From c6a298257827bb08de3c6b734ea7144399531df8 Mon Sep 17 00:00:00 2001 From: Martina Gloria <114698424+martinaxgloria@users.noreply.github.com> Date: Fri, 12 Apr 2024 11:55:04 +0200 Subject: [PATCH] IMU sensors - Include alljoints-inertials_wrapper/remapper in YRI xml files (#640) --- ergoCubSN000/ergocub_all.xml | 4 ++++ ergoCubSN000/ergocub_all_ros2.xml | 1 - ergoCubSN000/ergocub_wbd_ros2.xml | 2 +- ergoCubSN001/ergocub_all.xml | 2 ++ ergoCubSN001/ergocub_all_ros2.xml | 1 - ergoCubSN001/ergocub_wbd.xml | 4 +++- ergoCubSN001/ergocub_wbd_ros2.xml | 2 ++ ergoCubSN002/ergocub_all.xml | 2 ++ ergoCubSN002/ergocub_all_ros2.xml | 1 - ergoCubSN002/ergocub_wbd.xml | 4 +++- ergoCubSN002/ergocub_wbd_ros2.xml | 2 ++ iCubGenova07/hardware/inertials/head-inertial.xml | 12 ++++++------ iCubGenova07/hardware/inertials/left_leg-eb6-IMU.xml | 2 +- iCubGenova07/hardware/inertials/left_leg-eb7-IMU.xml | 10 +++++----- iCubGenova07/icub_all.xml | 8 ++++++++ iCubGenova11/icub_all.xml | 2 -- iCubGenova11/icub_all_no_legs.xml | 8 ++++++-- iCubGenova11/icub_all_no_legs_ros2.xml | 2 -- iCubGenova11/icub_all_ros2.xml | 2 -- iCubLisboa01/hardware/inertials/head-inertial.xml | 12 ++++++------ iCubLisboa01/icub_all.xml | 8 ++++++++ iCubPrague01/icub_all.xml | 7 +++++++ iCubShanghai01/icub_all.xml | 7 +++++++ iCubShenzhen01/icub_all.xml | 8 ++++++++ iCubValparaiso01/icub_all.xml | 7 +++++++ iCubWaterloo01/icub_all.xml | 7 +++++++ iCubZagreb01/icub_all.xml | 7 +++++++ 27 files changed, 102 insertions(+), 32 deletions(-) diff --git a/ergoCubSN000/ergocub_all.xml b/ergoCubSN000/ergocub_all.xml index 42f7507770..dd5d014fd2 100644 --- a/ergoCubSN000/ergocub_all.xml +++ b/ergoCubSN000/ergocub_all.xml @@ -106,7 +106,9 @@ + + @@ -114,6 +116,8 @@ + + diff --git a/ergoCubSN000/ergocub_all_ros2.xml b/ergoCubSN000/ergocub_all_ros2.xml index 0f844ecc44..d57340a388 100644 --- a/ergoCubSN000/ergocub_all_ros2.xml +++ b/ergoCubSN000/ergocub_all_ros2.xml @@ -98,7 +98,6 @@ - diff --git a/ergoCubSN000/ergocub_wbd_ros2.xml b/ergoCubSN000/ergocub_wbd_ros2.xml index d41b308cdb..0579676b3d 100644 --- a/ergoCubSN000/ergocub_wbd_ros2.xml +++ b/ergoCubSN000/ergocub_wbd_ros2.xml @@ -109,7 +109,7 @@ - + diff --git a/ergoCubSN001/ergocub_all.xml b/ergoCubSN001/ergocub_all.xml index c81c824644..abce7cc9df 100644 --- a/ergoCubSN001/ergocub_all.xml +++ b/ergoCubSN001/ergocub_all.xml @@ -118,6 +118,8 @@ + + diff --git a/ergoCubSN001/ergocub_wbd.xml b/ergoCubSN001/ergocub_wbd.xml index c651e93bff..36fab3ed26 100644 --- a/ergoCubSN001/ergocub_wbd.xml +++ b/ergoCubSN001/ergocub_wbd.xml @@ -119,7 +119,9 @@ - + + + diff --git a/ergoCubSN001/ergocub_wbd_ros2.xml b/ergoCubSN001/ergocub_wbd_ros2.xml index 953b659d02..6172c4eb8d 100644 --- a/ergoCubSN001/ergocub_wbd_ros2.xml +++ b/ergoCubSN001/ergocub_wbd_ros2.xml @@ -109,6 +109,8 @@ + + diff --git a/ergoCubSN002/ergocub_all.xml b/ergoCubSN002/ergocub_all.xml index f6c3aaa121..99f9c12770 100644 --- a/ergoCubSN002/ergocub_all.xml +++ b/ergoCubSN002/ergocub_all.xml @@ -118,6 +118,8 @@ + + diff --git a/ergoCubSN002/ergocub_wbd.xml b/ergoCubSN002/ergocub_wbd.xml index c9f7a27c13..204fe05f3e 100644 --- a/ergoCubSN002/ergocub_wbd.xml +++ b/ergoCubSN002/ergocub_wbd.xml @@ -96,7 +96,7 @@ - + diff --git a/ergoCubSN002/ergocub_wbd_ros2.xml b/ergoCubSN002/ergocub_wbd_ros2.xml index 62bc88b119..c0b0c87986 100644 --- a/ergoCubSN002/ergocub_wbd_ros2.xml +++ b/ergoCubSN002/ergocub_wbd_ros2.xml @@ -109,6 +109,8 @@ + + diff --git a/iCubGenova07/hardware/inertials/head-inertial.xml b/iCubGenova07/hardware/inertials/head-inertial.xml index 838f351e90..f19f25925b 100644 --- a/iCubGenova07/hardware/inertials/head-inertial.xml +++ b/iCubGenova07/hardware/inertials/head-inertial.xml @@ -30,18 +30,18 @@ - rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_status - head_imu_0 head_imu_0 head_imu_0 head_imu_0 - eoas_imu_acc eoas_imu_gyr eoas_imu_mag eoas_imu_status - rfe rfe rfe rfe - CAN1:1 CAN1:1 CAN1:1 CAN1:1 + rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_eul rfeimu_status + head_imu_0 head_imu_0 head_imu_0 head_imu_0 head_imu_0 + eoas_imu_acc eoas_imu_gyr eoas_imu_mag eoas_imu_eul eoas_imu_status + rfe rfe rfe rfe rfe + CAN1:1 CAN1:1 CAN1:1 CAN1:1 CAN1:1 10 - rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_status + rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_eul rfeimu_status diff --git a/iCubGenova07/hardware/inertials/left_leg-eb6-IMU.xml b/iCubGenova07/hardware/inertials/left_leg-eb6-IMU.xml index cf26902996..066e67134b 100644 --- a/iCubGenova07/hardware/inertials/left_leg-eb6-IMU.xml +++ b/iCubGenova07/hardware/inertials/left_leg-eb6-IMU.xml @@ -32,7 +32,7 @@ l_upper_leg_imu_acc_1 l_upper_leg_imu_gyro_1 l_upper_leg_imu_eul_1 l_upper_leg_imu_mag_1 l_upper_leg_imu_stat_1 l_leg_ft_imu l_leg_ft_imu l_leg_ft_imu l_leg_ft_imu l_leg_ft_imu - eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_statu + eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status strain2 strain2 strain2 strain2 strain2 CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 diff --git a/iCubGenova07/hardware/inertials/left_leg-eb7-IMU.xml b/iCubGenova07/hardware/inertials/left_leg-eb7-IMU.xml index a4e9f84c20..e1aeb09454 100644 --- a/iCubGenova07/hardware/inertials/left_leg-eb7-IMU.xml +++ b/iCubGenova07/hardware/inertials/left_leg-eb7-IMU.xml @@ -30,11 +30,11 @@ - l_lower_leg_imu_acc_2 l_lower_leg_imu_gyro_2 l_lower_leg_imu_eul_2 l_lower_leg_imu_mag_2 l_lower_leg_imu_stat_2 - l_foot_ft_imu l_foot_ft_imu l_foot_ft_imu l_foot_ft_imu l_foot_ft_imu - eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status - strain2 strain2 strain2 strain2 strain2 - CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 + l_lower_leg_imu_acc_2 l_lower_leg_imu_gyro_2 l_lower_leg_imu_eul_2 l_lower_leg_imu_mag_2 l_lower_leg_imu_stat_2 + l_foot_ft_imu l_foot_ft_imu l_foot_ft_imu l_foot_ft_imu l_foot_ft_imu + eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status + strain2 strain2 strain2 strain2 strain2 + CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 diff --git a/iCubGenova07/icub_all.xml b/iCubGenova07/icub_all.xml index 6bdc14ef13..07a52c98df 100644 --- a/iCubGenova07/icub_all.xml +++ b/iCubGenova07/icub_all.xml @@ -65,6 +65,14 @@ + + + + + + + + diff --git a/iCubGenova11/icub_all.xml b/iCubGenova11/icub_all.xml index 2768549c6d..d5b5cf3a4c 100644 --- a/iCubGenova11/icub_all.xml +++ b/iCubGenova11/icub_all.xml @@ -69,7 +69,6 @@ - @@ -121,4 +120,3 @@ - diff --git a/iCubGenova11/icub_all_no_legs.xml b/iCubGenova11/icub_all_no_legs.xml index 203998ee07..3eaf962f4d 100644 --- a/iCubGenova11/icub_all_no_legs.xml +++ b/iCubGenova11/icub_all_no_legs.xml @@ -55,7 +55,12 @@ - + + + + + + @@ -92,4 +97,3 @@ - diff --git a/iCubGenova11/icub_all_no_legs_ros2.xml b/iCubGenova11/icub_all_no_legs_ros2.xml index a5f8c4f6cb..733f20015a 100644 --- a/iCubGenova11/icub_all_no_legs_ros2.xml +++ b/iCubGenova11/icub_all_no_legs_ros2.xml @@ -56,7 +56,6 @@ - @@ -98,4 +97,3 @@ - diff --git a/iCubGenova11/icub_all_ros2.xml b/iCubGenova11/icub_all_ros2.xml index 673726d6ee..8bf551bf99 100644 --- a/iCubGenova11/icub_all_ros2.xml +++ b/iCubGenova11/icub_all_ros2.xml @@ -76,7 +76,6 @@ - @@ -139,4 +138,3 @@ - diff --git a/iCubLisboa01/hardware/inertials/head-inertial.xml b/iCubLisboa01/hardware/inertials/head-inertial.xml index 093a08b9ee..5525b33dde 100644 --- a/iCubLisboa01/hardware/inertials/head-inertial.xml +++ b/iCubLisboa01/hardware/inertials/head-inertial.xml @@ -30,18 +30,18 @@ - rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_status - head_imu_0 head_imu_0 head_imu_0 head_imu_0 - eoas_imu_acc eoas_imu_gyr eoas_imu_mag eoas_imu_status - rfe rfe rfe rfe - CAN1:1 CAN1:1 CAN1:1 CAN1:1 + rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_eul rfeimu_status + head_imu_0 head_imu_0 head_imu_0 head_imu_0 head_imu_0 + eoas_imu_acc eoas_imu_gyr eoas_imu_mag eoas_imu_eul eoas_imu_status + rfe rfe rfe rfe rfe + CAN1:1 CAN1:1 CAN1:1 CAN1:1 CAN1:1 10 - rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_status + rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_eul rfeimu_status diff --git a/iCubLisboa01/icub_all.xml b/iCubLisboa01/icub_all.xml index 3ebb08aafc..bbf4b177a4 100644 --- a/iCubLisboa01/icub_all.xml +++ b/iCubLisboa01/icub_all.xml @@ -71,6 +71,14 @@ --> + + + + + + + + diff --git a/iCubPrague01/icub_all.xml b/iCubPrague01/icub_all.xml index 027834f038..1e788fc4e8 100644 --- a/iCubPrague01/icub_all.xml +++ b/iCubPrague01/icub_all.xml @@ -71,6 +71,13 @@ + + + + + + + diff --git a/iCubShanghai01/icub_all.xml b/iCubShanghai01/icub_all.xml index 6728657293..51ce52740b 100644 --- a/iCubShanghai01/icub_all.xml +++ b/iCubShanghai01/icub_all.xml @@ -71,6 +71,13 @@ + + + + + + + diff --git a/iCubShenzhen01/icub_all.xml b/iCubShenzhen01/icub_all.xml index 16bb92f458..e9302a85a6 100644 --- a/iCubShenzhen01/icub_all.xml +++ b/iCubShenzhen01/icub_all.xml @@ -65,6 +65,14 @@ + + + + + + + + diff --git a/iCubValparaiso01/icub_all.xml b/iCubValparaiso01/icub_all.xml index 970cde2ce4..e6ff345a0c 100644 --- a/iCubValparaiso01/icub_all.xml +++ b/iCubValparaiso01/icub_all.xml @@ -71,6 +71,13 @@ + + + + + + + diff --git a/iCubWaterloo01/icub_all.xml b/iCubWaterloo01/icub_all.xml index 00dce81d74..9fef537fcc 100644 --- a/iCubWaterloo01/icub_all.xml +++ b/iCubWaterloo01/icub_all.xml @@ -71,6 +71,13 @@ + + + + + + + diff --git a/iCubZagreb01/icub_all.xml b/iCubZagreb01/icub_all.xml index b5009ec1aa..4f3b46a8a6 100644 --- a/iCubZagreb01/icub_all.xml +++ b/iCubZagreb01/icub_all.xml @@ -71,6 +71,13 @@ + + + + + + +