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randaz81r1 user
randaz81
authored and
r1 user
committed
Fixed all_joints for ros2
1 parent a7666fa commit 1a0f6fc

5 files changed

+53
-22
lines changed

‎R1SN003/R1.xml

+9-8
Original file line numberDiff line numberDiff line change
@@ -47,7 +47,8 @@
4747

4848
<!-- LEFT ARM -->
4949
<xi:include href="wrappers/motorControl/left_arm-mc_wrapper.xml" disabled_by="disable_left_arm" />
50-
<xi:include href="wrappers/motorControl/left_arm-mc_remapper.xml" disabled_by="disable_left_arm" />
50+
<xi:include href="wrappers/motorControl/left_arm-mc_remapper.xml" disabled_by="disable_left_arm disable_left_hand" />
51+
<xi:include href="wrappers/motorControl/left_arm_no_hand-mc_remapper.xml" disabled_by="disable_left_arm" />
5152

5253
<xi:include href="hardware/motorControl/left_arm-eb2-j0_1-mc.xml" disabled_by="disable_left_arm" />
5354
<xi:include href="hardware/motorControl/left_arm-eb4-j2_3-mc.xml" disabled_by="disable_left_arm" />
@@ -57,7 +58,8 @@
5758

5859
<!-- RIGHT ARM -->
5960
<xi:include href="wrappers/motorControl/right_arm-mc_wrapper.xml" disabled_by="disable_right_arm" />
60-
<xi:include href="wrappers/motorControl/right_arm-mc_remapper.xml" disabled_by="disable_right_arm" />
61+
<xi:include href="wrappers/motorControl/right_arm-mc_remapper.xml" disabled_by="disable_right_arm disable_right_hand" />
62+
<xi:include href="wrappers/motorControl/right_arm_no_hand-mc_remapper.xml" disabled_by="disable_right_arm" />
6163

6264
<xi:include href="hardware/motorControl/right_arm-eb5-j0_1-mc.xml" disabled_by="disable_right_arm" />
6365
<xi:include href="hardware/motorControl/right_arm-eb7-j2_3-mc.xml" disabled_by="disable_right_arm" />
@@ -107,14 +109,13 @@
107109
<xi:include href="wrappers/FT/right_arm-FT_nws_ros2.xml" enabled_by="enable_ros2" disabled_by="disable_ros2 disable_right_arm" /> -->
108110

109111
<!-- ROS -->
110-
<!-- <xi:include href="wrappers/motorControl/cer_alljoints_remapper.xml" enabled_by="enable_ros enable_ros2" disabled_by="disable_base disable_head disable_left_arm disable_left_hand disable_right_arm disable_right_hand disable_torso"/>
111-
<xi:include href="wrappers/motorControl/cer_alljoints_ros_wrapper.xml" enabled_by="enable_ros" disabled_by="disable_base disable_head disable_left_arm disable_left_hand disable_right_arm disable_right_hand disable_torso"/>
112-
<xi:include href="wrappers/motorControl/cer_alljoints_ros2_wrapper.xml" enabled_by="enable_ros2" disabled_by="disable_base disable_head disable_left_arm disable_left_hand disable_right_arm disable_right_hand disable_torso"/> -->
112+
<xi:include href="wrappers/motorControl/cer_alljoints_remapper.xml" enabled_by="enable_ros2" disabled_by="disable_base disable_head disable_left_arm disable_left_hand disable_right_arm disable_right_hand disable_torso"/>
113+
<xi:include href="wrappers/motorControl/cer_alljoints_ros2_wrapper.xml" enabled_by="enable_ros2" disabled_by="disable_base disable_head disable_left_arm disable_left_hand disable_right_arm disable_right_hand disable_torso"/>
113114

114115
<!-- BATTERY -->
115-
<xi:include href="wrappers/battery/r1battery.xml" />
116-
<xi:include href="wrappers/battery/r1battery_nws_ros2.xml" />
117-
<xi:include href="hardware/battery/r1battery.xml" />
116+
<xi:include href="wrappers/battery/r1battery.xml" enabled_by="enable_battery" disabled_by="disable_battery" />
117+
<xi:include href="wrappers/battery/r1battery_nws_ros2.xml" enabled_by="enable_battery enable_ros2" disabled_by="disable_battery disable_ros2" />
118+
<xi:include href="hardware/battery/r1battery.xml" enabled_by="enable_battery" disabled_by="disable_battery" />
118119

119120
</devices>
120121
</robot>

‎R1SN003/wrappers/motorControl/cer_alljoints_remapper.xml

+13-13
Original file line numberDiff line numberDiff line change
@@ -2,26 +2,26 @@
22
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
33
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_all_joints_mc_remapper" type="controlboardremapper">
44
<paramlist name="networks">
5-
<elem name="head">( 0 1 0 1 )</elem>
6-
<elem name="torso">( 2 4 0 2 )</elem>
7-
<elem name="torso_yaw">( 5 5 3 3 )</elem>
8-
<elem name="right_arm">( 6 13 0 7 )</elem>
9-
<elem name="left_arm">( 14 21 0 7 )</elem>
10-
<elem name="right_hand">( 22 23 0 1 )</elem>
11-
<elem name="left_hand">( 24 25 0 1 )</elem>
12-
<elem name="base">( 26 27 0 1 )</elem>
5+
<elem name="base">( 0 1 0 1 )</elem>
6+
<elem name="head">( 2 3 0 1 )</elem>
7+
<elem name="torso">( 4 6 0 2 )</elem>
8+
<elem name="torso_yaw">( 7 7 3 3 )</elem>
9+
<elem name="right_arm">( 8 14 0 6 )</elem>
10+
<elem name="left_arm">( 15 21 0 6 )</elem>
11+
<!-- <elem name="right_hand">( 22 23 0 1 )</elem> -->
12+
<!-- <elem name="left_hand">( 24 25 0 1 )</elem> -->
1313
</paramlist>
14-
<param name="joints"> 28 </param>
14+
<param name="joints"> 22 </param>
1515
<action phase="startup" level="6" type="attach">
1616
<paramlist name="networks">
1717
<elem name="head"> cer_head_mc </elem>
1818
<elem name="torso"> cer_torso_equivalent_mc </elem>
1919
<elem name="torso_yaw"> cer_torso_mc </elem>
2020
<elem name="base"> cer_mobile_base_mc </elem>
21-
<elem name="right_arm"> cer_right_arm_no_hand_mc_remapper </elem>
22-
<elem name="right_hand"> cer_right_hand_mc </elem>
23-
<elem name="left_arm"> cer_left_arm_no_hand_mc_remapper </elem>
24-
<elem name="left_hand"> cer_left_hand_mc </elem>
21+
<elem name="right_arm"> right_arm_no_hand_mc_remapper </elem>
22+
<!-- <elem name="right_hand"> right_hand_mc </elem> -->
23+
<elem name="left_arm"> left_arm_no_hand_mc_remapper </elem>
24+
<!-- <elem name="left_hand"> left_hand_mc </elem> -->
2525
</paramlist>
2626
</action>
2727
<action phase="shutdown" level="19" type="detach" />

‎R1SN003/wrappers/motorControl/left_arm_no_hand-mc_remapper.xml

+15
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,15 @@
1+
<?xml version="1.0" encoding="UTF-8"?>
2+
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
3+
4+
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_no_hand_mc_remapper" type="controlboardremapper">
5+
<param name="axesNames">(l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,l_wrist_yaw,l_wrist_roll,l_wrist_pitch)</param>
6+
<param name="joints"> 7 </param>
7+
<action phase="startup" level="5" type="attach">
8+
<paramlist name="networks">
9+
<elem name="left_arm_joints1"> left_arm-eb2-j0_1-mc </elem>
10+
<elem name="left_arm_joints2"> left_arm-eb4-j2_3-mc </elem>
11+
<elem name="left_arm_joints3"> left_arm-eb31-j4_6-mc </elem>
12+
</paramlist>
13+
</action>
14+
<action phase="shutdown" level="20" type="detach" />
15+
</device>

‎R1SN003/wrappers/motorControl/right_arm_no_hand-mc_remapper.xml

+15
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,15 @@
1+
<?xml version="1.0" encoding="UTF-8"?>
2+
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
3+
4+
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm_no_hand_mc_remapper" type="controlboardremapper">
5+
<param name="axesNames">(r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,r_wrist_yaw,r_wrist_roll,r_wrist_pitch)</param>
6+
<param name="joints"> 7 </param>
7+
<action phase="startup" level="5" type="attach">
8+
<paramlist name="networks">
9+
<elem name="right_arm_joints1"> right_arm-eb5-j0_1-mc </elem>
10+
<elem name="right_arm_joints2"> right_arm-eb7-j2_3-mc </elem>
11+
<elem name="right_arm_joints3"> right_arm-eb30-j4_6-mc </elem>
12+
</paramlist>
13+
</action>
14+
<action phase="shutdown" level="20" type="detach" />
15+
</device>

‎R1SN003/yarprobotinterface.ini

+1-1
Original file line numberDiff line numberDiff line change
@@ -1,3 +1,3 @@
11
config ./R1.xml
22
enable_tags (enable_ros2)
3-
disable_tags ()
3+
disable_tags (disable_battery)

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