127
126
|
prod: bool = True
|
|
128
127
|
log_directory: str = "~/greenroom/lookout/logs"
|
|
129
128
|
recording_directory: str = "~/greenroom/lookout/recordings"
|
|
129
|
+
with_discovery_server: bool = Field(default=True, description="Run the discovery server.")
|
|
130
|
+
discovery_server_ip: str = "0.0.0.0"
|
|
131
|
+
own_ip: str = "0.0.0.0"
|
|
@@ -1,6 +1,6 @@
|
|
|
1
1
|
Metadata-Version: 2.1
|
|
2
2
|
Name: lookout_config
|
|
3
|
-
Version: 1.
|
|
3
|
+
Version: 1.10.0
|
|
4
4
|
Summary: A library for reading / writing Lookout config files
|
|
5
5
|
Home-page: https://github.com/Greenroom-Robotics/lookout
|
|
6
6
|
Author: Greenroom Robotics
|
|
@@ -19,7 +19,7 @@ Requires-Dist: setuptools
|
|
|
19
19
|
Requires-Dist: dacite
|
|
20
20
|
Requires-Dist: PyYAML
|
|
21
21
|
Requires-Dist: dc-schema
|
|
22
|
-
Requires-Dist: greenstream-config==3.7
|
|
22
|
+
Requires-Dist: greenstream-config==3.9.7
|
|
23
23
|
Requires-Dist: gr-urchin
|
|
24
24
|
|
|
25
25
|
# Lookout Config
|
|
@@ -0,0 +1,13 @@
|
|
|
1
|
+
lookout_config/__init__.py,sha256=3D-vqwfTPSuvLVBo4wiYQglpPUm4Fj6Y5MYGIS-e0fI,1738
|
|
2
|
+
lookout_config/generate_schemas.py,sha256=yFNvrZ6gie1tnTM_1TO8_wBa0lFHJAABSI3ZAZqw_Wg,457
|
|
3
|
+
lookout_config/generate_urdf.py,sha256=O5n0hNsRJwTgQnWdPZIg_LgpxlDQOzWv5IccjT7yDS4,2719
|
|
4
|
+
lookout_config/helpers.py,sha256=3GkGRPDzQ67I5srwcWoI8PI1dgrWvTsUwA8-yRUttLM,603
|
|
5
|
+
lookout_config/launch_parameters.py,sha256=wvLXQMPi7D3ExesyvSNLPYEb2WChj9YTslnvQYPsXbk,3033
|
|
6
|
+
lookout_config/types.py,sha256=MsnyMfbXcp50xbtxkcFO4tWl3CwkwlAWoUOYE35bMg8,3702
|
|
7
|
+
lookout_config/schemas/lookout.schema.json,sha256=PXuSr6ct0LSitJbdlX0hi2XFkzsMdMUYqGfRDPexbOA,8844
|
|
8
|
+
lookout_config/test/lookout_config_test.py,sha256=TdOzIEWnyrckhmK7OtShtoWwSAP8QDCiKalNhvScd2U,73
|
|
9
|
+
lookout_config-1.10.0.dist-info/METADATA,sha256=h8QAXqYEdPY20EgTQ48lsn8fYjm8RyLCm8xOn64q_PQ,1437
|
|
10
|
+
lookout_config-1.10.0.dist-info/WHEEL,sha256=PZUExdf71Ui_so67QXpySuHtCi3-J3wvF4ORK6k_S8U,91
|
|
11
|
+
lookout_config-1.10.0.dist-info/top_level.txt,sha256=IiZRgJhNrNL87uLMQm9lQRrMCqJnTOl7aYlA7zRSYyg,15
|
|
12
|
+
lookout_config-1.10.0.dist-info/zip-safe,sha256=AbpHGcgLb-kRsJGnwFEktk7uzpZOCcBY74-YBdrKVGs,1
|
|
13
|
+
lookout_config-1.10.0.dist-info/RECORD,,
|
|
@@ -1,13 +0,0 @@
|
|
|
1
|
-
lookout_config/__init__.py,sha256=3D-vqwfTPSuvLVBo4wiYQglpPUm4Fj6Y5MYGIS-e0fI,1738
|
|
2
|
-
lookout_config/generate_schemas.py,sha256=yFNvrZ6gie1tnTM_1TO8_wBa0lFHJAABSI3ZAZqw_Wg,457
|
|
3
|
-
lookout_config/generate_urdf.py,sha256=Emve-fVAjCT89Lz2wyyat5t3Yjxa-SdWPgnT9Pu4KPs,2723
|
|
4
|
-
lookout_config/helpers.py,sha256=3GkGRPDzQ67I5srwcWoI8PI1dgrWvTsUwA8-yRUttLM,603
|
|
5
|
-
lookout_config/launch_parameters.py,sha256=1q49Abigr6WQ3MCJtRcS-h5wQLFNW0yx-zHXOkjn3QM,180
|
|
6
|
-
lookout_config/types.py,sha256=RUc34rXcYp3262n9FZIBjSxft5-688A8ArDJwrqzVIU,3596
|
|
7
|
-
lookout_config/schemas/lookout.schema.json,sha256=wg7hK6vFLk90w4B5cCtOwYYfKMNcggli0S3c1P-vTDs,12750
|
|
8
|
-
lookout_config/test/lookout_config_test.py,sha256=TdOzIEWnyrckhmK7OtShtoWwSAP8QDCiKalNhvScd2U,73
|
|
9
|
-
lookout_config-1.8.0.dist-info/METADATA,sha256=2PmIBQk8qLoMJQQ6RS3wo-xQrMjbnciU5n2-S12fZvA,1436
|
|
10
|
-
lookout_config-1.8.0.dist-info/WHEEL,sha256=P9jw-gEje8ByB7_hXoICnHtVCrEwMQh-630tKvQWehc,91
|
|
11
|
-
lookout_config-1.8.0.dist-info/top_level.txt,sha256=IiZRgJhNrNL87uLMQm9lQRrMCqJnTOl7aYlA7zRSYyg,15
|
|
12
|
-
lookout_config-1.8.0.dist-info/zip-safe,sha256=AbpHGcgLb-kRsJGnwFEktk7uzpZOCcBY74-YBdrKVGs,1
|
|
13
|
-
lookout_config-1.8.0.dist-info/RECORD,,
|
|
File without changes
|
|
File without changes
|