`ros_sugar.config.robot`#

Robot description primitives shared by all Sugarcoat components

Module Contents#

Classes#

`StrEnum`	A string-valued enum whose members behave like their own value.
`RobotType`	Robot motion model.
`RobotGeometryType`	Shape of the volume the robot occupies.
`LinearCtrlLimits`	Linear velocity control limits along one axis.
`AngularCtrlLimits`	Angular velocity control limits.
`RobotFrames`	Coordinate frames of the robot.
`RobotConfig`	Physical description of the robot: how it moves, how big it is, how fast.

API#

class ros_sugar.config.robot.StrEnum#

Bases: str, enum.Enum

A string-valued enum whose members behave like their own value.

enum.StrEnum only exists on Python 3.11+, so it is implemented here to keep the package usable on older interpreters.

The str mixin is the load-bearing part: it makes a member compare equal to its name across package boundaries, so a consumer holding an equivalent enum of its own (or a plain string read from a config file) still matches. Overriding __str__ keeps serialization emitting "CYLINDER" rather than the "RobotGeometryType.CYLINDER" repr that a bare mixin produces.

classmethod get_enum(__value: str) → Optional[ros_sugar.config.robot.T]#

Get Enum member equal to the given value

Parameters:: __value (str) – Reference value
Returns:: Enum member
Return type:: StrEnum | None

classmethod values() → List[str]#: Get all enum values

capitalize()#

Return a capitalized version of the string.

More specifically, make the first character have upper case and the rest lower case.

casefold()#: Return a version of the string suitable for caseless comparisons.

center()#

Return a centered string of length width.

Padding is done using the specified fill character (default is a space).

count()#

S.count(sub[, start[, end]]) -> int

Return the number of non-overlapping occurrences of substring sub in string S[start:end]. Optional arguments start and end are interpreted as in slice notation.

encode()#

Encode the string using the codec registered for encoding.

encoding The encoding in which to encode the string. errors The error handling scheme to use for encoding errors. The default is ‘strict’ meaning that encoding errors raise a UnicodeEncodeError. Other possible values are ‘ignore’, ‘replace’ and ‘xmlcharrefreplace’ as well as any other name registered with codecs.register_error that can handle UnicodeEncodeErrors.

endswith()#

S.endswith(suffix[, start[, end]]) -> bool

Return True if S ends with the specified suffix, False otherwise. With optional start, test S beginning at that position. With optional end, stop comparing S at that position. suffix can also be a tuple of strings to try.

expandtabs()#

Return a copy where all tab characters are expanded using spaces.

If tabsize is not given, a tab size of 8 characters is assumed.

find()#

S.find(sub[, start[, end]]) -> int

Return the lowest index in S where substring sub is found, such that sub is contained within S[start:end]. Optional arguments start and end are interpreted as in slice notation.

Return -1 on failure.

format()#

S.format(*args, **kwargs) -> str

Return a formatted version of S, using substitutions from args and kwargs. The substitutions are identified by braces (‘{’ and ‘}’).

format_map()#

S.format_map(mapping) -> str

Return a formatted version of S, using substitutions from mapping. The substitutions are identified by braces (‘{’ and ‘}’).

index()#

S.index(sub[, start[, end]]) -> int

Return the lowest index in S where substring sub is found, such that sub is contained within S[start:end]. Optional arguments start and end are interpreted as in slice notation.

Raises ValueError when the substring is not found.

isalnum()#

Return True if the string is an alpha-numeric string, False otherwise.

A string is alpha-numeric if all characters in the string are alpha-numeric and there is at least one character in the string.

isalpha()#

Return True if the string is an alphabetic string, False otherwise.

A string is alphabetic if all characters in the string are alphabetic and there is at least one character in the string.

isascii()#

Return True if all characters in the string are ASCII, False otherwise.

ASCII characters have code points in the range U+0000-U+007F. Empty string is ASCII too.

isdecimal()#

Return True if the string is a decimal string, False otherwise.

A string is a decimal string if all characters in the string are decimal and there is at least one character in the string.

isdigit()#

Return True if the string is a digit string, False otherwise.

A string is a digit string if all characters in the string are digits and there is at least one character in the string.

isidentifier()#

Return True if the string is a valid Python identifier, False otherwise.

Call keyword.iskeyword(s) to test whether string s is a reserved identifier, such as “def” or “class”.

islower()#

Return True if the string is a lowercase string, False otherwise.

A string is lowercase if all cased characters in the string are lowercase and there is at least one cased character in the string.

isnumeric()#

Return True if the string is a numeric string, False otherwise.

A string is numeric if all characters in the string are numeric and there is at least one character in the string.

isprintable()#

Return True if all characters in the string are printable, False otherwise.

A character is printable if repr() may use it in its output.

isspace()#

Return True if the string is a whitespace string, False otherwise.

A string is whitespace if all characters in the string are whitespace and there is at least one character in the string.

istitle()#

Return True if the string is a title-cased string, False otherwise.

In a title-cased string, upper- and title-case characters may only follow uncased characters and lowercase characters only cased ones.

isupper()#

Return True if the string is an uppercase string, False otherwise.

A string is uppercase if all cased characters in the string are uppercase and there is at least one cased character in the string.

join()#

Concatenate any number of strings.

The string whose method is called is inserted in between each given string. The result is returned as a new string.

Example: ‘.’.join([‘ab’, ‘pq’, ‘rs’]) -> ‘ab.pq.rs’

ljust()#

Return a left-justified string of length width.

Padding is done using the specified fill character (default is a space).

lower()#: Return a copy of the string converted to lowercase.

lstrip()#

Return a copy of the string with leading whitespace removed.

If chars is given and not None, remove characters in chars instead.

partition()#

Partition the string into three parts using the given separator.

This will search for the separator in the string. If the separator is found, returns a 3-tuple containing the part before the separator, the separator itself, and the part after it.

If the separator is not found, returns a 3-tuple containing the original string and two empty strings.

removeprefix()#

Return a str with the given prefix string removed if present.

If the string starts with the prefix string, return string[len(prefix):]. Otherwise, return a copy of the original string.

removesuffix()#

Return a str with the given suffix string removed if present.

If the string ends with the suffix string and that suffix is not empty, return string[:-len(suffix)]. Otherwise, return a copy of the original string.

replace()#

Return a copy with all occurrences of substring old replaced by new.

count Maximum number of occurrences to replace. -1 (the default value) means replace all occurrences.

If the optional argument count is given, only the first count occurrences are replaced.

rfind()#

S.rfind(sub[, start[, end]]) -> int

Return the highest index in S where substring sub is found, such that sub is contained within S[start:end]. Optional arguments start and end are interpreted as in slice notation.

Return -1 on failure.

rindex()#

S.rindex(sub[, start[, end]]) -> int

Return the highest index in S where substring sub is found, such that sub is contained within S[start:end]. Optional arguments start and end are interpreted as in slice notation.

Raises ValueError when the substring is not found.

rjust()#

Return a right-justified string of length width.

Padding is done using the specified fill character (default is a space).

rpartition()#

Partition the string into three parts using the given separator.

This will search for the separator in the string, starting at the end. If the separator is found, returns a 3-tuple containing the part before the separator, the separator itself, and the part after it.

If the separator is not found, returns a 3-tuple containing two empty strings and the original string.

rsplit()#

Return a list of the substrings in the string, using sep as the separator string.

sep The separator used to split the string.

When set to None (the default value), will split on any whitespace
character (including \n \r \t \f and spaces) and will discard
empty strings from the result.

maxsplit Maximum number of splits. -1 (the default value) means no limit.

Splitting starts at the end of the string and works to the front.

rstrip()#

Return a copy of the string with trailing whitespace removed.

If chars is given and not None, remove characters in chars instead.

split()#

Return a list of the substrings in the string, using sep as the separator string.

sep The separator used to split the string.

When set to None (the default value), will split on any whitespace
character (including \n \r \t \f and spaces) and will discard
empty strings from the result.

maxsplit Maximum number of splits. -1 (the default value) means no limit.

Splitting starts at the front of the string and works to the end.

Note, str.split() is mainly useful for data that has been intentionally delimited. With natural text that includes punctuation, consider using the regular expression module.

splitlines()#

Return a list of the lines in the string, breaking at line boundaries.

Line breaks are not included in the resulting list unless keepends is given and true.

startswith()#

S.startswith(prefix[, start[, end]]) -> bool

Return True if S starts with the specified prefix, False otherwise. With optional start, test S beginning at that position. With optional end, stop comparing S at that position. prefix can also be a tuple of strings to try.

strip()#

Return a copy of the string with leading and trailing whitespace removed.

If chars is given and not None, remove characters in chars instead.

swapcase()#: Convert uppercase characters to lowercase and lowercase characters to uppercase.

title()#

Return a version of the string where each word is titlecased.

More specifically, words start with uppercased characters and all remaining cased characters have lower case.

translate()#

Replace each character in the string using the given translation table.

table Translation table, which must be a mapping of Unicode ordinals to Unicode ordinals, strings, or None.

The table must implement lookup/indexing via getitem, for instance a dictionary or list. If this operation raises LookupError, the character is left untouched. Characters mapped to None are deleted.

upper()#: Return a copy of the string converted to uppercase.

zfill()#

Pad a numeric string with zeros on the left, to fill a field of the given width.

The string is never truncated.

name()#: The name of the Enum member.

value()#: The value of the Enum member.

class ros_sugar.config.robot.RobotType#

Bases: ros_sugar.config.robot.StrEnum

Robot motion model.

classmethod get_enum(__value: str) → Optional[ros_sugar.config.robot.T]#

Get Enum member equal to the given value

Parameters:: __value (str) – Reference value
Returns:: Enum member
Return type:: StrEnum | None

classmethod values() → List[str]#: Get all enum values

capitalize()#

Return a capitalized version of the string.

More specifically, make the first character have upper case and the rest lower case.

casefold()#: Return a version of the string suitable for caseless comparisons.

center()#

Return a centered string of length width.

Padding is done using the specified fill character (default is a space).

count()#

S.count(sub[, start[, end]]) -> int

Return the number of non-overlapping occurrences of substring sub in string S[start:end]. Optional arguments start and end are interpreted as in slice notation.

encode()#

Encode the string using the codec registered for encoding.

endswith()#

S.endswith(suffix[, start[, end]]) -> bool

expandtabs()#

Return a copy where all tab characters are expanded using spaces.

If tabsize is not given, a tab size of 8 characters is assumed.

find()#

S.find(sub[, start[, end]]) -> int

Return the lowest index in S where substring sub is found, such that sub is contained within S[start:end]. Optional arguments start and end are interpreted as in slice notation.

Return -1 on failure.

format()#

S.format(*args, **kwargs) -> str

Return a formatted version of S, using substitutions from args and kwargs. The substitutions are identified by braces (‘{’ and ‘}’).

format_map()#

S.format_map(mapping) -> str

Return a formatted version of S, using substitutions from mapping. The substitutions are identified by braces (‘{’ and ‘}’).

index()#

S.index(sub[, start[, end]]) -> int

Return the lowest index in S where substring sub is found, such that sub is contained within S[start:end]. Optional arguments start and end are interpreted as in slice notation.

Raises ValueError when the substring is not found.

isalnum()#

Return True if the string is an alpha-numeric string, False otherwise.

A string is alpha-numeric if all characters in the string are alpha-numeric and there is at least one character in the string.

isalpha()#

Return True if the string is an alphabetic string, False otherwise.

A string is alphabetic if all characters in the string are alphabetic and there is at least one character in the string.

isascii()#

Return True if all characters in the string are ASCII, False otherwise.

ASCII characters have code points in the range U+0000-U+007F. Empty string is ASCII too.

isdecimal()#

Return True if the string is a decimal string, False otherwise.

A string is a decimal string if all characters in the string are decimal and there is at least one character in the string.

isdigit()#

Return True if the string is a digit string, False otherwise.

A string is a digit string if all characters in the string are digits and there is at least one character in the string.

isidentifier()#

Return True if the string is a valid Python identifier, False otherwise.

Call keyword.iskeyword(s) to test whether string s is a reserved identifier, such as “def” or “class”.

islower()#

Return True if the string is a lowercase string, False otherwise.

A string is lowercase if all cased characters in the string are lowercase and there is at least one cased character in the string.

isnumeric()#

Return True if the string is a numeric string, False otherwise.

A string is numeric if all characters in the string are numeric and there is at least one character in the string.

isprintable()#

Return True if all characters in the string are printable, False otherwise.

A character is printable if repr() may use it in its output.

isspace()#

Return True if the string is a whitespace string, False otherwise.

A string is whitespace if all characters in the string are whitespace and there is at least one character in the string.

istitle()#

Return True if the string is a title-cased string, False otherwise.

In a title-cased string, upper- and title-case characters may only follow uncased characters and lowercase characters only cased ones.

isupper()#

Return True if the string is an uppercase string, False otherwise.

A string is uppercase if all cased characters in the string are uppercase and there is at least one cased character in the string.

join()#

Concatenate any number of strings.

The string whose method is called is inserted in between each given string. The result is returned as a new string.

Example: ‘.’.join([‘ab’, ‘pq’, ‘rs’]) -> ‘ab.pq.rs’

ljust()#

Return a left-justified string of length width.

Padding is done using the specified fill character (default is a space).

lower()#: Return a copy of the string converted to lowercase.

lstrip()#

Return a copy of the string with leading whitespace removed.

If chars is given and not None, remove characters in chars instead.

partition()#

Partition the string into three parts using the given separator.

This will search for the separator in the string. If the separator is found, returns a 3-tuple containing the part before the separator, the separator itself, and the part after it.

If the separator is not found, returns a 3-tuple containing the original string and two empty strings.

removeprefix()#

Return a str with the given prefix string removed if present.

If the string starts with the prefix string, return string[len(prefix):]. Otherwise, return a copy of the original string.

removesuffix()#

Return a str with the given suffix string removed if present.

If the string ends with the suffix string and that suffix is not empty, return string[:-len(suffix)]. Otherwise, return a copy of the original string.

replace()#

Return a copy with all occurrences of substring old replaced by new.

count Maximum number of occurrences to replace. -1 (the default value) means replace all occurrences.

If the optional argument count is given, only the first count occurrences are replaced.

rfind()#

S.rfind(sub[, start[, end]]) -> int

Return the highest index in S where substring sub is found, such that sub is contained within S[start:end]. Optional arguments start and end are interpreted as in slice notation.

Return -1 on failure.

rindex()#

S.rindex(sub[, start[, end]]) -> int

Return the highest index in S where substring sub is found, such that sub is contained within S[start:end]. Optional arguments start and end are interpreted as in slice notation.

Raises ValueError when the substring is not found.

rjust()#

Return a right-justified string of length width.

Padding is done using the specified fill character (default is a space).

rpartition()#

Partition the string into three parts using the given separator.

If the separator is not found, returns a 3-tuple containing two empty strings and the original string.

rsplit()#

Return a list of the substrings in the string, using sep as the separator string.

sep The separator used to split the string.

When set to None (the default value), will split on any whitespace
character (including \n \r \t \f and spaces) and will discard
empty strings from the result.

maxsplit Maximum number of splits. -1 (the default value) means no limit.

Splitting starts at the end of the string and works to the front.

rstrip()#

Return a copy of the string with trailing whitespace removed.

If chars is given and not None, remove characters in chars instead.

split()#

Return a list of the substrings in the string, using sep as the separator string.

sep The separator used to split the string.

When set to None (the default value), will split on any whitespace
character (including \n \r \t \f and spaces) and will discard
empty strings from the result.

maxsplit Maximum number of splits. -1 (the default value) means no limit.

Splitting starts at the front of the string and works to the end.

Note, str.split() is mainly useful for data that has been intentionally delimited. With natural text that includes punctuation, consider using the regular expression module.

splitlines()#

Return a list of the lines in the string, breaking at line boundaries.

Line breaks are not included in the resulting list unless keepends is given and true.

startswith()#

S.startswith(prefix[, start[, end]]) -> bool

strip()#

Return a copy of the string with leading and trailing whitespace removed.

If chars is given and not None, remove characters in chars instead.

swapcase()#: Convert uppercase characters to lowercase and lowercase characters to uppercase.

title()#

Return a version of the string where each word is titlecased.

More specifically, words start with uppercased characters and all remaining cased characters have lower case.

translate()#

Replace each character in the string using the given translation table.

table Translation table, which must be a mapping of Unicode ordinals to Unicode ordinals, strings, or None.

upper()#: Return a copy of the string converted to uppercase.

zfill()#

Pad a numeric string with zeros on the left, to fill a field of the given width.

The string is never truncated.

name()#: The name of the Enum member.

value()#: The value of the Enum member.

class ros_sugar.config.robot.RobotGeometryType#

Bases: ros_sugar.config.robot.StrEnum

Shape of the volume the robot occupies.

classmethod get_enum(__value: str) → Optional[ros_sugar.config.robot.T]#

Get Enum member equal to the given value

Parameters:: __value (str) – Reference value
Returns:: Enum member
Return type:: StrEnum | None

classmethod values() → List[str]#: Get all enum values

capitalize()#

Return a capitalized version of the string.

More specifically, make the first character have upper case and the rest lower case.

casefold()#: Return a version of the string suitable for caseless comparisons.

center()#

Return a centered string of length width.

Padding is done using the specified fill character (default is a space).

count()#

S.count(sub[, start[, end]]) -> int

Return the number of non-overlapping occurrences of substring sub in string S[start:end]. Optional arguments start and end are interpreted as in slice notation.

encode()#

Encode the string using the codec registered for encoding.

endswith()#

S.endswith(suffix[, start[, end]]) -> bool

expandtabs()#

Return a copy where all tab characters are expanded using spaces.

If tabsize is not given, a tab size of 8 characters is assumed.

find()#

S.find(sub[, start[, end]]) -> int

Return the lowest index in S where substring sub is found, such that sub is contained within S[start:end]. Optional arguments start and end are interpreted as in slice notation.

Return -1 on failure.

format()#

S.format(*args, **kwargs) -> str

Return a formatted version of S, using substitutions from args and kwargs. The substitutions are identified by braces (‘{’ and ‘}’).

format_map()#

S.format_map(mapping) -> str

Return a formatted version of S, using substitutions from mapping. The substitutions are identified by braces (‘{’ and ‘}’).

index()#

S.index(sub[, start[, end]]) -> int

Return the lowest index in S where substring sub is found, such that sub is contained within S[start:end]. Optional arguments start and end are interpreted as in slice notation.

Raises ValueError when the substring is not found.

isalnum()#

Return True if the string is an alpha-numeric string, False otherwise.

A string is alpha-numeric if all characters in the string are alpha-numeric and there is at least one character in the string.

isalpha()#

Return True if the string is an alphabetic string, False otherwise.

A string is alphabetic if all characters in the string are alphabetic and there is at least one character in the string.

isascii()#

Return True if all characters in the string are ASCII, False otherwise.

ASCII characters have code points in the range U+0000-U+007F. Empty string is ASCII too.

isdecimal()#

Return True if the string is a decimal string, False otherwise.

A string is a decimal string if all characters in the string are decimal and there is at least one character in the string.

isdigit()#

Return True if the string is a digit string, False otherwise.

A string is a digit string if all characters in the string are digits and there is at least one character in the string.

isidentifier()#

Return True if the string is a valid Python identifier, False otherwise.

Call keyword.iskeyword(s) to test whether string s is a reserved identifier, such as “def” or “class”.

islower()#

Return True if the string is a lowercase string, False otherwise.

A string is lowercase if all cased characters in the string are lowercase and there is at least one cased character in the string.

isnumeric()#

Return True if the string is a numeric string, False otherwise.

A string is numeric if all characters in the string are numeric and there is at least one character in the string.

isprintable()#

Return True if all characters in the string are printable, False otherwise.

A character is printable if repr() may use it in its output.

isspace()#

Return True if the string is a whitespace string, False otherwise.

A string is whitespace if all characters in the string are whitespace and there is at least one character in the string.

istitle()#

Return True if the string is a title-cased string, False otherwise.

In a title-cased string, upper- and title-case characters may only follow uncased characters and lowercase characters only cased ones.

isupper()#

Return True if the string is an uppercase string, False otherwise.

A string is uppercase if all cased characters in the string are uppercase and there is at least one cased character in the string.

join()#

Concatenate any number of strings.

The string whose method is called is inserted in between each given string. The result is returned as a new string.

Example: ‘.’.join([‘ab’, ‘pq’, ‘rs’]) -> ‘ab.pq.rs’

ljust()#

Return a left-justified string of length width.

Padding is done using the specified fill character (default is a space).

lower()#: Return a copy of the string converted to lowercase.

lstrip()#

Return a copy of the string with leading whitespace removed.

If chars is given and not None, remove characters in chars instead.

partition()#

Partition the string into three parts using the given separator.

This will search for the separator in the string. If the separator is found, returns a 3-tuple containing the part before the separator, the separator itself, and the part after it.

If the separator is not found, returns a 3-tuple containing the original string and two empty strings.

removeprefix()#

Return a str with the given prefix string removed if present.

If the string starts with the prefix string, return string[len(prefix):]. Otherwise, return a copy of the original string.

removesuffix()#

Return a str with the given suffix string removed if present.

If the string ends with the suffix string and that suffix is not empty, return string[:-len(suffix)]. Otherwise, return a copy of the original string.

replace()#

Return a copy with all occurrences of substring old replaced by new.

count Maximum number of occurrences to replace. -1 (the default value) means replace all occurrences.

If the optional argument count is given, only the first count occurrences are replaced.

rfind()#

S.rfind(sub[, start[, end]]) -> int

Return the highest index in S where substring sub is found, such that sub is contained within S[start:end]. Optional arguments start and end are interpreted as in slice notation.

Return -1 on failure.

rindex()#

S.rindex(sub[, start[, end]]) -> int

Return the highest index in S where substring sub is found, such that sub is contained within S[start:end]. Optional arguments start and end are interpreted as in slice notation.

Raises ValueError when the substring is not found.

rjust()#

Return a right-justified string of length width.

Padding is done using the specified fill character (default is a space).

rpartition()#

Partition the string into three parts using the given separator.

If the separator is not found, returns a 3-tuple containing two empty strings and the original string.

rsplit()#

Return a list of the substrings in the string, using sep as the separator string.

sep The separator used to split the string.

When set to None (the default value), will split on any whitespace
character (including \n \r \t \f and spaces) and will discard
empty strings from the result.

maxsplit Maximum number of splits. -1 (the default value) means no limit.

Splitting starts at the end of the string and works to the front.

rstrip()#

Return a copy of the string with trailing whitespace removed.

If chars is given and not None, remove characters in chars instead.

split()#

Return a list of the substrings in the string, using sep as the separator string.

sep The separator used to split the string.

When set to None (the default value), will split on any whitespace
character (including \n \r \t \f and spaces) and will discard
empty strings from the result.

maxsplit Maximum number of splits. -1 (the default value) means no limit.

Splitting starts at the front of the string and works to the end.

Note, str.split() is mainly useful for data that has been intentionally delimited. With natural text that includes punctuation, consider using the regular expression module.

splitlines()#

Return a list of the lines in the string, breaking at line boundaries.

Line breaks are not included in the resulting list unless keepends is given and true.

startswith()#

S.startswith(prefix[, start[, end]]) -> bool

strip()#

Return a copy of the string with leading and trailing whitespace removed.

If chars is given and not None, remove characters in chars instead.

swapcase()#: Convert uppercase characters to lowercase and lowercase characters to uppercase.

title()#

Return a version of the string where each word is titlecased.

More specifically, words start with uppercased characters and all remaining cased characters have lower case.

translate()#

Replace each character in the string using the given translation table.

table Translation table, which must be a mapping of Unicode ordinals to Unicode ordinals, strings, or None.

upper()#: Return a copy of the string converted to uppercase.

zfill()#

Pad a numeric string with zeros on the left, to fill a field of the given width.

The string is never truncated.

name()#: The name of the Enum member.

value()#: The value of the Enum member.

class ros_sugar.config.robot.LinearCtrlLimits#

Bases: ros_sugar.config.base_attrs.BaseAttrs

Linear velocity control limits along one axis.

This class is a copy of LinearVelocityControlParams in kompass-core (kompass_cpp.control), kept here so that a recipe can be written without depending on the core library. The two must be kept in sync.

The maxima and accelerations accept zero on purpose: a robot without a lateral axis declares it as all-zero limits (see the default of RobotConfig.ctrl_vy_limits). Only the minimum is strictly positive, since a zero minimum is no deadband at all.

class ros_sugar.config.robot.AngularCtrlLimits#

Bases: ros_sugar.config.base_attrs.BaseAttrs

Angular velocity control limits.

This class is a copy of AngularVelocityControlParams in kompass-core (kompass_cpp.control), kept here so that a recipe can be written without depending on the core library. The two must be kept in sync.

The maxima and accelerations accept zero for the same reason as in LinearCtrlLimits: an axis a robot does not have is declared with all-zero limits. Only the minimum is strictly positive, since a zero minimum is no deadband at all.

class ros_sugar.config.robot.RobotFrames#

Bases: ros_sugar.config.base_attrs.BaseAttrs

Coordinate frames of the robot.

Only the two frames a deployment genuinely has to choose are declared here. Every other frame is read from the online data.

Name	Type, Default	Description
robot_base	`str`, `"base_link"`	Frame rigidly attached to the robot body.
world	`str`, `"map"`	Global reference frame the robot operates in. Goals, paths and maps are expressed in it, and robot location is transformed into it.

class ros_sugar.config.robot.RobotConfig#

Bases: ros_sugar.config.base_attrs.BaseAttrs

Physical description of the robot: how it moves, how big it is, how fast.

This is a navigation description – a motion model, a bounding volume and a velocity envelope. It deliberately carries no links, joints, masses or URDF: consumers that need those read them from the ROS graph.

Name	Type, Default	Description
model_type	`RobotType \| str`, `ACKERMANN`	Robot motion model type
geometry_type	`RobotGeometryType \| str`, `CYLINDER`	Robot 3D geometry shape type
geometry_params	`np.ndarray`, `[0.2, 1.0]`	Shape parameters, whose length must match the geometry type
ctrl_vx_limits	`LinearCtrlLimits`	Forward linear velocity (x-direction) control limits
ctrl_omega_limits	`AngularCtrlLimits`	Angular velocity control limits
ctrl_vy_limits	`LinearCtrlLimits`	Lateral linear velocity (y-direction) control limits

property height: float#: The robot’s extent along z, from its geometry.

validate_params(_, value)#: Validates geometry parameters against geometry type

ros_sugar.config.robot#

Module Contents#

Classes#

API#

`ros_sugar.config.robot`#