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Add alljoints-inertials_wrapper/remapper to expose IMU orientation me…
…asurements (robotology#632)
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23 changes: 23 additions & 0 deletions
23
ergoCubSN000/wrappers/inertials/alljoints-inertials_remapper.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,23 @@ | ||
| <?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-inertials_remapper" type="multipleanalogsensorsremapper"> | ||
| <param name="OrientationSensorsNames"> | ||
| (head_imu_0 l_arm_ft l_leg_ft l_foot_rear_ft l_foot_front_ft r_arm_ft r_leg_ft r_foot_rear_ft r_foot_front_ft waist_imu_0) | ||
| </param> | ||
| <action phase="startup" level="5" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="head_imu"> head-inertial </elem> | ||
| <elem name="l_arm_imu"> left_arm-eb2-j0_1-inertial </elem> | ||
| <elem name="l_leg_imu"> left_leg-eb8-j0_3-inertial </elem> | ||
| <elem name="l_foot_imu"> left_leg-eb9-j4_5-inertial </elem> | ||
| <elem name="r_arm_imu"> right_arm-eb1-j0_1-inertial </elem> | ||
| <elem name="r_leg_imu"> right_leg-eb6-j0_3-inertial </elem> | ||
| <elem name="r_foot_imu"> right_leg-eb7-j4_5-inertial </elem> | ||
| <elem name="waist_imu"> waist_inertial </elem> | ||
| </paramlist> | ||
| </action> | ||
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| <action phase="shutdown" level="20" type="detach" /> | ||
| </device> |
15 changes: 15 additions & 0 deletions
15
ergoCubSN000/wrappers/inertials/alljoints-inertials_wrapper.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,15 @@ | ||
| <?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-inertials_wrapper" type="multipleanalogsensorsserver"> | ||
| <param name="period"> 10 </param> | ||
| <param name="name"> /${portprefix}/alljoints/inertials </param> | ||
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| <action phase="startup" level="15" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="FirstStrain"> alljoints-inertials_remapper </elem> | ||
| </paramlist> | ||
| </action> | ||
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| <action phase="shutdown" level="15" type="detach" /> | ||
| </device> |
23 changes: 23 additions & 0 deletions
23
ergoCubSN001/wrappers/inertials/alljoints-inertials_remapper.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,23 @@ | ||
| <?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-inertials_remapper" type="multipleanalogsensorsremapper"> | ||
| <param name="OrientationSensorsNames"> | ||
| (head_imu_0 l_arm_ft l_leg_ft l_foot_rear_ft l_foot_front_ft r_arm_ft r_leg_ft r_foot_rear_ft r_foot_front_ft waist_imu_0) | ||
| </param> | ||
| <action phase="startup" level="5" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="head_imu"> head-inertial </elem> | ||
| <elem name="l_arm_imu"> left_arm-eb2-j0_1-inertial </elem> | ||
| <elem name="l_leg_imu"> left_leg-eb8-j0_3-inertial </elem> | ||
| <elem name="l_foot_imu"> left_leg-eb9-j4_5-inertial </elem> | ||
| <elem name="r_arm_imu"> right_arm-eb1-j0_1-inertial </elem> | ||
| <elem name="r_leg_imu"> right_leg-eb6-j0_3-inertial </elem> | ||
| <elem name="r_foot_imu"> right_leg-eb7-j4_5-inertial </elem> | ||
| <elem name="waist_imu"> waist_inertial </elem> | ||
| </paramlist> | ||
| </action> | ||
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| <action phase="shutdown" level="20" type="detach" /> | ||
| </device> |
15 changes: 15 additions & 0 deletions
15
ergoCubSN001/wrappers/inertials/alljoints-inertials_wrapper.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,15 @@ | ||
| <?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-inertials_wrapper" type="multipleanalogsensorsserver"> | ||
| <param name="period"> 10 </param> | ||
| <param name="name"> /${portprefix}/alljoints/inertials </param> | ||
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| <action phase="startup" level="15" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="FirstStrain"> alljoints-inertials_remapper </elem> | ||
| </paramlist> | ||
| </action> | ||
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| <action phase="shutdown" level="15" type="detach" /> | ||
| </device> |
23 changes: 23 additions & 0 deletions
23
ergoCubSN002/wrappers/inertials/alljoints-inertials_remapper.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,23 @@ | ||
| <?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-inertials_remapper" type="multipleanalogsensorsremapper"> | ||
| <param name="OrientationSensorsNames"> | ||
| (head_imu_0 l_arm_ft l_leg_ft l_foot_rear_ft l_foot_front_ft r_arm_ft r_leg_ft r_foot_rear_ft r_foot_front_ft waist_imu_0) | ||
| </param> | ||
| <action phase="startup" level="5" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="head_imu"> head-inertial </elem> | ||
| <elem name="l_arm_imu"> left_arm-eb2-j0_1-inertial </elem> | ||
| <elem name="l_leg_imu"> left_leg-eb8-j0_3-inertial </elem> | ||
| <elem name="l_foot_imu"> left_leg-eb9-j4_5-inertial </elem> | ||
| <elem name="r_arm_imu"> right_arm-eb1-j0_1-inertial </elem> | ||
| <elem name="r_leg_imu"> right_leg-eb6-j0_3-inertial </elem> | ||
| <elem name="r_foot_imu"> right_leg-eb7-j4_5-inertial </elem> | ||
| <elem name="waist_imu"> waist_inertial </elem> | ||
| </paramlist> | ||
| </action> | ||
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| <action phase="shutdown" level="20" type="detach" /> | ||
| </device> |
15 changes: 15 additions & 0 deletions
15
ergoCubSN002/wrappers/inertials/alljoints-inertials_wrapper.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,15 @@ | ||
| <?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-inertials_wrapper" type="multipleanalogsensorsserver"> | ||
| <param name="period"> 10 </param> | ||
| <param name="name"> /${portprefix}/alljoints/inertials </param> | ||
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| <action phase="startup" level="15" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="FirstStrain"> alljoints-inertials_remapper </elem> | ||
| </paramlist> | ||
| </action> | ||
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| <action phase="shutdown" level="15" type="detach" /> | ||
| </device> |
20 changes: 20 additions & 0 deletions
20
iCubGenova07/wrappers/inertials/alljoints-inertials_remapper.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,20 @@ | ||
| <?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-inertials_remapper" type="multipleanalogsensorsremapper"> | ||
| <param name="OrientationSensorsNames"> | ||
| (head_imu_0 l_leg_ft l_foot_ft r_leg_ft r_foot_ft) | ||
| </param> | ||
| <action phase="startup" level="5" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="head_imu"> head-inertial </elem> | ||
| <elem name="l_upper_leg_imu"> left_leg-eb6-imu </elem> | ||
| <elem name="l_lower_leg_imu"> left_leg-eb7-imu </elem> | ||
| <elem name="r_upper_leg_imu"> right_leg-eb8-imu </elem> | ||
| <elem name="r_lower_leg_imu"> right_leg-eb9-imu </elem> | ||
| </paramlist> | ||
| </action> | ||
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| <action phase="shutdown" level="20" type="detach" /> | ||
| </device> |
15 changes: 15 additions & 0 deletions
15
iCubGenova07/wrappers/inertials/alljoints-inertials_wrapper.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,15 @@ | ||
| <?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-inertials_wrapper" type="multipleanalogsensorsserver"> | ||
| <param name="period"> 10 </param> | ||
| <param name="name"> /${portprefix}/alljoints/inertials </param> | ||
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| <action phase="startup" level="15" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="FirstStrain"> alljoints-inertials_remapper </elem> | ||
| </paramlist> | ||
| </action> | ||
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| <action phase="shutdown" level="15" type="detach" /> | ||
| </device> |
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20 changes: 20 additions & 0 deletions
20
iCubLisboa01/wrappers/inertials/alljoints-inertials_remapper.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,20 @@ | ||
| <?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-inertials_remapper" type="multipleanalogsensorsremapper"> | ||
| <param name="OrientationSensorsNames"> | ||
| (head_imu_0 l_leg_ft l_foot_ft r_leg_ft r_foot_ft) | ||
| </param> | ||
| <action phase="startup" level="5" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="head_imu"> head-inertial </elem> | ||
| <elem name="l_upper_leg_imu"> left_leg-eb6-imu </elem> | ||
| <elem name="l_lower_leg_imu"> left_leg-eb7-imu </elem> | ||
| <elem name="r_upper_leg_imu"> right_leg-eb8-imu </elem> | ||
| <elem name="r_lower_leg_imu"> right_leg-eb9-imu </elem> | ||
| </paramlist> | ||
| </action> | ||
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| <action phase="shutdown" level="20" type="detach" /> | ||
| </device> |
15 changes: 15 additions & 0 deletions
15
iCubLisboa01/wrappers/inertials/alljoints-inertials_wrapper.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,15 @@ | ||
| <?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-inertials_wrapper" type="multipleanalogsensorsserver"> | ||
| <param name="period"> 10 </param> | ||
| <param name="name"> /${portprefix}/alljoints/inertials </param> | ||
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| <action phase="startup" level="15" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="FirstStrain"> alljoints-inertials_remapper </elem> | ||
| </paramlist> | ||
| </action> | ||
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| <action phase="shutdown" level="15" type="detach" /> | ||
| </device> |
20 changes: 20 additions & 0 deletions
20
iCubPrague01/wrappers/inertials/alljoints-inertials_remapper.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,20 @@ | ||
| <?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-inertials_remapper" type="multipleanalogsensorsremapper"> | ||
| <param name="OrientationSensorsNames"> | ||
| (head_imu_0 l_leg_ft l_foot_ft r_leg_ft r_foot_ft) | ||
| </param> | ||
| <action phase="startup" level="5" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="head_imu"> head-inertial </elem> | ||
| <elem name="l_upper_leg_imu"> left_leg-eb6-imu </elem> | ||
| <elem name="l_lower_leg_imu"> left_leg-eb7-imu </elem> | ||
| <elem name="r_upper_leg_imu"> right_leg-eb8-imu </elem> | ||
| <elem name="r_lower_leg_imu"> right_leg-eb9-imu </elem> | ||
| </paramlist> | ||
| </action> | ||
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| <action phase="shutdown" level="20" type="detach" /> | ||
| </device> |
15 changes: 15 additions & 0 deletions
15
iCubPrague01/wrappers/inertials/alljoints-inertials_wrapper.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,15 @@ | ||
| <?xml version="1.0" encoding="UTF-8"?> | ||
| <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd"> | ||
|
|
||
| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-inertials_wrapper" type="multipleanalogsensorsserver"> | ||
| <param name="period"> 10 </param> | ||
| <param name="name"> /${portprefix}/alljoints/inertials </param> | ||
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| <action phase="startup" level="15" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="FirstStrain"> alljoints-inertials_remapper </elem> | ||
| </paramlist> | ||
| </action> | ||
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| <action phase="shutdown" level="15" type="detach" /> | ||
| </device> |
20 changes: 20 additions & 0 deletions
20
iCubShanghai01/wrappers/inertials/alljoints-inertials_remapper.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,20 @@ | ||
| <?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-inertials_remapper" type="multipleanalogsensorsremapper"> | ||
| <param name="OrientationSensorsNames"> | ||
| (head_imu_0 l_leg_ft l_foot_ft r_leg_ft r_foot_ft) | ||
| </param> | ||
| <action phase="startup" level="5" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="head_imu"> head-inertial </elem> | ||
| <elem name="l_upper_leg_imu"> left_leg-eb6-imu </elem> | ||
| <elem name="l_lower_leg_imu"> left_leg-eb7-imu </elem> | ||
| <elem name="r_upper_leg_imu"> right_leg-eb8-imu </elem> | ||
| <elem name="r_lower_leg_imu"> right_leg-eb9-imu </elem> | ||
| </paramlist> | ||
| </action> | ||
|
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| <action phase="shutdown" level="20" type="detach" /> | ||
| </device> |
15 changes: 15 additions & 0 deletions
15
iCubShanghai01/wrappers/inertials/alljoints-inertials_wrapper.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,15 @@ | ||
| <?xml version="1.0" encoding="UTF-8"?> | ||
| <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd"> | ||
|
|
||
| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-inertials_wrapper" type="multipleanalogsensorsserver"> | ||
| <param name="period"> 10 </param> | ||
| <param name="name"> /${portprefix}/alljoints/inertials </param> | ||
|
|
||
| <action phase="startup" level="15" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="FirstStrain"> alljoints-inertials_remapper </elem> | ||
| </paramlist> | ||
| </action> | ||
|
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| <action phase="shutdown" level="15" type="detach" /> | ||
| </device> |
20 changes: 20 additions & 0 deletions
20
iCubShenzhen01/wrappers/inertials/alljoints-inertials_remapper.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,20 @@ | ||
| <?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-inertials_remapper" type="multipleanalogsensorsremapper"> | ||
| <param name="OrientationSensorsNames"> | ||
| (head_imu_0 l_leg_ft l_foot_ft r_leg_ft r_foot_ft) | ||
| </param> | ||
| <action phase="startup" level="5" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="head_imu"> head-inertial </elem> | ||
| <elem name="l_upper_leg_imu"> left_leg-eb6-imu </elem> | ||
| <elem name="l_lower_leg_imu"> left_leg-eb7-imu </elem> | ||
| <elem name="r_upper_leg_imu"> right_leg-eb8-imu </elem> | ||
| <elem name="r_lower_leg_imu"> right_leg-eb9-imu </elem> | ||
| </paramlist> | ||
| </action> | ||
|
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| <action phase="shutdown" level="20" type="detach" /> | ||
| </device> |
15 changes: 15 additions & 0 deletions
15
iCubShenzhen01/wrappers/inertials/alljoints-inertials_wrapper.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,15 @@ | ||
| <?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-inertials_wrapper" type="multipleanalogsensorsserver"> | ||
| <param name="period"> 10 </param> | ||
| <param name="name"> /${portprefix}/alljoints/inertials </param> | ||
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| <action phase="startup" level="15" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="FirstStrain"> alljoints-inertials_remapper </elem> | ||
| </paramlist> | ||
| </action> | ||
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| <action phase="shutdown" level="15" type="detach" /> | ||
| </device> |
20 changes: 20 additions & 0 deletions
20
iCubValparaiso01/wrappers/inertials/alljoints-inertials_remapper.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,20 @@ | ||
| <?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-inertials_remapper" type="multipleanalogsensorsremapper"> | ||
| <param name="OrientationSensorsNames"> | ||
| (head_imu_0 l_leg_ft l_foot_ft r_leg_ft r_foot_ft) | ||
| </param> | ||
| <action phase="startup" level="5" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="head_imu"> head-inertial </elem> | ||
| <elem name="l_upper_leg_imu"> left_leg-eb6-imu </elem> | ||
| <elem name="l_lower_leg_imu"> left_leg-eb7-imu </elem> | ||
| <elem name="r_upper_leg_imu"> right_leg-eb8-imu </elem> | ||
| <elem name="r_lower_leg_imu"> right_leg-eb9-imu </elem> | ||
| </paramlist> | ||
| </action> | ||
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| <action phase="shutdown" level="20" type="detach" /> | ||
| </device> |
15 changes: 15 additions & 0 deletions
15
iCubValparaiso01/wrappers/inertials/alljoints-inertials_wrapper.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,15 @@ | ||
| <?xml version="1.0" encoding="UTF-8"?> | ||
| <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd"> | ||
|
|
||
| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-inertials_wrapper" type="multipleanalogsensorsserver"> | ||
| <param name="period"> 10 </param> | ||
| <param name="name"> /${portprefix}/alljoints/inertials </param> | ||
|
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||
| <action phase="startup" level="15" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="FirstStrain"> alljoints-inertials_remapper </elem> | ||
| </paramlist> | ||
| </action> | ||
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| <action phase="shutdown" level="15" type="detach" /> | ||
| </device> |
20 changes: 20 additions & 0 deletions
20
iCubWaterloo01/wrappers/inertials/alljoints-inertials_remapper.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,20 @@ | ||
| <?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-inertials_remapper" type="multipleanalogsensorsremapper"> | ||
| <param name="OrientationSensorsNames"> | ||
| (head_imu_0 l_leg_ft l_foot_ft r_leg_ft r_foot_ft) | ||
| </param> | ||
| <action phase="startup" level="5" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="head_imu"> head-inertial </elem> | ||
| <elem name="l_upper_leg_imu"> left_leg-eb6-imu </elem> | ||
| <elem name="l_lower_leg_imu"> left_leg-eb7-imu </elem> | ||
| <elem name="r_upper_leg_imu"> right_leg-eb8-imu </elem> | ||
| <elem name="r_lower_leg_imu"> right_leg-eb9-imu </elem> | ||
| </paramlist> | ||
| </action> | ||
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| <action phase="shutdown" level="20" type="detach" /> | ||
| </device> |
15 changes: 15 additions & 0 deletions
15
iCubWaterloo01/wrappers/inertials/alljoints-inertials_wrapper.xml
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,15 @@ | ||
| <?xml version="1.0" encoding="UTF-8"?> | ||
| <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd"> | ||
|
|
||
| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-inertials_wrapper" type="multipleanalogsensorsserver"> | ||
| <param name="period"> 10 </param> | ||
| <param name="name"> /${portprefix}/alljoints/inertials </param> | ||
|
|
||
| <action phase="startup" level="15" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="FirstStrain"> alljoints-inertials_remapper </elem> | ||
| </paramlist> | ||
| </action> | ||
|
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| <action phase="shutdown" level="15" type="detach" /> | ||
| </device> |
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