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Add streaming of ergoCub leg imus (robotology#513)
Co-authored-by: icub <[email protected]>
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46 changes: 46 additions & 0 deletions
46
ergoCubSN000/hardware/inertials/left_leg-eb8-j0_3-inertial.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,46 @@ | ||
| <?xml version="1.0" encoding="UTF-8" ?> | ||
| <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd"> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb8-j0_3-inertial" type="embObjIMU"> | ||
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| <xi:include href="../../general.xml" /> | ||
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| <xi:include href="../../hardware/electronics/left_leg-eb8-j0_3-eln.xml" /> | ||
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| <group name="SERVICE"> | ||
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| <param name="type"> eomn_serv_AS_inertials3 </param> | ||
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| <group name="PROPERTIES"> | ||
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| <group name="CANBOARDS"> | ||
| <param name="type"> eobrd_strain2 </param> | ||
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| <group name="PROTOCOL"> | ||
| <param name="major"> 0 </param> | ||
| <param name="minor"> 0 </param> | ||
| </group> | ||
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| <group name="FIRMWARE"> | ||
| <param name="major"> 0 </param> | ||
| <param name="minor"> 0 </param> | ||
| <param name="build"> 0 </param> | ||
| </group> | ||
| </group> | ||
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| <group name="SENSORS"> | ||
| <param name="id"> l_leg_ft_acc l_leg_ft_gyro l_leg_ft_eul l_leg_ft_mag l_leg_ft_stat</param> | ||
| <param name="type"> eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status</param> | ||
| <param name="boardType"> strain2 strain2 strain2 strain2 strain2</param> | ||
| <param name="location"> CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 </param> | ||
| </group> | ||
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| </group> | ||
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| <group name="SETTINGS"> | ||
| <param name="acquisitionRate"> 10 </param> | ||
| <param name="enabledSensors"> l_leg_ft_acc l_leg_ft_gyro l_leg_ft_eul l_leg_ft_mag l_leg_ft_stat </param> | ||
| </group> | ||
| </group> | ||
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| </device> |
46 changes: 46 additions & 0 deletions
46
ergoCubSN000/hardware/inertials/right_leg-eb6-j0_3-inertial.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,46 @@ | ||
| <?xml version="1.0" encoding="UTF-8" ?> | ||
| <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd"> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb6-j0_3-inertial" type="embObjIMU"> | ||
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| <xi:include href="../../general.xml" /> | ||
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| <xi:include href="../../hardware/electronics/right_leg-eb6-j0_3-eln.xml" /> | ||
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| <group name="SERVICE"> | ||
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| <param name="type"> eomn_serv_AS_inertials3 </param> | ||
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| <group name="PROPERTIES"> | ||
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| <group name="CANBOARDS"> | ||
| <param name="type"> eobrd_strain2 </param> | ||
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| <group name="PROTOCOL"> | ||
| <param name="major"> 0 </param> | ||
| <param name="minor"> 0 </param> | ||
| </group> | ||
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| <group name="FIRMWARE"> | ||
| <param name="major"> 0 </param> | ||
| <param name="minor"> 0 </param> | ||
| <param name="build"> 0 </param> | ||
| </group> | ||
| </group> | ||
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| <group name="SENSORS"> | ||
| <param name="id"> r_leg_ft_acc r_leg_ft_gyro r_leg_ft_eul r_leg_ft_mag r_leg_ft_stat </param> | ||
| <param name="type"> eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status</param> | ||
| <param name="boardType"> strain2 strain2 strain2 strain2 strain2 </param> | ||
| <param name="location"> CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 </param> | ||
| </group> | ||
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| </group> | ||
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| <group name="SETTINGS"> | ||
| <param name="acquisitionRate"> 10 </param> | ||
| <param name="enabledSensors"> r_leg_ft_acc r_leg_ft_gyro r_leg_ft_eul r_leg_ft_mag r_leg_ft_stat</param> | ||
| </group> | ||
| </group> | ||
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| </device> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,20 @@ | ||
| <?xml version="1.0" encoding="UTF-8" ?> | ||
| <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd"> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-imu_wrapper" type="multipleanalogsensorsserver"> | ||
| <param name="period"> 10 </param> | ||
| <param name="name"> /ergocub/left_leg/imu </param> | ||
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| <action phase="startup" level="5" type="attach"> | ||
| <paramlist name="networks"> | ||
| <!-- The name of the element can be any string (we use SetOfInertials to better express its nature). | ||
| Its value must match the device name in the corresponding body_part-jx_y-inertials.xml file | ||
| or in body_part-ebX-inertials.xml --> | ||
| <elem name="SetOfInertials">left_leg-eb8-j0_3-inertial</elem> | ||
| </paramlist> | ||
| </action> | ||
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| <action phase="shutdown" level="5" type="detach" /> | ||
| </device> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,20 @@ | ||
| <?xml version="1.0" encoding="UTF-8" ?> | ||
| <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd"> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-imu_wrapper" type="multipleanalogsensorsserver"> | ||
| <param name="period"> 10 </param> | ||
| <param name="name"> /ergocub/right_leg/imu </param> | ||
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| <action phase="startup" level="5" type="attach"> | ||
| <paramlist name="networks"> | ||
| <!-- The name of the element can be any string (we use SetOfInertials to better express its nature). | ||
| Its value must match the device name in the corresponding body_part-jx_y-inertials.xml file | ||
| or in body_part-ebX-inertials.xml --> | ||
| <elem name="SetOfInertials">right_leg-eb6-j0_3-inertial</elem> | ||
| </paramlist> | ||
| </action> | ||
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| <action phase="shutdown" level="5" type="detach" /> | ||
| </device> |
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