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Generate peplink launches #275

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99126c5
Use the new platform.wireless, add peplink nodes for the onboard rout…
civerachb-cpr Oct 3, 2025
0918c85
Add peplink router dependency
civerachb-cpr Oct 6, 2025
517591e
Remap the diagnostics topic for the peplink nodes
civerachb-cpr Oct 6, 2025
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65 changes: 64 additions & 1 deletion clearpath_generator_robot/clearpath_generator_robot/launch/generator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -44,6 +44,7 @@
)
from clearpath_config.manipulators.types.grippers import FrankaGripper
from clearpath_config.platform.battery import BatteryConfig
from clearpath_config.platform.wireless import PeplinkRouter
from clearpath_generator_common.common import LaunchFile, Package
from clearpath_generator_common.launch.generator import LaunchGenerator
from clearpath_generator_common.launch.writer import LaunchWriter
Expand Down Expand Up @@ -142,6 +143,56 @@ def __init__(self, setup_path: str = '/etc/clearpath/') -> None:
remappings=[('/diagnostics', 'diagnostics'),],
)

# Onboard router & base station
if isinstance(self.clearpath_config.platform.wireless.router, PeplinkRouter):
self.wireless_router_node = LaunchFile.Node(
package='peplink_router_driver',
executable='peplink_router_node',
name='router_node',
namespace=f'{self.namespace}/network/router',
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Should we namespace this under wireless/router instead to keep naming consistent? Wireless watcher should probably be under the same namespace too

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I was hesitant to change the wireless watcher namespace since that's already been published in our platform API and we may have users (e.g. outdoornav) already relying on that topic as-is.

As for network/router and network/base_station vs wireless/router and wireless/base_station I have no strong opinions either way. I chose network since it's broader in case we ever expand to non-wireless networking equipment. But that may be unnecessary future-proofing.

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That is true, some of our MCUs look at the platform/wifi_connected topic to control the HMI wifi LED. I think one of the issues we have seen though is that when the robot is not using onboard wifi, the LED will be off even though it is connected through a peplink. It would be nice to have a single topic indicating wifi connection status regardless of source.

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I think for now that's probably out-of-scope for this MR. Definitely a good future feature to include though.

parameters=[
{
'ip_address':
self.clearpath_config.platform.wireless.router.ip_address,
'username':
self.clearpath_config.platform.wireless.router.username,
'password':
self.clearpath_config.platform.wireless.router.password,
'enable_gps':
self.clearpath_config.platform.wireless.router.enable_gps,
'publish_passwords':
self.clearpath_config.platform.wireless.router.publish_passwords,
}
],
remappings=[('/diagnostics', 'diagnostics'),],
)
else:
self.wireless_router_node = None
if isinstance(self.clearpath_config.platform.wireless.base_station, PeplinkRouter):
self.base_station_node = LaunchFile.Node(
package='peplink_router_driver',
executable='peplink_router_node',
name='base_station_node',
namespace=f'{self.namespace}/network/base_station',
parameters=[
{
'ip_address':
self.clearpath_config.platform.wireless.base_station.ip_address,
'username':
self.clearpath_config.platform.wireless.base_station.username,
'password':
self.clearpath_config.platform.wireless.base_station.password,
'enable_gps':
self.clearpath_config.platform.wireless.base_station.enable_gps,
'publish_passwords':
self.clearpath_config.platform.wireless.base_station.publish_passwords,
}
],
remappings=[('/diagnostics', 'diagnostics'),],
)
else:
self.base_station_node = None

# Diagnostics launch args
self.diag_updater_params = LaunchFile.LaunchArg(
'diagnostic_updater_params',
Expand Down Expand Up @@ -395,8 +446,20 @@ def __init__(self, setup_path: str = '/etc/clearpath/') -> None:
if self.bms_launch_file is None and self.bms_node is None:
common_platform_components.append(self.battery_state_estimator)

if self.clearpath_config.platform.enable_wireless_watcher:
if self.clearpath_config.platform.wireless.enable_wireless_watcher:
common_platform_components.append(self.wireless_watcher_node)
if (
self.wireless_router_node is not None
and self.clearpath_config.platform.wireless.router is not None
and self.clearpath_config.platform.wireless.router.launch_enabled
):
common_platform_components.append(self.wireless_router_node)
if (
self.base_station_node is not None
and self.clearpath_config.platform.wireless.base_station is not None
and self.clearpath_config.platform.wireless.base_station.launch_enabled
):
common_platform_components.append(self.base_station_node)

if len(self.can_bridges) > 0:
common_platform_components.extend(self.can_bridges)
Expand Down
1 change: 1 addition & 0 deletions clearpath_generator_robot/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@
<exec_depend>imu_filter_madgwick</exec_depend>
<exec_depend>canopen_inventus_bringup</exec_depend>
<exec_depend>micro_ros_agent</exec_depend>
<exec_depend>peplink_router_driver</exec_depend>
<exec_depend>python3-apt</exec_depend>
<exec_depend>sevcon_traction</exec_depend>
<exec_depend>valence_bms_driver</exec_depend>
Expand Down
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