44 lines
1.2 KiB
Markdown
Executable File
44 lines
1.2 KiB
Markdown
Executable File
# robot.yaml
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The `robot.yaml` file has all the configurations for the Husky 200 robot and the other clearpathrobotics robots.
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## Visualizing
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To see the `robot.yaml` file run the following command. It will show you how the robot looks and where all the sensors are placed. It comes in hand for not only confirming that everything is on the robot in the right place but that their is also no errors in the robot.yaml file.
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```bash
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ros2 launch clearpath_viz view_model.launch.py setup_path:=/home/brickman/clearpath/
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```
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## Sample file
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Below is a sample of the robot.yaml file.
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```yaml title="robot.yaml" linenums="1"
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serial_number: a200-0000
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version: 0
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system:
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hosts:
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- hostname: cpr-a200-0000
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ip: 192.168.131.1
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ros2:
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namespace: a200_0000
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platform:
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attachments:
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- name: front_bumper
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type: a200.bumper
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parent: front_bumper_mount
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- name: rear_bumper
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type: a200.bumper
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parent: rear_bumper_mount
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- name: top_plate
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type: a200.top_plate
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manipulators:
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arms:
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- model: kinova_gen3_lite
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parent: top_plate_default_mount
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xyz: [0.0, 0.0, 0.0]
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rpy: [0.0, 0.0, 0.0]
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ip: 192.168.131.40
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port: 10000
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gripper:
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model: kinova_2f_lite
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```
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