lookout-config 1.9.0__py3-none-any.whl → 1.11.0__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 +109 -263
- lookout_config/types.py +19 -2
- {lookout_config-1.9.0.dist-info → lookout_config-1.11.0.dist-info}/METADATA +2 -2
- lookout_config-1.11.0.dist-info/RECORD +13 -0
- {lookout_config-1.9.0.dist-info → lookout_config-1.11.0.dist-info}/WHEEL +1 -1
- lookout_config-1.9.0.dist-info/RECORD +0 -13
- {lookout_config-1.9.0.dist-info → lookout_config-1.11.0.dist-info}/top_level.txt +0 -0
- {lookout_config-1.9.0.dist-info → lookout_config-1.11.0.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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"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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},
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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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},
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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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"type": "object"
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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,
|
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-
"wsdl_dir": "/home/ros/.local/lib/python3.12/site-packages/wsdl",
|
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"continuous_state_publishing": true,
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"frd_to_flu_transform": true
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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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"type"
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"title": "PTZOffsets",
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@@ -518,21 +303,36 @@
|
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],
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"title": "PositioningSystem",
|
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},
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"VesselOffsets": {
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},
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"baselink_to_ins": {
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"$ref": "#/$defs/Offsets"
|
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|
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},
|
|
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+
"baselink_to_waterline": {
|
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|
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"$ref": "#/$defs/Offsets"
|
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}
|
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},
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"required": [
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"name",
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"baselink_to_ins",
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"baselink_to_waterline"
|
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],
|
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|
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"title": "VesselOffsets",
|
|
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"type": "object"
|
|
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|
}
|
|
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|
},
|
|
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|
"properties": {
|
|
524
330
|
"ros_domain_id": {
|
|
525
331
|
"default": 0,
|
|
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|
+
"description": "ROS domain ID for the vessel. This only applies if 'simple_discovery' is true.",
|
|
526
333
|
"title": "Ros Domain Id",
|
|
527
334
|
"type": "integer"
|
|
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|
},
|
|
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|
-
"static_peers": {
|
|
530
|
-
"items": {
|
|
531
|
-
"type": "string"
|
|
532
|
-
},
|
|
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|
-
"title": "Static Peers",
|
|
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|
-
"type": "array"
|
|
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|
-
},
|
|
536
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|
"namespace_vessel": {
|
|
537
337
|
"default": "vessel_1",
|
|
538
338
|
"title": "Namespace Vessel",
|
|
@@ -575,6 +375,28 @@
|
|
|
575
375
|
"$ref": "#/$defs/PositioningSystem",
|
|
576
376
|
"default": "none"
|
|
577
377
|
},
|
|
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|
+
"offsets": {
|
|
379
|
+
"$ref": "#/$defs/VesselOffsets",
|
|
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|
+
"default": {
|
|
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|
+
"name": "mars.stl",
|
|
382
|
+
"baselink_to_ins": {
|
|
383
|
+
"forward": 1.416,
|
|
384
|
+
"left": 0.153,
|
|
385
|
+
"pitch": null,
|
|
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|
+
"roll": null,
|
|
387
|
+
"up": 0.184,
|
|
388
|
+
"yaw": null
|
|
389
|
+
},
|
|
390
|
+
"baselink_to_waterline": {
|
|
391
|
+
"forward": null,
|
|
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|
+
"left": null,
|
|
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|
+
"pitch": null,
|
|
394
|
+
"roll": null,
|
|
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|
+
"up": 0.3,
|
|
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|
+
"yaw": null
|
|
397
|
+
}
|
|
398
|
+
}
|
|
399
|
+
},
|
|
578
400
|
"components": {
|
|
579
401
|
"title": "Components"
|
|
580
402
|
},
|
|
@@ -592,6 +414,30 @@
|
|
|
592
414
|
"default": "~/greenroom/lookout/recordings",
|
|
593
415
|
"title": "Recording Directory",
|
|
594
416
|
"type": "string"
|
|
417
|
+
},
|
|
418
|
+
"with_discovery_server": {
|
|
419
|
+
"default": true,
|
|
420
|
+
"description": "Run the discovery server. It will bind to 0.0.0.0:11811",
|
|
421
|
+
"title": "With Discovery Server",
|
|
422
|
+
"type": "boolean"
|
|
423
|
+
},
|
|
424
|
+
"simple_discovery": {
|
|
425
|
+
"default": false,
|
|
426
|
+
"description": "Use simple discovery. This should NOT be used in production due to performance issues.",
|
|
427
|
+
"title": "Simple Discovery",
|
|
428
|
+
"type": "boolean"
|
|
429
|
+
},
|
|
430
|
+
"discovery_server_ip": {
|
|
431
|
+
"default": "0.0.0.0",
|
|
432
|
+
"description": "IP/host/interface of the discovery server. Assumes port of 11811",
|
|
433
|
+
"title": "Discovery Server Ip",
|
|
434
|
+
"type": "string"
|
|
435
|
+
},
|
|
436
|
+
"own_ip": {
|
|
437
|
+
"default": "0.0.0.0",
|
|
438
|
+
"description": "IP/host/interface address of the primary network interface. This is where DDS traffic will route to.",
|
|
439
|
+
"title": "Own Ip",
|
|
440
|
+
"type": "string"
|
|
595
441
|
}
|
|
596
442
|
},
|
|
597
443
|
"title": "LookoutConfig",
|
lookout_config/types.py
CHANGED
|
@@ -105,8 +105,10 @@ class LookoutConfig(BaseModel):
|
|
|
105
105
|
PositioningSystem: lambda v: v.value,
|
|
106
106
|
},
|
|
107
107
|
)
|
|
108
|
-
ros_domain_id: int =
|
|
109
|
-
|
|
108
|
+
ros_domain_id: int = Field(
|
|
109
|
+
default=0,
|
|
110
|
+
description="ROS domain ID for the vessel. This only applies if 'simple_discovery' is true.",
|
|
111
|
+
)
|
|
110
112
|
namespace_vessel: str = "vessel_1"
|
|
111
113
|
gama_vessel: bool = False
|
|
112
114
|
mode: Mode = Mode.HARDWARE
|
|
@@ -127,3 +129,18 @@ class LookoutConfig(BaseModel):
|
|
|
127
129
|
prod: bool = True
|
|
128
130
|
log_directory: str = "~/greenroom/lookout/logs"
|
|
129
131
|
recording_directory: str = "~/greenroom/lookout/recordings"
|
|
132
|
+
with_discovery_server: bool = Field(
|
|
133
|
+
default=True, description="Run the discovery server. It will bind to 0.0.0.0:11811"
|
|
134
|
+
)
|
|
135
|
+
simple_discovery: bool = Field(
|
|
136
|
+
default=False,
|
|
137
|
+
description="Use simple discovery. This should NOT be used in production due to performance issues.",
|
|
138
|
+
)
|
|
139
|
+
discovery_server_ip: str = Field(
|
|
140
|
+
default="0.0.0.0",
|
|
141
|
+
description="IP/host/interface of the discovery server. Assumes port of 11811",
|
|
142
|
+
)
|
|
143
|
+
own_ip: str = Field(
|
|
144
|
+
default="0.0.0.0",
|
|
145
|
+
description="IP/host/interface address of the primary network interface. This is where DDS traffic will route to.",
|
|
146
|
+
)
|
|
@@ -1,6 +1,6 @@
|
|
|
1
1
|
Metadata-Version: 2.1
|
|
2
2
|
Name: lookout_config
|
|
3
|
-
Version: 1.
|
|
3
|
+
Version: 1.11.0
|
|
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.
|
|
22
|
+
Requires-Dist: greenstream-config==3.10.0
|
|
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=o--5Mo7ADSCv5k240oyiA-sJDA5BLd6nx5RGzFZFygo,4325
|
|
7
|
+
lookout_config/schemas/lookout.schema.json,sha256=eH6i8OW-9jBBEusm4qMaACV7fujtrqw1_Bm5YwuQNxw,9390
|
|
8
|
+
lookout_config/test/lookout_config_test.py,sha256=TdOzIEWnyrckhmK7OtShtoWwSAP8QDCiKalNhvScd2U,73
|
|
9
|
+
lookout_config-1.11.0.dist-info/METADATA,sha256=uTBXwmSAXX4nN4DU3G_DJxMFlB6EDrcP7rvjgz6QJ54,1438
|
|
10
|
+
lookout_config-1.11.0.dist-info/WHEEL,sha256=PZUExdf71Ui_so67QXpySuHtCi3-J3wvF4ORK6k_S8U,91
|
|
11
|
+
lookout_config-1.11.0.dist-info/top_level.txt,sha256=IiZRgJhNrNL87uLMQm9lQRrMCqJnTOl7aYlA7zRSYyg,15
|
|
12
|
+
lookout_config-1.11.0.dist-info/zip-safe,sha256=AbpHGcgLb-kRsJGnwFEktk7uzpZOCcBY74-YBdrKVGs,1
|
|
13
|
+
lookout_config-1.11.0.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-1.9.0.dist-info/METADATA,sha256=jFjbhWKKy5pWcfOeEwZILUKzkuh63QB26RtmueuYpAE,1436
|
|
10
|
-
lookout_config-1.9.0.dist-info/WHEEL,sha256=a7TGlA-5DaHMRrarXjVbQagU3Man_dCnGIWMJr5kRWo,91
|
|
11
|
-
lookout_config-1.9.0.dist-info/top_level.txt,sha256=IiZRgJhNrNL87uLMQm9lQRrMCqJnTOl7aYlA7zRSYyg,15
|
|
12
|
-
lookout_config-1.9.0.dist-info/zip-safe,sha256=AbpHGcgLb-kRsJGnwFEktk7uzpZOCcBY74-YBdrKVGs,1
|
|
13
|
-
lookout_config-1.9.0.dist-info/RECORD,,
|
|
File without changes
|
|
File without changes
|