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.

Where this fits in the Clearpath ROS 2 stack

clearpath_config is the entry point of the Clearpath ROS 2 system. A single robot.yaml file describes an entire robot (platform, sensors, mounts, manipulators, and system settings). This package parses and validates that file into a Python object tree, which the Clearpath generators then turn into launch files, parameter files, and robot descriptions.

flowchart LR
    yaml["robot.yaml"] --> config["clearpath_config<br/>(this repo)<br/>YAML parser + validation"]
    config --> genc["clearpath_generator_common"]
    config --> genr["clearpath_generator_robot"]
    config --> geng["clearpath_generator_gz"]
    genc --> out["/etc/clearpath<br/>generated launch / params / description"]
    genr --> out
    geng --> out
    out --> common["clearpath_common<br/>control / description / diagnostics"]
    out --> robot["clearpath_robot<br/>real hardware"]
    out --> sim["clearpath_simulator<br/>Gazebo"]
    config -. "sample configs" .-> tests["clearpath_generator_tests<br/>validates generator output"]

Architecture

The top-level ClearpathConfig class loads the YAML and delegates each top-level key to a dedicated sub-config module. Every sub-config validates its own section and exposes typed accessors:

Shared plumbing (base classes, YAML read/write, type helpers) lives under clearpath_config/common/. Use read_yaml/write_yaml from common/utils/yaml.py rather than calling PyYAML directly, so ordering and formatting stay consistent with the generators.

Documentation

• Robot YAML overview — the user-facing reference for robot.yaml.
• Per-section references: serial number, system, platform, links, mounts, sensors.
• Generators — how the parsed config is turned into runtime files.

Configuration Examples

Under the sample folder there are example configurations that can be used as the starting point of your robot.yaml. Sample files whose names contain test (e.g. test_a300.yaml) are also the fixtures consumed by clearpath_generator_tests; adding or renaming one changes what CI validates.

Contributing

See CONTRIBUTING.md for how to set up your environment, run the linters and tests, and submit a pull request.

Changelog for package clearpath_config

2.9.6 (2026-08-07)

• Updated default robot.yaml samples to include the joy controller. (#243)

• Bump actions/setup-python from 6 to 7 (#241) Bumps [actions/setup-python](https://github.com/actions/setup-python) from 6 to 7.

  • [Release notes](https://github.com/actions/setup-python/releases)

  - [Commits](https://github.com/actions/setup-python/compare/v6...v7) ---updated-dependencies:

  - dependency-name: actions/setup-python dependency-version: '7' dependency-type: direct:production update-type: version-update:semver-major ... Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

• Contributors: Tony Baltovski, dependabot[bot]

2.9.5 (2026-07-22)

• Added support for A300 with indoor tires. (#240)
• Bump actions/checkout from 6 to 7 (#237) ... Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
• Contributors: Tony Baltovski, dependabot[bot]

2.9.4 (2026-06-02)

• Bump actions/checkout from 3 to 6 (#234) Bumps [actions/checkout](https://github.com/actions/checkout) from 3 to 6.

  • [Release notes](https://github.com/actions/checkout/releases)
  • [Changelog](https://github.com/actions/checkout/blob/main/CHANGELOG.md)

  - [Commits](https://github.com/actions/checkout/compare/v3...v6) ---updated-dependencies:

  - dependency-name: actions/checkout dependency-version: '6' dependency-type: direct:production update-type: version-update:semver-major ... Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

• Bump actions/setup-python from 3 to 6 (#233) Bumps [actions/setup-python](https://github.com/actions/setup-python) from 3 to 6.

  • [Release notes](https://github.com/actions/setup-python/releases)

  - [Commits](https://github.com/actions/setup-python/compare/v3...v6) ---updated-dependencies:

  - dependency-name: actions/setup-python dependency-version: '6' dependency-type: direct:production update-type: version-update:semver-major ... Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

• Bump ros-tooling/action-ros-ci from 0.3 to 0.4 (#232) Bumps [ros-tooling/action-ros-ci](https://github.com/ros-tooling/action-ros-ci) from 0.3 to 0.4.

  • [Release notes](https://github.com/ros-tooling/action-ros-ci/releases)

  - [Commits](https://github.com/ros-tooling/action-ros-ci/compare/v0.3...v0.4) ---updated-dependencies:

  - dependency-name: ros-tooling/action-ros-ci dependency-version: '0.4' dependency-type: direct:production update-type: version-update:semver-minor ... Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

• Bump actions/github-script from 7 to 9 (#231) Bumps [actions/github-script](https://github.com/actions/github-script) from 7 to 9.

  • [Release

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