From fe514c6569a6ce57e9e4474d1f0d6d0c56100b36 Mon Sep 17 00:00:00 2001 From: Luis Camero Date: Fri, 14 Nov 2025 14:03:20 -0500 Subject: [PATCH 1/2] Add generic components to generic robot --- .../clearpath_generator_robot/launch/generator.py | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py b/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py index f27dc6e..ba28484 100644 --- a/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py +++ b/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py @@ -459,10 +459,15 @@ def __init__(self, setup_path: str = '/etc/clearpath/') -> None: ): common_platform_components.append(self.base_station_node) + # Only add estimator when no BMS is present + if self.bms_launch_file is None: + common_platform_components.append(self.battery_state_estimator) + if len(self.can_bridges) > 0: common_platform_components.extend(self.can_bridges) self.platform_components = { + Platform.GENERIC: common_platform_components, Platform.J100: common_platform_components + [ self.imu_0_filter_node, self.imu_0_filter_config, From c979221d3f11a09532398e82477936d2117fbeab Mon Sep 17 00:00:00 2001 From: Luis Camero Date: Fri, 14 Nov 2025 14:09:47 -0500 Subject: [PATCH 2/2] Emty components for generic robot --- .../clearpath_generator_robot/launch/generator.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py b/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py index ba28484..85865b7 100644 --- a/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py +++ b/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py @@ -467,7 +467,7 @@ def __init__(self, setup_path: str = '/etc/clearpath/') -> None: common_platform_components.extend(self.can_bridges) self.platform_components = { - Platform.GENERIC: common_platform_components, + Platform.GENERIC: [], Platform.J100: common_platform_components + [ self.imu_0_filter_node, self.imu_0_filter_config,