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[ergoCubSN002] Add configuration file for the logging (#857)
Co-authored-by: ergocub <[email protected]>
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13 changes: 13 additions & 0 deletions
13
...otLoggerDevice/app/robots/ergoCubSN002/blf-yarp-robot-logger-interfaces/all_joints_mc.xml
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| <!-- Copyright (C) 2019 Istituto Italiano di Tecnologia (IIT). All rights reserved. | ||
| This software may be modified and distributed under the terms of the | ||
| BSD-3-Clause license. --> | ||
| <?xml version="1.0" encoding="UTF-8" ?> | ||
| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="all_joints_mc" type="remotecontrolboardremapper"> | ||
| <param name="remoteControlBoards">("/ergocub/head", "/ergocub/torso", "/ergocub/left_arm", "/ergocub/right_arm", "/ergocub/left_leg", "/ergocub/right_leg")</param> | ||
| <param name="axesNames">("neck_pitch", "neck_roll", "neck_yaw", "camera_tilt", "torso_pitch", "torso_roll", "torso_yaw", "l_shoulder_pitch", "l_shoulder_roll", "l_shoulder_yaw", "l_elbow", "l_wrist_pitch", "l_wrist_roll", "l_wrist_yaw", "r_shoulder_pitch", "r_shoulder_roll", "r_shoulder_yaw", "r_elbow", "r_wrist_pitch", "r_wrist_roll", "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> | ||
| <param name="localPortPrefix">/yarp_robot_logger/joints</param> | ||
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| <group name="REMOTE_CONTROLBOARD_OPTIONS"> | ||
| <param name="carrier">udp</param> | ||
| </group> | ||
| </device> |
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35
...RobotLoggerDevice/app/robots/ergoCubSN002/blf-yarp-robot-logger-interfaces/ft_clients.xml
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| <!-- Copyright (C) 2022 Istituto Italiano di Tecnologia (IIT). All rights reserved. | ||
| This software may be modified and distributed under the terms of the | ||
| BSD-3-Clause license. --> | ||
| <?xml version="1.0" encoding="UTF-8" ?> | ||
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| <devices> | ||
| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_ft_client" type="multipleanalogsensorsclient"> | ||
| <param name="remote">/ergocub/left_arm/FT</param> | ||
| <param name="local">/yarp_robot_logger/left_arm</param> | ||
| <param name="timeout">0.5</param> | ||
| <param name="carrier">fast_tcp</param> | ||
| </device> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm_ft_client" type="multipleanalogsensorsclient"> | ||
| <param name="remote">/ergocub/right_arm/FT</param> | ||
| <param name="local">/yarp_robot_logger/right_arm</param> | ||
| <param name="timeout">0.5</param> | ||
| <param name="carrier">fast_tcp</param> | ||
| </device> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg_ft_client" type="multipleanalogsensorsclient"> | ||
| <param name="remote">/ergocub/left_leg/FT</param> | ||
| <param name="local">/yarp_robot_logger/left_leg</param> | ||
| <param name="timeout">0.5</param> | ||
| <param name="carrier">fast_tcp</param> | ||
| </device> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg_ft_client" type="multipleanalogsensorsclient"> | ||
| <param name="remote">/ergocub/right_leg/FT</param> | ||
| <param name="local">/yarp_robot_logger/right_leg</param> | ||
| <param name="timeout">0.5</param> | ||
| <param name="carrier">fast_tcp</param> | ||
| </device> | ||
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| </devices> |
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66
...obotLoggerDevice/app/robots/ergoCubSN002/blf-yarp-robot-logger-interfaces/imu_clients.xml
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| <!-- Copyright (C) 2019 Istituto Italiano di Tecnologia (IIT). All rights reserved. | ||
| This software may be modified and distributed under the terms of the | ||
| GNU Lesser General Public License v2.1 or any later version. --> | ||
| <?xml version="1.0" encoding="UTF-8" ?> | ||
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| <devices> | ||
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| <!--device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_imu_acc" type="multipleanalogsensorsclient"> | ||
| <param name="remote">/ergocub/head/inertials</param> | ||
| <param name="local">/yarp_robot_logger/head/inertials</param> | ||
| <param name="timeout">0.5</param> | ||
| <param name="carrier">fast_tcp</param> | ||
| </device--> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="waist_imu_client" type="multipleanalogsensorsclient"> | ||
| <param name="remote">/ergocub/waist/inertials</param> | ||
| <param name="local">/yarp_robot_logger/waist/inertials</param> | ||
| <param name="timeout">0.5</param> | ||
| <param name="carrier">fast_tcp</param> | ||
| </device> | ||
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| <!--device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_imu_client" type="multipleanalogsensorsclient"> | ||
| <param name="remote">/ergocub/left_arm/imu</param> | ||
| <param name="local">/yarp_robot_logger/left_arm/imu</param> | ||
| <param name="timeout">0.5</param> | ||
| <param name="carrier">fast_tcp</param> | ||
| </device> | ||
| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm_imu_client" type="multipleanalogsensorsclient"> | ||
| <param name="remote">/ergocub/right_arm/imu</param> | ||
| <param name="local">/yarp_robot_logger/right_arm/imu</param> | ||
| <param name="timeout">0.5</param> | ||
| <param name="carrier">fast_tcp</param> | ||
| </device--> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_foot_imu_client" type="multipleanalogsensorsclient"> | ||
| <param name="remote">/ergocub/left_foot_heel_tiptoe/imu</param> | ||
| <param name="local">/yarp_robot_logger/left_foot_heel_tiptoe/imu</param> | ||
| <param name="timeout">0.5</param> | ||
| <param name="carrier">fast_tcp</param> | ||
| </device> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_foot_imu_client" type="multipleanalogsensorsclient"> | ||
| <param name="remote">/ergocub/right_foot_heel_tiptoe/imu</param> | ||
| <param name="local">/yarp_robot_logger/right_foot_heel_tiptoe/imu</param> | ||
| <param name="timeout">0.5</param> | ||
| <param name="carrier">fast_tcp</param> | ||
| </device> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg_imu_client" type="multipleanalogsensorsclient"> | ||
| <param name="remote">/ergocub/left_leg/imu</param> | ||
| <param name="local">/yarp_robot_logger/left_leg/imu</param> | ||
| <param name="timeout">0.5</param> | ||
| <param name="carrier">fast_tcp</param> | ||
| </device> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg_imu_client" type="multipleanalogsensorsclient"> | ||
| <param name="remote">/ergocub/right_leg/imu</param> | ||
| <param name="local">/yarp_robot_logger/right_leg/imu</param> | ||
| <param name="timeout">0.5</param> | ||
| <param name="carrier">fast_tcp</param> | ||
| </device> | ||
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| </devices> |
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45
...botLoggerDevice/app/robots/ergoCubSN002/blf-yarp-robot-logger-interfaces/mas-remapper.xml
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| <!-- Copyright (C) 2019-2021 Istituto Italiano di Tecnologia (IIT). All rights reserved. | ||
| This software may be modified and distributed under the terms of the | ||
| BSD-3-Clause license. --> | ||
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| <?xml version="1.0" encoding="UTF-8" ?> | ||
| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="mas-remapper" type="multipleanalogsensorsremapper"> | ||
| <param name="period">10</param> | ||
| <param name="ThreeAxisGyroscopesNames"> | ||
| (waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu) | ||
| </param> | ||
| <param name="ThreeAxisLinearAccelerometersNames"> | ||
| (waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu) | ||
| </param> | ||
| <param name="ThreeAxisMagnetometersNames"> | ||
| (waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu) | ||
| </param> | ||
| <param name="OrientationSensorsNames"> | ||
| (waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu) | ||
| </param> | ||
| <param name="SixAxisForceTorqueSensorsNames"> | ||
| (l_foot_front_ft, l_foot_rear_ft, r_foot_front_ft, r_foot_rear_ft, l_leg_ft, r_leg_ft, r_arm_ft, l_arm_ft) | ||
| </param> | ||
| <param name="TemperatureSensorsNames"> | ||
| (l_foot_front_ft, l_foot_rear_ft, r_foot_front_ft, r_foot_rear_ft, l_leg_ft, r_leg_ft, r_arm_ft, l_arm_ft) | ||
| </param> | ||
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| <action phase="startup" level="5" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="left_arm_ft_client">left_arm_ft_client</elem> | ||
| <elem name="right_arm_ft_client">right_arm_ft_client</elem> | ||
| <elem name="left_leg_ft_client">left_leg_ft_client</elem> | ||
| <elem name="right_leg_ft_client">right_leg_ft_client</elem> | ||
| <!--elem name="head_imu_imu">head_imu_imu</elem--> | ||
| <elem name="waist_imu_client">waist_imu_client</elem> | ||
| <!--elem name="left_arm_imu_client">left_arm_imu_client</elem> | ||
| <elem name="right_arm_imu_client">right_arm_imu_client</elem--> | ||
| <elem name="left_foot_imu_client">left_foot_imu_client</elem> | ||
| <elem name="right_foot_imu_client">right_foot_imu_client</elem> | ||
| <elem name="left_leg_imu_client">left_leg_imu_client</elem> | ||
| <elem name="right_leg_imu_client">right_leg_imu_client</elem> | ||
| </paramlist> | ||
| </action> | ||
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| <action phase="shutdown" level="5" type="detach" /> | ||
| </device> |
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40
...arpRobotLoggerDevice/app/robots/ergoCubSN002/blf-yarp-robot-logger-interfaces/webcams.xml
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| <!-- Copyright (C) 2019 Istituto Italiano di Tecnologia (IIT). All rights reserved. | ||
| This software may be modified and distributed under the terms of the | ||
| BSD-3-Clause license. --> | ||
| <?xml version="1.0" encoding="UTF-8" ?> | ||
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| <devices> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="jabra" type="opencv_grabber"> | ||
| <param name="camera">0</param> | ||
| <param name="width">1920</param> | ||
| <param name="height">1080</param> | ||
| </device> | ||
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| <!-- Enable the following block if you want to collect retrieve the cameras of the robot --> | ||
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| <!-- <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_eye" type="remote_grabber"> --> | ||
| <!-- <param name="local">/yarp_robot_logger/cam/left</param> --> | ||
| <!-- <param name="remote">/icub/cam/left</param> --> | ||
| <!-- <param name="stream">mjpeg</param> --> | ||
| <!-- </device> --> | ||
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| <!-- <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_eye" type="remote_grabber"> --> | ||
| <!-- <param name="local">/yarp_robot_logger/cam/right</param> --> | ||
| <!-- <param name="remote">/icub/cam/right</param> --> | ||
| <!-- <param name="stream">mjpeg</param> --> | ||
| <!-- </device> --> | ||
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| <!-- <device xmlns:xi="http://www.w3.org/2001/XInclude" name="realsense" type="RGBDSensorClient"> | ||
| <param name="localImagePort">/yarp_robot_logger/depthCamera/rgbImage:i</param> | ||
| <param name="localDepthPort">/yarp_robot_logger/depthCamera/depthImage:i</param> | ||
| <param name="localRpcPort">/yarp_robot_logger/depthCamera/rpc:o</param> | ||
| <param name="remoteImagePort">/depthCamera/rgbImage:o</param> | ||
| <param name="remoteDepthPort">/depthCamera/depthImage:o</param> | ||
| <param name="remoteRpcPort">/depthCamera/rpc:i</param> | ||
| <param name="ImageCarrier">mjpeg</param> | ||
| <param name="DepthCarrier">tcp+send.portmonitor+file.depthimage_compression_zlib+recv.portmonitor+file.depthimage_compression_zlib+type.dll</param> | ||
| </device> --> | ||
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| </devices> |
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44
...tLoggerDevice/app/robots/ergoCubSN002/blf-yarp-robot-logger-interfaces/wrench_clients.xml
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| <!-- Copyright (C) 2022 Istituto Italiano di Tecnologia (IIT). All rights reserved. | ||
| This software may be modified and distributed under the terms of the | ||
| BSD-3-Clause license. --> | ||
| <?xml version="1.0" encoding="UTF-8" ?> | ||
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| <devices> | ||
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| <!-- <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_wrench_client" type="genericSensorClient"> --> | ||
| <!-- <param name="remote">/wholeBodyDynamics/left_arm/cartesianEndEffectorWrench:o</param> --> | ||
| <!-- <param name="local">/yarp_robot_logger/left_arm_wrench</param> --> | ||
| <!-- <param name="carrier">udp</param> --> | ||
| <!-- </device> --> | ||
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| <!-- <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm_wrench_client" type="genericSensorClient"> --> | ||
| <!-- <param name="remote">/wholeBodyDynamics/right_arm/cartesianEndEffectorWrench:o</param> --> | ||
| <!-- <param name="local">/yarp_robot_logger/right_arm_wrench</param> --> | ||
| <!-- <param name="carrier">udp</param> --> | ||
| <!-- </device> --> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_front_wrench_client" type="genericSensorClient"> | ||
| <param name="remote">/wholeBodyDynamics/left_foot_front/cartesianEndEffectorWrench:o</param> | ||
| <param name="local">/yarp_robot_logger/left_front_wrench</param> | ||
| <param name="carrier">udp</param> | ||
| </device> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_rear_wrench_client" type="genericSensorClient"> | ||
| <param name="remote">/wholeBodyDynamics/left_foot_rear/cartesianEndEffectorWrench:o</param> | ||
| <param name="local">/yarp_robot_logger/left_rear_wrench</param> | ||
| <param name="carrier">udp</param> | ||
| </device> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_front_wrench_client" type="genericSensorClient"> | ||
| <param name="remote">/wholeBodyDynamics/right_foot_front/cartesianEndEffectorWrench:o</param> | ||
| <param name="local">/yarp_robot_logger/right_front_wrench</param> | ||
| <param name="carrier">udp</param> | ||
| </device> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_rear_wrench_client" type="genericSensorClient"> | ||
| <param name="remote">/wholeBodyDynamics/right_foot_rear/cartesianEndEffectorWrench:o</param> | ||
| <param name="local">/yarp_robot_logger/right_rear_wrench</param> | ||
| <param name="carrier">udp</param> | ||
| </device> | ||
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| </devices> |
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19
devices/YarpRobotLoggerDevice/app/robots/ergoCubSN002/launch-yarp-robot-logger.xml
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| <!-- Copyright (C) 2019-2022 Istituto Italiano di Tecnologia (IIT). All rights reserved. | ||
| This software may be modified and distributed under the terms of the | ||
| BSD-3-Clause license. --> | ||
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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="iCubGenova09" portprefix="YarpRobotLogger" build="1" xmlns:xi="http://www.w3.org/2001/XInclude"> | ||
| <devices> | ||
| <!-- interface --> | ||
| <xi:include href="blf-yarp-robot-logger-interfaces/all_joints_mc.xml" /> | ||
| <xi:include href="blf-yarp-robot-logger-interfaces/imu_clients.xml" /> | ||
| <xi:include href="blf-yarp-robot-logger-interfaces/ft_clients.xml" /> | ||
| <xi:include href="blf-yarp-robot-logger-interfaces/mas-remapper.xml" /> | ||
| <xi:include href="blf-yarp-robot-logger-interfaces/wrench_clients.xml" /> | ||
| <xi:include href="blf-yarp-robot-logger-interfaces/webcams.xml" /> | ||
| <xi:include href="./yarp-robot-logger.xml" /> | ||
| </devices> | ||
| </robot> |
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