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Support joints publishing on ROS 2 for iCubGazeboV2_5_visuomanip
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43 changes: 43 additions & 0 deletions
43
iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/icub_ros2.xml
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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="iCubGazeboV3" build="1" portprefix="/icubSim" xmlns:xi="http://www.w3.org/2001/XInclude"> | ||
| <devices> | ||
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| <!-- MOTOR CONTROLLERS --> | ||
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| <!-- wrapper are all inherited from automatically generated models --> | ||
| <xi:include href="../../../iCub/conf/wrappers/motorControl/torso-mc_wrapper.xml" /> | ||
| <xi:include href="../../../iCub/conf/wrappers/motorControl/head-mc_wrapper.xml" /> | ||
| <xi:include href="../../../iCub/conf/wrappers/motorControl/left_arm-mc_wrapper.xml" /> | ||
| <xi:include href="../../../iCub/conf/wrappers/motorControl/right_arm-mc_wrapper.xml" /> | ||
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| <!-- only the torso remapper is inherited from automatically generated models --> | ||
| <xi:include href="../../../iCub/conf/wrappers/motorControl/torso-mc_remapper.xml" /> | ||
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| <!-- all the other remappers are specific to this model due to eyes and fingers --> | ||
| <xi:include href="wrappers/motorControl/head-mc_remapper.xml" /> | ||
| <xi:include href="wrappers/motorControl/left_arm-mc_remapper.xml" /> | ||
| <xi:include href="wrappers/motorControl/right_arm-mc_remapper.xml" /> | ||
| <!-- --> | ||
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| <!-- HEAD SENSORS --> | ||
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| <xi:include href="wrappers/camera/left_camera-rgbd_wrapper.xml" /> | ||
| <xi:include href="wrappers/camera/right_camera-rgb_wrapper.xml" /> | ||
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| <!-- --> | ||
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| <!-- INERTIAL SENSORS --> | ||
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| <!-- this wrapper is inherited from automatically generated models --> | ||
| <xi:include href="../../../iCub/conf/wrappers/inertials/head-inertials_wrapper.xml" /> | ||
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| <!-- --> | ||
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| <!-- ROS 2 entries --> | ||
| <xi:include href="wrappers/motorControl/alljoints-mc_remapper.xml" /> | ||
| <xi:include href="wrappers/motorControl/alljoints-mc_nws_ros2.xml" /> | ||
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| </devices> | ||
| </robot> |
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...ual/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/motorControl/alljoints-mc_nws_ros2.xml
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| <?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="alljoints-mc_nws_ros2" type="controlBoard_nws_ros2"> | ||
| <param name="node_name"> icub_cb_node </param> | ||
| <param name="topic_name"> /joint_states </param> | ||
| <action phase="startup" level="15" type="attach"> | ||
| <param name="device"> alljoints-mc_remapper </param> | ||
| </action> | ||
| <action phase="shutdown" level="20" type="detach" /> | ||
| </device> |
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...ual/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/motorControl/alljoints-mc_remapper.xml
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| <?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="alljoints-mc_remapper" type="controlboardremapper"> | ||
| <paramlist name="networks"> | ||
| <elem name="head_joints"> ( 0 2 0 2 )</elem> | ||
| <elem name="left_arm_joints"> ( 3 9 0 6 )</elem> | ||
| <elem name="right_arm_joints"> ( 10 16 0 6 )</elem> | ||
| <elem name="torso_joints"> ( 17 19 0 2 )</elem> | ||
| </paramlist> | ||
| <param name="joints"> 20 </param> | ||
| <action phase="startup" level="6" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="head_joints"> head_hardware_device </elem> | ||
| <elem name="left_arm_joints"> left_arm_hardware_device</elem> | ||
| <elem name="right_arm_joints"> right_arm_hardware_device </elem> | ||
| <elem name="torso_joints"> torso_hardware_device </elem> | ||
| </paramlist> | ||
| </action> | ||
| <action phase="shutdown" level="19" type="detach" /> | ||
| </device> |