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🤖 [ergoCubSN001] Add the configuration file for YarpRobotLoggerDevice
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13 changes: 13 additions & 0 deletions
13
...otLoggerDevice/app/robots/ergoCubSN001/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_roll", "torso_yaw", "l_shoulder_pitch", "l_shoulder_roll", "l_shoulder_yaw", "l_elbow", "r_shoulder_pitch", "r_shoulder_roll", "r_shoulder_yaw", "r_elbow", "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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...RobotLoggerDevice/app/robots/ergoCubSN001/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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...obotLoggerDevice/app/robots/ergoCubSN001/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="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> | ||
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| <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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44
...botLoggerDevice/app/robots/ergoCubSN001/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"> | ||
| (rfeimu_gyro, l_arm_ft_gyro, r_arm_ft_gyro, l_foot_front_ft_gyro, l_foot_rear_ft_gyro, r_foot_front_ft_gyro, r_foot_rear_ft_gyro, l_leg_ft_gyro, r_leg_ft_gyro) | ||
| </param> | ||
| <param name="ThreeAxisLinearAccelerometersNames"> | ||
| (rfeimu_acc, l_arm_ft_acc, r_arm_ft_acc, l_foot_front_ft_acc, l_foot_rear_ft_acc, r_foot_front_ft_acc, r_foot_rear_ft_acc, l_leg_ft_acc, r_leg_ft_acc) | ||
| </param> | ||
| <param name="ThreeAxisMagnetometersNames"> | ||
| (rfeimu_mag, l_arm_ft_mag, r_arm_ft_mag, l_foot_front_ft_mag, l_foot_rear_ft_mag, r_foot_front_ft_mag, r_foot_rear_ft_mag, l_leg_ft_mag, r_leg_ft_mag) | ||
| </param> | ||
| <param name="OrientationSensorsNames"> | ||
| (rfeimu_eul, l_arm_ft_eul, r_arm_ft_eul, l_foot_front_ft_eul, l_foot_rear_ft_eul, r_foot_front_ft_eul, r_foot_rear_ft_eul, l_leg_ft_eul, r_leg_ft_eul) | ||
| </param> | ||
| <param name="SixAxisForceTorqueSensorsNames"> | ||
| (l_arm_ft, r_arm_ft, l_foot_front_ft, l_foot_rear_ft, r_foot_front_ft, r_foot_rear_ft, l_leg_ft, r_leg_ft) | ||
| </param> | ||
| <param name="TemperatureSensorsNames"> | ||
| (l_arm_ft, r_arm_ft, l_foot_front_ft, l_foot_rear_ft, r_foot_front_ft, r_foot_rear_ft, l_leg_ft, r_leg_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_acc">head_imu_acc</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/ergoCubSN001/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">1280</param> --> | ||
| <!-- <param name="height">720</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/ergoCubSN001/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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devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/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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110
devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/yarp-robot-logger.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="yarp-robot-logger" type="YarpRobotLoggerDevice"> | ||
| <param name="robot">ergocub</param> | ||
| <param name="sampling_period_in_s">0.01</param> | ||
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| <param name="rgb_cameras_fps">()</param> | ||
| <param name="rgb_cameras_rgb_save_mode">()</param> | ||
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| <param name="rgbd_cameras_fps">()</param> | ||
| <param name="rgbd_cameras_depth_scale">()</param> | ||
| <param name="rgbd_cameras_depth_save_mode">()</param> | ||
| <param name="rgbd_cameras_rgb_save_mode">()</param> | ||
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| <param name="video_codec_code">mp4v</param> | ||
| <param name="port_prefix">/yarp-robot-logger</param> | ||
| <param name="text_logging_subnames">("ergoCubSN001/yarprobotinterface")</param> | ||
| <param name="code_status_cmd_prefixes">("ssh [email protected]" "ssh [email protected]")</param> | ||
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| <group name="Telemetry"> | ||
| <param name="save_period">1800.0</param> | ||
| </group> | ||
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| <group name="ExogenousSignals"> | ||
| <param name="vectors_collection_exogenous_inputs">("Walking")</param> | ||
| <param name="vectors_exogenous_inputs">()</param> | ||
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| <group name="Walking"> | ||
| <param name="local">"/yarp-robot-logger/exogenous_signals/walking:i"</param> | ||
| <param name="remote">"/walking-coordinator/logger/data:o"</param> | ||
| <param name="signal_name">"walking"</param> | ||
| <param name="carrier">"udp"</param> | ||
| </group> | ||
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| <group name="RobotDynamicsEstimator"> | ||
| <param name="local">"/yarp-robot-logger/exogenous_signals/rde:i"</param> | ||
| <param name="remote">"/robot-dynamics-estimator/data:o"</param> | ||
| <param name="signal_name">"rde"</param> | ||
| <param name="carrier">"udp"</param> | ||
| </group> | ||
| </group> | ||
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| <group name="RobotCameraBridge"> | ||
| <param name="stream_cameras">false</param> | ||
| <group name="Cameras"> | ||
| <param name="rgb_cameras_list">()</param> | ||
| <param name="rgbd_cameras_list">()</param> | ||
| </group> | ||
| </group> | ||
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| <group name="RobotSensorBridge"> | ||
| <param name="check_for_nan">false</param> | ||
| <param name="stream_joint_states">true</param> | ||
| <param name="stream_motor_states">true</param> | ||
| <param name="stream_inertials">true</param> | ||
| <param name="stream_cartesian_wrenches">true</param> | ||
| <param name="stream_forcetorque_sensors">true</param> | ||
| <param name="stream_pids">false</param> | ||
| <param name="stream_motor_PWM">true</param> | ||
| <param name="stream_temperatures">true</param> | ||
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| <group name="RemoteControlBoardRemapper"> | ||
| <param name="joints_list">("neck_pitch", "neck_roll", "neck_yaw", "camera_tilt", "torso_roll", "torso_yaw", "l_shoulder_pitch", "l_shoulder_roll", "l_shoulder_yaw", "l_elbow", "r_shoulder_pitch", "r_shoulder_roll", "r_shoulder_yaw", "r_elbow", "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> | ||
| </group> | ||
|
|
||
| <group name="SixAxisForceTorqueSensors"> | ||
| <param name="sixaxis_forcetorque_sensors_list">(l_arm_ft, r_arm_ft, l_foot_front_ft, l_foot_rear_ft, r_foot_front_ft, r_foot_rear_ft, l_leg_ft, r_leg_ft)</param> | ||
| </group> | ||
|
|
||
| <group name="TemperatureSensors"> | ||
| <param name="temperature_sensors_list">(l_arm_ft, r_arm_ft, l_foot_front_ft, l_foot_rear_ft, r_foot_front_ft, r_foot_rear_ft, l_leg_ft, r_leg_ft)</param> | ||
| </group> | ||
|
|
||
| <group name="CartesianWrenches"> | ||
| <!-- <param name="cartesian_wrenches_list">("left_front_wrench_client", "left_rear_wrench_client", "right_front_wrench_client", "right_rear_wrench_client", "left_arm_wrench_client", "right_arm_wrench_client")</param> --> | ||
| <param name="cartesian_wrenches_list">("left_front_wrench_client", "left_rear_wrench_client", "right_front_wrench_client", "right_rear_wrench_client")</param> | ||
| </group> | ||
|
|
||
| <group name="InertialSensors"> | ||
| <param name="accelerometers_list">(rfeimu_acc, l_arm_ft_acc, r_arm_ft_acc, l_foot_front_ft_acc, l_foot_rear_ft_acc, r_foot_front_ft_acc, r_foot_rear_ft_acc, l_leg_ft_acc, r_leg_ft_acc)</param> | ||
| <param name="gyroscopes_list">(rfeimu_gyro, l_arm_ft_gyro, r_arm_ft_gyro, l_foot_front_ft_gyro, l_foot_rear_ft_gyro, r_foot_front_ft_gyro, r_foot_rear_ft_gyro, l_leg_ft_gyro, r_leg_ft_gyro)</param> | ||
| <param name="magnetometers_list">(rfeimu_mag, l_arm_ft_mag, r_arm_ft_mag, l_foot_front_ft_mag, l_foot_rear_ft_mag, r_foot_front_ft_mag, r_foot_rear_ft_mag, l_leg_ft_mag, r_leg_ft_mag)</param> | ||
| <param name="orientation_sensors_list">(rfeimu_eul, l_arm_ft_eul, r_arm_ft_eul, l_foot_front_ft_eul, l_foot_rear_ft_eul, r_foot_front_ft_eul, r_foot_rear_ft_eul, l_leg_ft_eul, r_leg_ft_eul)</param> | ||
| </group> | ||
|
|
||
| </group> | ||
|
|
||
| <!-- ATTACH --> | ||
| <action phase="startup" level="15" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="all_joints">all_joints_mc</elem> | ||
| <elem name="left_front_wrench_client">left_front_wrench_client</elem> | ||
| <elem name="left_rear_wrench_client">left_rear_wrench_client</elem> | ||
| <elem name="right_front_wrench_client">right_front_wrench_client</elem> | ||
| <elem name="right_rear_wrench_client">right_rear_wrench_client</elem> | ||
| <!-- <elem name="right_arm_wrench_client">right_arm_wrench_client</elem> --> | ||
| <!-- <elem name="left_arm_wrench_client">left_arm_wrench_client</elem> --> | ||
| <elem name="mas-remapper">mas-remapper</elem> | ||
| <!-- <elem name="realsense">realsense</elem> --> | ||
| <!-- <elem name="jabra">jabra</elem> --> | ||
| </paramlist> | ||
| </action> | ||
|
|
||
| <action phase="shutdown" level="2" type="detach" /> | ||
| <!-- FINISH ATTACH--> | ||
|
|
||
| </device> |