[Humble] Added support for Flir PTU-5.

clearpath_sensors/config/flir_ptu.yaml

@@ -0,0 +1,10 @@
+ptu_driver:
+  ros__parameters:
+    connection_type: tcp
+    ip_addr: 192.168.131.70
+    tcp_port: 4000
+    port: /dev/ptu
+    limits_enabled: false
+    hz: 10
+    default_velocity: 0.0
+    joint_name_prefix: "ptu_"

clearpath_sensors/launch/flir_ptu.launch.py

@@ -0,0 +1,74 @@
+# Software License Agreement (BSD)
+#
+# @author    Tony Baltovski <tbaltovski@clearpathrobotics.com>
+# @copyright (c) 2026, Clearpath Robotics, Inc., All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Clearpath Robotics nor the names of its contributors
+#   may be used to endorse or promote products derived from this software
+#   without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+    parameters = LaunchConfiguration('parameters')
+    namespace = LaunchConfiguration('namespace')
+    robot_namespace = LaunchConfiguration('robot_namespace')
+
+    arg_namespace = DeclareLaunchArgument(
+        'namespace',
+        default_value='')
+
+    arg_parameters = DeclareLaunchArgument(
+        'parameters',
+        default_value=PathJoinSubstitution([
+            FindPackageShare('clearpath_sensors'),
+            'config',
+            'flir_ptu.yaml'
+        ]))
+
+    arg_robot_namespace = DeclareLaunchArgument(
+        'robot_namespace',
+        default_value='')
+
+    ptu_node = Node(
+        package='flir_ptu_driver',
+        executable='ptu_node',
+        name='ptu_driver',
+        namespace=namespace,
+        parameters=[parameters],
+        output='screen',
+        remappings=[
+            ('state', PathJoinSubstitution(['/', robot_namespace, 'platform', 'joint_states'])),
+        ]
+    )
+
+    ld = LaunchDescription()
+    ld.add_action(arg_namespace)
+    ld.add_action(arg_parameters)
+    ld.add_action(arg_robot_namespace)
+    ld.add_action(ptu_node)
+    return ld