Skip to content

Commit 9089463

Browse files
GiulioRomualdiGiulioRomualdi
committed
Attempt to enable the IMUs in ergoCubGazeboV1_1
1 parent 76d6256 commit 9089463

File tree

4 files changed

+30
-24
lines changed

4 files changed

+30
-24
lines changed

‎devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/blf-yarp-robot-logger-interfaces/imu_clients.xml

+5-19
Original file line numberDiff line numberDiff line change
@@ -5,39 +5,25 @@
55

66
<devices>
77

8-
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_imu_acc" type="multipleanalogsensorsclient">
8+
<!-- <device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_imu_acc" type="multipleanalogsensorsclient">
99
<param name="remote">/ergocub/head/inertials</param>
1010
<param name="local">/yarp_robot_logger/head/inertials</param>
1111
<param name="timeout">0.5</param>
1212
<param name="carrier">fast_tcp</param>
13-
</device>
14-
15-
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_imu_client" type="multipleanalogsensorsclient">
16-
<param name="remote">/ergocub/left_arm/imu</param>
17-
<param name="local">/yarp_robot_logger/left_arm/imu</param>
18-
<param name="timeout">0.5</param>
19-
<param name="carrier">fast_tcp</param>
20-
</device>
21-
22-
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm_imu_client" type="multipleanalogsensorsclient">
23-
<param name="remote">/ergocub/right_arm/imu</param>
24-
<param name="local">/yarp_robot_logger/right_arm/imu</param>
25-
<param name="timeout">0.5</param>
26-
<param name="carrier">fast_tcp</param>
27-
</device>
13+
</device> -->
2814

2915
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_foot_imu_client" type="multipleanalogsensorsclient">
30-
<param name="remote">/ergocub/left_foot/imu</param>
16+
<param name="remote">/ergocubSim/left_foot_heel_tiptoe/imu</param>
3117
<param name="local">/yarp_robot_logger/left_foot/imu</param>
3218
<param name="timeout">0.5</param>
3319
<param name="carrier">fast_tcp</param>
3420
</device>
3521

3622
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_foot_imu_client" type="multipleanalogsensorsclient">
37-
<param name="remote">/ergocub/right_foot/imu</param>
23+
<param name="remote">/ergocubSim/right_foot_heel_tiptoe/imu</param>
3824
<param name="local">/yarp_robot_logger/right_foot/imu</param>
3925
<param name="timeout">0.5</param>
4026
<param name="carrier">fast_tcp</param>
4127
</device>
4228

43-
</devices>
29+
</devices>

‎devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/blf-yarp-robot-logger-interfaces/mas-remapper.xml

+15-2
Original file line numberDiff line numberDiff line change
@@ -5,12 +5,23 @@
55
<?xml version="1.0" encoding="UTF-8" ?>
66
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="mas-remapper" type="multipleanalogsensorsremapper">
77
<param name="period">10</param>
8+
<param name="ThreeAxisimuscopesNames">
9+
(l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu)
10+
</param>
11+
<param name="ThreeAxisLinearimuelerometersNames">
12+
(l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu)
13+
</param>
14+
<param name="ThreeAxisimunetometersNames">
15+
(l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu)
16+
</param>
17+
<param name="OrientationSensorsNames">
18+
(l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu)
19+
</param>
820
<param name="SixAxisForceTorqueSensorsNames">
921
(l_arm_ft, r_arm_ft, l_leg_ft, l_foot_front_ft, l_foot_rear_ft, r_leg_ft, r_foot_front_ft, r_foot_rear_ft)
1022
</param>
11-
1223
<param name="TemperatureSensorsNames">
13-
(l_arm_ft, r_arm_ft, l_leg_ft, l_foot_front_ft, l_foot_rear_ft, r_leg_ft, r_foot_front_ft, r_foot_rear_ft)
24+
(l_arm_ft, r_arm_ft)
1425
</param>
1526

1627
<action phase="startup" level="5" type="attach">
@@ -19,6 +30,8 @@
1930
<elem name="right_arm_ft_client">right_arm_ft_client</elem>
2031
<elem name="left_leg_ft_client">left_leg_ft_client</elem>
2132
<elem name="right_leg_ft_client">right_leg_ft_client</elem>
33+
<elem name="left_foot_imu_client">left_foot_imu_client</elem>
34+
<elem name="right_foot_imu_client">right_foot_imu_client</elem>
2235
</paramlist>
2336
</action>
2437

‎devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/launch-yarp-robot-logger.xml

+1
Original file line numberDiff line numberDiff line change
@@ -10,6 +10,7 @@ BSD-3-Clause license. -->
1010
<!-- interface -->
1111
<xi:include href="blf-yarp-robot-logger-interfaces/all_joints_mc.xml" />
1212
<xi:include href="blf-yarp-robot-logger-interfaces/ft_clients.xml" />
13+
<xi:include href="blf-yarp-robot-logger-interfaces/imu_clients.xml" />
1314
<xi:include href="blf-yarp-robot-logger-interfaces/mas-remapper.xml" />
1415
<xi:include href="./yarp-robot-logger.xml" />
1516
</devices>

‎devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/yarp-robot-logger.xml

+9-3
Original file line numberDiff line numberDiff line change
@@ -37,12 +37,12 @@ BSD-3-Clause license. -->
3737
<group name="RobotSensorBridge">
3838
<param name="check_for_nan">false</param>
3939
<param name="stream_joint_states">true</param>
40-
<param name="stream_inertials">false</param>
40+
<param name="stream_inertials">true</param>
4141
<param name="stream_cartesian_wrenches">false</param>
4242
<param name="stream_forcetorque_sensors">true</param>
4343
<param name="stream_pids">false</param>
4444
<param name="stream_motor_PWM">false</param>
45-
<param name="stream_temperatures">true</param>
45+
<param name="stream_temperatures">false</param>
4646

4747
<group name="RemoteControlBoardRemapper">
4848
<param name="joints_list">("neck_pitch", "neck_roll", "neck_yaw", "camera_tilt", "torso_roll", "torso_yaw", "l_shoulder_pitch", "l_shoulder_roll", "l_shoulder_yaw", "l_elbow", "l_wrist_roll", "l_wrist_pitch", "l_wrist_yaw", "r_shoulder_pitch", "r_shoulder_roll", "r_shoulder_yaw", "r_elbow", "r_wrist_roll", "r_wrist_pitch", "r_wrist_yaw", "l_hip_pitch", "l_hip_roll", "l_hip_yaw", "l_knee", "l_ankle_pitch", "l_ankle_roll", "r_hip_pitch", "r_hip_roll", "r_hip_yaw", "r_knee", "r_ankle_pitch", "r_ankle_roll")</param>
@@ -56,14 +56,20 @@ BSD-3-Clause license. -->
5656
<param name="temperature_sensors_list">("l_arm_ft", "r_arm_ft", "l_leg_ft", "l_foot_front_ft", "l_foot_rear_ft", "r_leg_ft", "r_foot_front_ft", "r_foot_rear_ft")</param>
5757
</group>
5858

59+
<group name="InertialSensors">
60+
<param name="accelerometers_list">(l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu)</param>
61+
<param name="gyroscopes_list">(l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu)</param>
62+
<param name="imunetometers_list">(l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu)</param>
63+
<param name="orientation_sensors_list">(l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu)</param>
64+
</group>
65+
5966
</group>
6067

6168
<!-- ATTACH -->
6269
<action phase="startup" level="15" type="attach">
6370
<paramlist name="networks">
6471
<elem name="all_joints">all_joints_mc</elem>
6572
<elem name="mas-remapper">mas-remapper</elem>
66-
6773
</paramlist>
6874
</action>
6975

0 commit comments

Comments
 (0)