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Wholebodydynamics and ros2 config file #559

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Aug 30, 2023
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Wholebodydynamics and ros2 config file #559

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137 changes: 137 additions & 0 deletions ergoCubSN000/ergocub_wbd_ros2.xml
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Original file line number Diff line number Diff line change
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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">

<robot name="ergoCubSN000" xmlns:xi="http://www.w3.org/2001/XInclude">

<params>
<xi:include href="hardware/electronics/pc104.xml" />
</params>

<devices>

<!-- 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" />

<!-- 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" />

<!-- motor controllers wrappers -->
<xi:include href="wrappers/motorControl/left_leg-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/right_leg-mc_wrapper.xml" />

<xi:include href="wrappers/motorControl/left_leg-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/right_leg-mc_remapper.xml" />

<xi:include href="wrappers/motorControl/right_arm-mc_wrapper.xml" />

<xi:include href="wrappers/motorControl/right_arm-mc_remapper.xml" />

<xi:include href="wrappers/motorControl/left_arm-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/left_arm-mc_remapper.xml" />

<xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/torso-mc_remapper.xml" />

<xi:include href="wrappers/motorControl/head-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/head-mc_remapper.xml" />

<!-- HEAD -->
<xi:include href="hardware/motorControl/head-eb20-j0_1-mc.xml" />
<xi:include href="hardware/motorControl/head-eb21-j2_3-mc.xml" />

<!-- TORSO -->
<xi:include href="hardware/motorControl/torso-eb5-j0_2-mc.xml" />

<!-- 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" />

<!-- 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" />

<!-- 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" />

<!-- 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" />

<!-- 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" />

<!-- FT SENSORS - REMAPPERS -->
<xi:include href="wrappers/FT/left_leg-FT_remapper.xml" />
<xi:include href="wrappers/FT/right_leg-FT_remapper.xml" />

<!-- 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" />

<!-- 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" />

<!-- 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" />

<!-- 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" />

<!-- BATTERY-->
<xi:include href="hardware/battery/battery.xml" />
<xi:include href="wrappers/battery/battery.xml" />

<!-- 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" />

<!-- estimators -->
<xi:include href="estimators/wholebodydynamics.xml" />

</devices>
</robot>