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.

Configuration Examples

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

Pre-commit

This repository uses pre-commit to run linting and formatting checks before each commit.

Install the hooks (one-time setup):

pip install pre-commit
pre-commit install

Run against all files manually:

pre-commit run --all-files

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.

Generator Tests

Changes to clearpath_config (e.g. adding or modifying test samples, config structure, or defaults) may affect the output of the Clearpath generators. The clearpath_generator_tests repository versions the expected generator output and validates it through CI.

Before merging, ensure a corresponding branch with the same name exists in clearpath_generator_tests with regenerated samples. See the Development Workflow section of clearpath_generator_tests for the full process.