/
teoBase.xml
81 lines (63 loc) · 3.06 KB
/
teoBase.xml
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<application>
<name>teoBase App</name>
<!-- manipulation -->
<module>
<name>launchManipulation</name>
<parameters>--externalEncoderWait 1</parameters>
<node>/manipulation</node>
</module>
<module>
<name>yarpdev</name>
<parameters>--device Jr3 --period 20 --name /jr3 --ports "(ch0:o ch1:o ch2:o ch3:o)" --channels 24 --ch0:o 0 5 0 5 --ch1:o 6 11 0 5 --ch2:o 12 17 0 5 --ch3:o 18 23 0 5</parameters>
<node>/manipulation</node>
</module>
<!-- locomotion -->
<module>
<name>launchLocomotion</name>
<parameters>--externalEncoderWait 1</parameters>
<node>/locomotion</node>
</module>
<module>
<name>yarpdev</name>
<parameters>--subdevice xsensmtx --device inertial --name /inertial</parameters>
<node>/locomotion</node>
</module>
<!-- head -->
<module>
<name>yarpdev</name>
<parameters>--device OpenNI2DeviceServer --depthVideoMode 4 --colorVideoMode 9 --noRGBMirror --noDepthMirror</parameters>
<node>/head</node>
</module>
<module>
<name>/sbin/runuser</name>
<parameters>-l teo -c "GST_PLUGIN_PATH=/usr/local/lib/gstreamer-1.0 speechRecognition.py"</parameters>
<node>/head</node>
</module>
<module>
<name>/sbin/runuser</name>
<parameters>-l teo -c "launchHeadYarp --device Espeak --name /tts"</parameters>
<node>/head</node>
</module>
<!-- arms Cartesian Control -->
<module>
<name>yarpdev</name>
<parameters>--device BasicCartesianControl --name /teo/rightArm/CartesianControl --from /usr/local/share/teo-configuration-files/contexts/kinematics/rightArmKinematics.ini --angleRepr axisAngle --robot remote_controlboard --local /BasicCartesianControl/teo/rightArm --remote /teo/rightArm</parameters>
<node>localhost</node>
</module>
<module>
<name>yarpdev</name>
<parameters>--device BasicCartesianControl --name /teo/leftArm/CartesianControl --from /usr/local/share/teo-configuration-files/contexts/kinematics/leftArmKinematics.ini --angleRepr axisAngle --robot remote_controlboard --local /BasicCartesianControl/teo/leftArm --remote /teo/leftArm</parameters>
<node>localhost</node>
</module>
<!-- legs Cartesian Control -->
<module>
<name>yarpdev</name>
<parameters>--device BasicCartesianControl --name /teo/rightLeg/CartesianControl --from /usr/local/share/teo-configuration-files/contexts/kinematics/rightLegKinematics.ini --angleRepr axisAngle --robot remote_controlboard --local /BasicCartesianControl/teo/rightLeg --remote /teo/rightLeg</parameters>
<node>localhost</node>
</module>
<module>
<name>yarpdev</name>
<parameters>--device BasicCartesianControl --name /teo/leftLeg/CartesianControl --from /usr/local/share/teo-configuration-files/contexts/kinematics/leftLegKinematics.ini --angleRepr axisAngle --robot remote_controlboard --local /BasicCartesianControl/teo/leftLeg --remote /teo/leftLeg</parameters>
<node>localhost</node>
</module>
</application>