clearpath_config

Clearpath Configuration YAML Parser

Find documentation on the Clearpath Configuration YAML and more about the Clearpath ROS 2 System on the Clearpath Documentation webpage.

Configration Examples

Under the sample folder there are example configurations that can be used as the starting point of your robot.yaml.

Unit Tests

All unit tests are written using PyTest following the Good Integration Practices.

Therefore, clearpath_config_test is a package that mirrors the clearpath_config package structure. Each file from clearpath_config that is to be tested should have a corresponding file with the same name and the suffix _test.py.

To run the tests:

cd .../clearpath_config
python3 -m pytest

PyTest will automatically search for the suffix _test throughout the current directory and run the tests.

Changelog for package clearpath_config

2.8.1 (2025-11-06)

• Fix: Ewellix Parameters (#203) Add mount parameter and remove redefinition of urdf functions
• Contributors: luis-camero

2.8.0 (2025-10-23)

• Add a new [platform.wireless]{.title-ref} section to config (#201)
• Replace [assert]{.title-ref} with [raise]{.title-ref} + relevant Exception (#200)
• Fix: OakD Parameters (#202)
  • Use empty strings as defaults
• Raise a FileNotFound exception instead of an assertion error if the middleware config path doesn't exist; this makes it easier to catch those exceptions in CI tests. Fix a bug where setting the extra launch to None raises an unintended exception (#199)
• Add [system.bash]{.title-ref} support (#196)
  • Add [system.bash]{.title-ref} section to robot.yaml with [source]{.title-ref} and [env]{.title-ref} sub-fields for adding additional bash sources and envars
  • Add new envar to Flir camera sample
• Allow multiple launch files to be listed in platform.extras.launch, add launch arguments field (#197)
• Add support for automatic discovery range (#191)
  • Add ROS_STATIC_PEERS and ROS_AUTOMATIC_DISCOVERY_RANGE setters to middleware
  • Add middleware samples
• Rename [oakd]{.title-ref} namespace in robot.yaml to [luxonis_oakd]{.title-ref} (#192)
• Contributors: Chris Iverach-Brereton, luis-camero

2.8.2 (2025-12-16)

• Fix reading arm_id (#204)

• 2.8.1

• Changes.

• Fix: Ewellix Parameters (#203) Add mount parameter and remove redefinition of urdf functions

• 2.8.0

• Changes.

• Add a new [platform.wireless]{.title-ref} section to config (#201)

  • Add a new [platform.wireless]{.title-ref} section to contain router, base station, wireless_watcher parameters

  * Fixed linting. ---------Co-authored-by: Tony Baltovski <<tbaltovski@clearpathrobotics.com>>

• Replace [assert]{.title-ref} with [raise]{.title-ref} + relevant Exception (#200)

  • Raise a FileNotFound exception instead of an assertion error if the middleware config path doesn't exist; this makes it easier to catch those exceptions in CI tests. Fix a bug where setting the extra launch to None raises an unintended exception
  • Start replacing all [assert CONDITION[, 'error message']]{.title-ref} instances with [if]{.title-ref} + [raise]{.title-ref} with more precise exceptions (generally PermissionError, FileNotFoundError, ValueError, or TypeError)
  • Replace more asserts
  • Replace asserts in username. Don't allow underscores; these are not valid in Linux usernames. Verify that the first character is not a digit or hyphen
  • More asserts
  • More asserts
  • More asserts
  • More asserts
  • Fix length check
  • id -> _id
  • .config -> .control
  • UR_TYPE -> UR_TYPES
  • More asserts
  • Finish first pass removing all asserts
  • Missing negative sign
  • Fix wonky indent
  • Fix formatting issues

• Fix: OakD Parameters

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