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Wholebodydynamics and ros2 config file (#559)
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| <?xml version="1.0" encoding="UTF-8" ?> | ||
| <!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd"> | ||
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| <robot name="ergoCubSN000" xmlns:xi="http://www.w3.org/2001/XInclude"> | ||
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| <params> | ||
| <xi:include href="hardware/electronics/pc104.xml" /> | ||
| </params> | ||
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| <devices> | ||
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| <!-- POS4 --> | ||
| <xi:include href="wrappers/POS/right_hand-pos_wrapper4.xml" /> | ||
| <xi:include href="hardware/POS/right_hand-pos4.xml" /> | ||
| <xi:include href="wrappers/POS/left_hand-pos_wrapper4.xml" /> | ||
| <xi:include href="hardware/POS/left_hand-pos4.xml" /> | ||
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| <!-- POS2 --> | ||
| <xi:include href="wrappers/POS/right_hand-pos_wrapper2.xml" /> | ||
| <xi:include href="hardware/POS/right_hand-pos2.xml" /> | ||
| <xi:include href="wrappers/POS/left_hand-pos_wrapper2.xml" /> | ||
| <xi:include href="hardware/POS/left_hand-pos2.xml" /> | ||
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| <!-- motor controllers wrappers --> | ||
| <xi:include href="wrappers/motorControl/left_leg-mc_wrapper.xml" /> | ||
| <xi:include href="wrappers/motorControl/right_leg-mc_wrapper.xml" /> | ||
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| <xi:include href="wrappers/motorControl/left_leg-mc_remapper.xml" /> | ||
| <xi:include href="wrappers/motorControl/right_leg-mc_remapper.xml" /> | ||
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| <xi:include href="wrappers/motorControl/right_arm-mc_wrapper.xml" /> | ||
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| <xi:include href="wrappers/motorControl/right_arm-mc_remapper.xml" /> | ||
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| <xi:include href="wrappers/motorControl/left_arm-mc_wrapper.xml" /> | ||
| <xi:include href="wrappers/motorControl/left_arm-mc_remapper.xml" /> | ||
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| <xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" /> | ||
| <xi:include href="wrappers/motorControl/torso-mc_remapper.xml" /> | ||
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| <xi:include href="wrappers/motorControl/head-mc_wrapper.xml" /> | ||
| <xi:include href="wrappers/motorControl/head-mc_remapper.xml" /> | ||
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| <!-- HEAD --> | ||
| <xi:include href="hardware/motorControl/head-eb20-j0_1-mc.xml" /> | ||
| <xi:include href="hardware/motorControl/head-eb21-j2_3-mc.xml" /> | ||
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| <!-- TORSO --> | ||
| <xi:include href="hardware/motorControl/torso-eb5-j0_2-mc.xml" /> | ||
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| <!-- LEFT ARM --> | ||
| <xi:include href="hardware/motorControl/left_arm-eb2-j0_1-mc.xml" /> | ||
| <xi:include href="hardware/motorControl/left_arm-eb4-j2_3-mc.xml" /> | ||
| <xi:include href="hardware/motorControl/left_arm-eb31-j4_6-mc.xml" /> | ||
| <xi:include href="hardware/motorControl/left_arm-eb23-j7_10-mc.xml" /> | ||
| <xi:include href="hardware/motorControl/left_arm-eb25-j11_12-mc.xml" /> | ||
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| <!-- RIGHT ARM --> | ||
| <xi:include href="hardware/motorControl/right_arm-eb1-j0_1-mc.xml" /> | ||
| <xi:include href="hardware/motorControl/right_arm-eb3-j2_3-mc.xml" /> | ||
| <xi:include href="hardware/motorControl/right_arm-eb30-j4_6-mc.xml" /> | ||
| <xi:include href="hardware/motorControl/right_arm-eb22-j7_10-mc.xml" /> | ||
| <xi:include href="hardware/motorControl/right_arm-eb24-j11_12-mc.xml" /> | ||
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| <!-- LEFT LEG --> | ||
| <xi:include href="hardware/motorControl/left_leg-eb8-j0_3-mc.xml" /> | ||
| <xi:include href="hardware/motorControl/left_leg-eb9-j4_5-mc.xml" /> | ||
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| <!-- RIGHT LEG --> | ||
| <xi:include href="hardware/motorControl/right_leg-eb6-j0_3-mc.xml" /> | ||
| <xi:include href="hardware/motorControl/right_leg-eb7-j4_5-mc.xml" /> | ||
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| <!-- FT SENSORS --> | ||
| <xi:include href="hardware/FT/left_arm-eb2-j0_1-strain.xml" /> | ||
| <xi:include href="hardware/FT/right_arm-eb1-j0_1-strain.xml" /> | ||
| <xi:include href="hardware/FT/left_leg-eb9-j4_5-strain.xml" /> | ||
| <xi:include href="hardware/FT/right_leg-eb7-j4_5-strain.xml" /> | ||
| <xi:include href="hardware/FT/left_leg-eb8-j0_3-strain.xml" /> | ||
| <xi:include href="hardware/FT/right_leg-eb6-j0_3-strain.xml" /> | ||
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| <!-- FT SENSORS - REMAPPERS --> | ||
| <xi:include href="wrappers/FT/left_leg-FT_remapper.xml" /> | ||
| <xi:include href="wrappers/FT/right_leg-FT_remapper.xml" /> | ||
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| <!-- FT SENSORS - MULTIPLE ANALOG SENSOR SERVERS --> | ||
| <xi:include href="wrappers/FT/left_arm-FT_wrapper.xml" /> | ||
| <xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" /> | ||
| <xi:include href="wrappers/FT/left_leg-FT_wrapper.xml" /> | ||
| <xi:include href="wrappers/FT/right_leg-FT_wrapper.xml" /> | ||
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| <!-- INERTIAL SENSOR --> | ||
| <xi:include href="wrappers/inertials/head-imuFilter_wrapper.xml" /> | ||
| <xi:include href="wrappers/inertials/head-imuFilter.xml" /> | ||
| <xi:include href="wrappers/inertials/head-inertials_wrapper.xml" /> | ||
| <xi:include href="hardware/inertials/head-inertial.xml" /> | ||
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| <!-- FT SENSORS - IMU --> | ||
| <xi:include href="hardware/inertials/left_arm-eb2-j0_1-inertial.xml" /> | ||
| <xi:include href="hardware/inertials/right_arm-eb1-j0_1-inertial.xml" /> | ||
| <xi:include href="hardware/inertials/left_leg-eb8-j0_3-inertial.xml" /> | ||
| <xi:include href="hardware/inertials/right_leg-eb6-j0_3-inertial.xml" /> | ||
| <xi:include href="hardware/inertials/left_leg-eb9-j4_5-inertial.xml" /> | ||
| <xi:include href="hardware/inertials/right_leg-eb7-j4_5-inertial.xml" /> | ||
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| <!-- FT SENSORS - IMU - MULTIPLE ANALOG SENSOR SERVERS --> | ||
| <xi:include href="wrappers/inertials/left_arm-imu_wrapper.xml" /> | ||
| <xi:include href="wrappers/inertials/right_arm-imu_wrapper.xml" /> | ||
| <xi:include href="wrappers/inertials/left_leg-imu_wrapper.xml" /> | ||
| <xi:include href="wrappers/inertials/right_leg-imu_wrapper.xml" /> | ||
| <xi:include href="wrappers/inertials/left_foot-imu_wrapper.xml" /> | ||
| <xi:include href="wrappers/inertials/right_foot-imu_wrapper.xml" /> | ||
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| <!-- BATTERY--> | ||
| <xi:include href="hardware/battery/battery.xml" /> | ||
| <xi:include href="wrappers/battery/battery.xml" /> | ||
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| <!-- CALIBRATORS --> | ||
| <xi:include href="calibrators/torso-calib.xml" /> | ||
| <xi:include href="calibrators/left_leg-calib.xml" /> | ||
| <xi:include href="calibrators/right_leg-calib.xml" /> | ||
| <xi:include href="calibrators/left_arm-calib.xml" /> | ||
| <xi:include href="calibrators/right_arm-calib.xml" /> | ||
| <xi:include href="calibrators/head-calib.xml" /> | ||
| <!-- ROS2 --> | ||
| <!--<xi:include href="wrappers/inertials/imu_ros2.xml" />--> | ||
| <xi:include href="wrappers/motorControl/alljoints-mc_remapper.xml" /> | ||
| <xi:include href="wrappers/motorControl/alljoints-mc_nws_ros2.xml" /> | ||
| <xi:include href="wrappers/FT/left_arm-FT_nws_ros2.xml" /> | ||
| <xi:include href="wrappers/FT/right_arm-FT_nws_ros2.xml" /> | ||
| <xi:include href="wrappers/FT/left_foot-FT_nws_ros2.xml" /> | ||
| <xi:include href="wrappers/FT/right_foot-FT_nws_ros2.xml" /> | ||
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| <!-- estimators --> | ||
| <xi:include href="estimators/wholebodydynamics.xml" /> | ||
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| </devices> | ||
| </robot> |