From c2522624b0d6d579b6c01abd39e24c09a196bc3e Mon Sep 17 00:00:00 2001
From: Martina Gloria <114698424+martinaxgloria@users.noreply.github.com>
Date: Wed, 30 Aug 2023 12:19:29 +0200
Subject: [PATCH] Fix waist_imu conf files (#558)

---
 ergoCubSN000/ergocub_all.xml                           |  1 +
 ergoCubSN000/ergocub_all_ros2.xml                      |  1 +
 ergoCubSN000/ergocub_wbd.xml                           |  1 +
 ergoCubSN000/hardware/inertials/waist-inertial.xml     | 10 ++++++++++
 .../wrappers/inertials/waist-inertials_wrapper.xml     |  6 ++----
 5 files changed, 15 insertions(+), 4 deletions(-)
 create mode 100644 ergoCubSN000/hardware/inertials/waist-inertial.xml

diff --git a/ergoCubSN000/ergocub_all.xml b/ergoCubSN000/ergocub_all.xml
index f38b103519..5915cc5bee 100644
--- a/ergoCubSN000/ergocub_all.xml
+++ b/ergoCubSN000/ergocub_all.xml
@@ -94,6 +94,7 @@
     <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" />
+    <xi:include href="hardware/inertials/waist-inertial.xml" />
     <xi:include href="wrappers/inertials/waist-inertials_wrapper.xml" />
 
     <!-- IMU - MTB4 BOARDS -->
diff --git a/ergoCubSN000/ergocub_all_ros2.xml b/ergoCubSN000/ergocub_all_ros2.xml
index 76cfddb4b5..d16494da6e 100644
--- a/ergoCubSN000/ergocub_all_ros2.xml
+++ b/ergoCubSN000/ergocub_all_ros2.xml
@@ -96,6 +96,7 @@
     <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" />
+    <xi:include href="hardware/inertials/waist-inertial.xml" />
     <xi:include href="wrappers/inertials/waist-inertials_wrapper.xml" />
 
     
diff --git a/ergoCubSN000/ergocub_wbd.xml b/ergoCubSN000/ergocub_wbd.xml
index 951392da1e..73fd7b6849 100644
--- a/ergoCubSN000/ergocub_wbd.xml
+++ b/ergoCubSN000/ergocub_wbd.xml
@@ -93,6 +93,7 @@
     <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" />
+    <xi:include href="hardware/inertials/waist-inertial.xml" />
     <xi:include href="wrappers/inertials/waist-inertials_wrapper.xml" />
 
     <!-- FT SENSORS - IMU -->
diff --git a/ergoCubSN000/hardware/inertials/waist-inertial.xml b/ergoCubSN000/hardware/inertials/waist-inertial.xml
new file mode 100644
index 0000000000..ad82a697ca
--- /dev/null
+++ b/ergoCubSN000/hardware/inertials/waist-inertial.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+  <device type="xsensmt" name="waist-inertial">
+    <param name="serial">  /dev/ttyS0   </param>
+    <param name="xsensmt_period">0.01</param>
+    <param name="xsensmt_euler_period">0.005</param>
+    <param name="xsensmt_gyro_period">0.005</param>
+    <param name="xsensmt_acc_period">0.005</param>
+    <param name="xsensmt_mag_period">0.01</param>
+  </device>
\ No newline at end of file
diff --git a/ergoCubSN000/wrappers/inertials/waist-inertials_wrapper.xml b/ergoCubSN000/wrappers/inertials/waist-inertials_wrapper.xml
index 0e77f9d0ed..6fb6bcc482 100644
--- a/ergoCubSN000/wrappers/inertials/waist-inertials_wrapper.xml
+++ b/ergoCubSN000/wrappers/inertials/waist-inertials_wrapper.xml
@@ -1,11 +1,9 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
 
- <device xmlns:xi="http://www.w3.org/2001/XInclude" name="waist-inertial" type="multipleanalogsensorsserver">
-      <param name="period">       10                  </param>
+ <device xmlns:xi="http://www.w3.org/2001/XInclude" name="waist-inertials_wrapper" type="multipleanalogsensorsserver">
+      <param name="period">       5                  </param>
       <param name="name">  /ergocub/waist/inertials  </param>
-      <param name="subdevice">  xsensmt  </param>
-      <param name="serial">  /dev/ttyS0   </param>
 
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">