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Support joints publishing on ROS 2 for iCubGazeboV2_5_visuomanip
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43 changes: 43 additions & 0 deletions
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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="10" type="attach"> | ||
<param name="device"> alljoints-mc_remapper </param> | ||
</action> | ||
<action phase="shutdown" level="15" 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"> | ||
<param name="axesNames">(neck_pitch neck_roll neck_yaw l_shoulder_pitch l_shoulder_roll l_shoulder_yaw l_elbow l_wrist_prosup l_wrist_pitch l_wrist_yaw r_shoulder_pitch r_shoulder_roll r_shoulder_yaw r_elbow r_wrist_prosup r_wrist_pitch r_wrist_yaw torso_yaw torso_roll torso_pitch)</param> | ||
<action phase="startup" level="5" 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="20" type="detach"/> | ||
</device> |