Adjust SYNC and YARP wrapper periods

roboticslab-uc3m · Jan 27, 2020 · 933370a · 933370a
1 parent eb8f6d2
commit 933370a
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Showing 17 changed files with 71 additions and 71 deletions.
diff --git a/share/contexts/launchCanBus/locomotion-leftLeg.ini b/share/contexts/launchCanBus/locomotion-leftLeg.ini
@@ -3,12 +3,12 @@ device "CanBusControlboard"
 description "CAN bus wrapper for TEO's left leg"
 buses ("pcan-leftLeg")
 pcan-leftLeg ("id7-ipos" "id8-ipos" "id9-ipos" "id10-ipos" "id11-ipos" "id12-ipos")
-syncPeriod 0.03
+syncPeriod 0.02
 
 [wrapper leftLegPort]
 device "controlboardwrapper2"
 name "/leftLeg"
-period 60
+period 10
 joints 6
 networks ("leftLegBus")
 leftLegBus (0 5 0 5)

diff --git a/share/contexts/launchCanBus/locomotion-noTrunk.ini b/share/contexts/launchCanBus/locomotion-noTrunk.ini
@@ -4,13 +4,13 @@ description "CAN bus wrapper for TEO's legs"
 buses ("pcan-leftLeg" "pcan-rightLeg")
 pcan-leftLeg ("id7-ipos" "id8-ipos" "id9-ipos" "id10-ipos" "id11-ipos" "id12-ipos")
 pcan-rightLeg ("id6-ipos" "id5-ipos" "id4-ipos" "id3-ipos" "id2-ipos" "id1-ipos")
-syncPeriod 0.03
+syncPeriod 0.02
 threadedSync true
 
 [wrapper leftLegPort]
 device "controlboardwrapper2"
 name "/leftLeg"
-period 60
+period 10
 joints 6
 networks ("locomotionBus")
 locomotionBus (0 5 0 5)
@@ -19,7 +19,7 @@ calibrator "generic"
 [wrapper rightLegPort]
 device "controlboardwrapper2"
 name "/rightLeg"
-period 60
+period 10
 joints 6
 networks ("locomotionBus")
 locomotionBus (0 5 6 11)

diff --git a/share/contexts/launchCanBus/locomotion-rightLeg.ini b/share/contexts/launchCanBus/locomotion-rightLeg.ini
@@ -3,12 +3,12 @@ device "CanBusControlboard"
 description "CAN bus wrapper for TEO's right leg"
 buses ("pcan-rightLeg")
 pcan-rightLeg ("id6-ipos" "id5-ipos" "id4-ipos" "id3-ipos" "id2-ipos" "id1-ipos")
-syncPeriod 0.03
+syncPeriod 0.02
 
 [wrapper rightLegPort]
 device "controlboardwrapper2"
 name "/rightLeg"
-period 60
+period 10
 joints 6
 networks ("rightLegBus")
 rightLegBus (0 5 0 5)

diff --git a/share/contexts/launchCanBus/locomotion.ini b/share/contexts/launchCanBus/locomotion.ini
@@ -4,13 +4,13 @@ description "CAN bus wrapper for TEO's legs and trunk"
 buses ("pcan-leftLeg" "pcan-rightLeg")
 pcan-leftLeg ("id7-ipos" "id8-ipos" "id9-ipos" "id10-ipos" "id11-ipos" "id12-ipos" "id13-ipos")
 pcan-rightLeg ("id14-ipos" "id6-ipos" "id5-ipos" "id4-ipos" "id3-ipos" "id2-ipos" "id1-ipos")
-syncPeriod 0.03
+syncPeriod 0.02
 threadedSync true
 
 [wrapper leftLegPort]
 device "controlboardwrapper2"
 name "/leftLeg"
-period 60
+period 10
 joints 6
 networks ("locomotionBus")
 locomotionBus (0 5 0 5)
@@ -19,7 +19,7 @@ calibrator "generic"
 [wrapper trunkPort]
 device "controlboardwrapper2"
 name "/trunk"
-period 60
+period 10
 joints 2
 networks ("locomotionBus")
 locomotionBus (0 1 6 7)
@@ -28,7 +28,7 @@ calibrator "generic"
 [wrapper rightLegPort]
 device "controlboardwrapper2"
 name "/rightLeg"
-period 60
+period 10
 joints 6
 networks ("locomotionBus")
 locomotionBus (0 5 8 13)

diff --git a/share/contexts/launchCanBus/manipulation-dextra.ini b/share/contexts/launchCanBus/manipulation-dextra.ini
@@ -4,21 +4,21 @@ description "CAN bus wrapper for TEO's arms and head (with Dextra hand)"
 buses ("pcan-leftArm" "pcan-rightArm")
 pcan-leftArm ("id66-dextra" "id21-ipos" "id22-ipos" "id23-ipos" "id24-ipos" "id25-ipos" "id26-ipos" "id27-ipos")
 pcan-rightArm ("id28-ipos" "id15-ipos" "id16-ipos" "id17-ipos" "id18-ipos" "id19-ipos" "id20-ipos" "id67-dextra")
-syncPeriod 0.03
+syncPeriod 0.02
 threadedSync true
 
 [wrapper leftHandPort]
 device "controlboardwrapper2"
 name "/leftHand"
-period 60
+period 10
 joints 6
 networks ("manipulationBus")
 manipulationBus (0 5 0 5)
 
 [wrapper leftArmPort]
 device "controlboardwrapper2"
 name "/leftArm"
-period 60
+period 10
 joints 6
 networks ("manipulationBus")
 manipulationBus (0 5 6 11)
@@ -27,7 +27,7 @@ calibrator "generic"
 [wrapper headPort]
 device "controlboardwrapper2"
 name "/head"
-period 60
+period 10
 joints 2
 networks ("manipulationBus")
 manipulationBus (0 1 12 13)
@@ -36,7 +36,7 @@ calibrator "generic"
 [wrapper rightArmPort]
 device "controlboardwrapper2"
 name "/rightArm"
-period 60
+period 10
 joints 6
 networks ("manipulationBus")
 manipulationBus (0 5 14 19)
@@ -45,7 +45,7 @@ calibrator "generic"
 [wrapper rightHandPort]
 device "controlboardwrapper2"
 name "/rightHand"
-period 60
+period 10
 joints 6
 networks ("manipulationBus")
 manipulationBus (0 5 20 25)
diff --git a/share/contexts/launchCanBus/manipulation-lacquey.ini b/share/contexts/launchCanBus/manipulation-lacquey.ini
@@ -4,21 +4,21 @@ description "CAN bus wrapper for TEO's arms and head (with Lacquey gripper)"
 buses ("pcan-leftArm" "pcan-rightArm")
 pcan-leftArm ("id64-lacquey" "id21-ipos" "id22-ipos" "id23-ipos" "id24-ipos" "id25-ipos" "id26-ipos" "id27-ipos")
 pcan-rightArm ("id28-ipos" "id15-ipos" "id16-ipos" "id17-ipos" "id18-ipos" "id19-ipos" "id20-ipos" "id65-lacquey")
-syncPeriod 0.03
+syncPeriod 0.02
 threadedSync true
 
 [wrapper leftHandPort]
 device "controlboardwrapper2"
 name "/leftHand"
-period 60
+period 10
 joints 1
 networks ("manipulationBus")
 manipulationBus (0 0 0 0)
 
 [wrapper leftArmPort]
 device "controlboardwrapper2"
 name "/leftArm"
-period 60
+period 10
 joints 6
 networks ("manipulationBus")
 manipulationBus (0 5 1 6)
@@ -27,7 +27,7 @@ calibrator "generic"
 [wrapper headPort]
 device "controlboardwrapper2"
 name "/head"
-period 60
+period 10
 joints 2
 networks ("manipulationBus")
 manipulationBus (0 1 7 8)
@@ -36,7 +36,7 @@ calibrator "generic"
 [wrapper rightArmPort]
 device "controlboardwrapper2"
 name "/rightArm"
-period 60
+period 10
 joints 6
 networks ("manipulationBus")
 manipulationBus (0 5 9 14)
@@ -45,7 +45,7 @@ calibrator "generic"
 [wrapper rightHandPort]
 device "controlboardwrapper2"
 name "/rightHand"
-period 60
+period 10
 joints 1
 networks ("manipulationBus")
 manipulationBus (0 0 15 15)
diff --git a/share/contexts/launchCanBus/manipulation-leftArm-dextra.ini b/share/contexts/launchCanBus/manipulation-leftArm-dextra.ini
@@ -3,20 +3,20 @@ device "CanBusControlboard"
 description "CAN bus wrapper for TEO's left arm (with Dextra hand)"
 buses ("pcan-leftArm")
 pcan-leftArm ("id66-dextra" "id21-ipos" "id22-ipos" "id23-ipos" "id24-ipos" "id25-ipos" "id26-ipos")
-syncPeriod 0.03
+syncPeriod 0.02
 
 [wrapper leftHandPort]
 device "controlboardwrapper2"
 name "/leftHand"
-period 60
+period 10
 joints 6
 networks ("leftArmBus")
 rightArmBus (0 5 0 5)
 
 [wrapper leftArmPort]
 device "controlboardwrapper2"
 name "/leftArm"
-period 60
+period 10
 joints 6
 networks ("leftArmBus")
 leftArmBus (0 5 6 11)

diff --git a/share/contexts/launchCanBus/manipulation-leftArm-lacquey.ini b/share/contexts/launchCanBus/manipulation-leftArm-lacquey.ini
@@ -3,20 +3,20 @@ device "CanBusControlboard"
 description "CAN bus wrapper for TEO's left arm (with Lacquey gripper)"
 buses ("pcan-leftArm")
 pcan-leftArm ("id64-lacquey" "id21-ipos" "id22-ipos" "id23-ipos" "id24-ipos" "id25-ipos" "id26-ipos")
-syncPeriod 0.03
+syncPeriod 0.02
 
 [wrapper leftHandPort]
 device "controlboardwrapper2"
 name "/leftHand"
-period 60
+period 10
 joints 1
 networks ("leftArmBus")
 rightArmBus (0 0 0 0)
 
 [wrapper leftArmPort]
 device "controlboardwrapper2"
 name "/leftArm"
-period 60
+period 10
 joints 6
 networks ("leftArmBus")
 leftArmBus (0 5 1 6)

diff --git a/share/contexts/launchCanBus/manipulation-leftArm.ini b/share/contexts/launchCanBus/manipulation-leftArm.ini
@@ -3,12 +3,12 @@ device "CanBusControlboard"
 description "CAN bus wrapper for TEO's left arm"
 buses ("pcan-leftArm")
 pcan-leftArm ("id21-ipos" "id22-ipos" "id23-ipos" "id24-ipos" "id25-ipos" "id26-ipos")
-syncPeriod 0.03
+syncPeriod 0.02
 
 [wrapper leftArmPort]
 device "controlboardwrapper2"
 name "/leftArm"
-period 60
+period 10
 joints 6
 networks ("leftArmBus")
 leftArmBus (0 5 0 5)

diff --git a/share/contexts/launchCanBus/manipulation-noHead.ini b/share/contexts/launchCanBus/manipulation-noHead.ini
@@ -4,13 +4,13 @@ description "CAN bus wrapper for TEO's arms"
 buses ("pcan-leftArm" "pcan-rightArm")
 pcan-leftArm ("id21-ipos" "id22-ipos" "id23-ipos" "id24-ipos" "id25-ipos" "id26-ipos")
 pcan-rightArm ("id15-ipos" "id16-ipos" "id17-ipos" "id18-ipos" "id19-ipos" "id20-ipos")
-syncPeriod 0.03
+syncPeriod 0.02
 threadedSync true
 
 [wrapper leftArmPort]
 device "controlboardwrapper2"
 name "/leftArm"
-period 60
+period 10
 joints 6
 networks ("manipulationBus")
 manipulationBus (0 5 0 5)
@@ -19,7 +19,7 @@ calibrator "generic"
 [wrapper rightArmPort]
 device "controlboardwrapper2"
 name "/rightArm"
-period 60
+period 10
 joints 6
 networks ("manipulationBus")
 manipulationBus (0 5 6 11)

diff --git a/share/contexts/launchCanBus/manipulation-rightArm-dextra.ini b/share/contexts/launchCanBus/manipulation-rightArm-dextra.ini
@@ -3,12 +3,12 @@ device "CanBusControlboard"
 description "CAN bus wrapper for TEO's right arm (with Dextra hand)"
 buses ("pcan-rightArm")
 pcan-rightArm ("id15-ipos" "id16-ipos" "id17-ipos" "id18-ipos" "id19-ipos" "id20-ipos" "id67-dextra")
-syncPeriod 0.03
+syncPeriod 0.02
 
 [wrapper rightArmPort]
 device "controlboardwrapper2"
 name "/rightArm"
-period 60
+period 10
 joints 6
 networks ("rightArmBus")
 rightArmBus (0 5 0 5)
@@ -17,7 +17,7 @@ calibrator "generic"
 [wrapper rightHandPort]
 device "controlboardwrapper2"
 name "/rightHand"
-period 60
+period 10
 joints 6
 networks ("rightArmBus")
 rightArmBus (0 5 6 11)
diff --git a/share/contexts/launchCanBus/manipulation-rightArm-lacquey.ini b/share/contexts/launchCanBus/manipulation-rightArm-lacquey.ini
@@ -3,12 +3,12 @@ device "CanBusControlboard"
 description "CAN bus wrapper for TEO's right arm (with Lacquey gripper)"
 buses ("pcan-rightArm")
 pcan-rightArm ("id15-ipos" "id16-ipos" "id17-ipos" "id18-ipos" "id19-ipos" "id20-ipos" "id65-lacquey")
-syncPeriod 0.03
+syncPeriod 0.02
 
 [wrapper rightArmPort]
 device "controlboardwrapper2"
 name "/rightArm"
-period 60
+period 10
 joints 6
 networks ("rightArmBus")
 rightArmBus (0 5 0 5)
@@ -17,7 +17,7 @@ calibrator "generic"
 [wrapper rightHandPort]
 device "controlboardwrapper2"
 name "/rightHand"
-period 60
+period 10
 joints 1
 networks ("rightArmBus")
 rightArmBus (0 0 6 6)
diff --git a/share/contexts/launchCanBus/manipulation-rightArm.ini b/share/contexts/launchCanBus/manipulation-rightArm.ini
@@ -3,12 +3,12 @@ device "CanBusControlboard"
 description "CAN bus wrapper for TEO's right arm"
 buses ("pcan-rightArm")
 pcan-rightArm ("id15-ipos" "id16-ipos" "id17-ipos" "id18-ipos" "id19-ipos" "id20-ipos")
-syncPeriod 0.03
+syncPeriod 0.02
 
 [wrapper rightArmPort]
 device "controlboardwrapper2"
 name "/rightArm"
-period 60
+period 10
 joints 6
 networks ("rightArmBus")
 rightArmBus (0 5 0 5)

diff --git a/share/contexts/launchCanBus/manipulation.ini b/share/contexts/launchCanBus/manipulation.ini
@@ -4,13 +4,13 @@ description "CAN bus wrapper for TEO's arms and head"
 buses ("pcan-leftArm" "pcan-rightArm")
 pcan-leftArm ("id21-ipos" "id22-ipos" "id23-ipos" "id24-ipos" "id25-ipos" "id26-ipos" "id27-ipos")
 pcan-rightArm ("id28-ipos" "id15-ipos" "id16-ipos" "id17-ipos" "id18-ipos" "id19-ipos" "id20-ipos")
-syncPeriod 0.03
+syncPeriod 0.02
 threadedSync true
 
 [wrapper leftArmPort]
 device "controlboardwrapper2"
 name "/leftArm"
-period 60
+period 10
 joints 6
 networks ("manipulationBus")
 manipulationBus (0 5 0 5)
@@ -19,7 +19,7 @@ calibrator "generic"
 [wrapper headPort]
 device "controlboardwrapper2"
 name "/head"
-period 60
+period 10
 joints 2
 networks ("manipulationBus")
 manipulationBus (0 1 6 7)
@@ -28,7 +28,7 @@ calibrator "generic"
 [wrapper rightArmPort]
 device "controlboardwrapper2"
 name "/rightArm"
-period 60
+period 10
 joints 6
 networks ("manipulationBus")
 manipulationBus (0 5 8 13)