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added configuration for launching ros2 sensors wrappers (#530)
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,48 @@ | ||
| <?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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| <devices> | ||
| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="realsenseD450" type="realsense2"> | ||
| <group name="SETTINGS"> | ||
| <param name="depthResolution"> (640 480) </param> | ||
| <param name="rgbResolution"> (640 480) </param> | ||
| <param name="framerate"> 30 </param> | ||
| <param name="enableEmitter"> true </param> | ||
| <param name="alignmentFrame"> RGB </param> | ||
| </group> | ||
| <group name="HW_DESCRIPTION"> | ||
| <param name="clipPlanes"> (0.2 10.0) </param> | ||
| </group> | ||
| <group name="QUANT_PARAM"> | ||
| <param name="depth_quant"> 2 </param> | ||
| </group> | ||
| <param name="rotateImage180"> false </param> | ||
| </device> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="RGBDWrapperyarp" type="rgbdSensor_nws_yarp"> | ||
| <param name="period"> 0.03 </param> | ||
| <param name="name"> /depthCamera </param> | ||
| <action phase="startup" level="5" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="subdevicergbd"> realsenseD450 </elem> | ||
| </paramlist> | ||
| </action> | ||
| <action phase="shutdown" level="5" type="detach" /> | ||
| </device> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="depthWrapR" type="rgbdSensor_nws_ros2"> | ||
| <param name="period">0.033</param> | ||
| <param name="node_name">rgbdsensor_ros2_node</param> | ||
| <param name="color_topic_name">/camera_rgbd/color/image_rect_color</param> | ||
| <param name="depth_topic_name">/camera_rgbd/depth/image_rect</param> | ||
| <param name="color_frame_id">realsense_rgb_frame</param> | ||
| <param name="depth_frame_id">realsense_rgb_frame</param> | ||
| <action phase="startup" level="5" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="the_device"> realsenseD450 </elem> | ||
| </paramlist> | ||
| </action> | ||
| <action phase="shutdown" level="5" type="detach" /> | ||
| </device> | ||
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| </devices> |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,51 @@ | ||
| <?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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| <devices> | ||
| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="rpLidarS2" type="rpLidar4"> | ||
| <group name="GENERAL"> | ||
| <param name="name"> rpLidar4 </param> | ||
| <param name="serial_baudrate"> 1000000 </param> | ||
| <param name="serial_port"> /dev/ttyUSB0 </param> | ||
| <param name="sample_buffer_life"> 1 </param> | ||
| </group> | ||
| <group name="SENSOR"> | ||
| <param name="max_distance"> 30.0 </param> | ||
| <param name="min_distance"> 0.1 </param> | ||
| <param name="max_angle"> 360 </param> | ||
| <param name="min_angle"> 0 </param> | ||
| <param name="resolution"> 0.12 </param> | ||
| <param name="allow_infinity"> 1 </param> | ||
| </group> | ||
| <group name="RPLIDAR"> | ||
| <param name="scan_mode"> DenseBoost </param> | ||
| </group> | ||
| </device> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="laser_wrapper_yarp" type="rangefinder2D_nws_yarp"> | ||
| <param name="period"> 0.01 </param> | ||
| <param name="name"> /ergocub/laser:o </param> | ||
| <action phase="startup" level="10" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="laser"> rpLidarS2 </elem> | ||
| </paramlist> | ||
| </action> | ||
| <action phase="shutdown" level="15" type="detach"/> | ||
| </device> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="lidarWrapR" type="rangefinder2D_nws_ros2"> | ||
| <param name="period"> 0.1 </param> | ||
| <param name="node_name"> rangefinder_ros2_node </param> | ||
| <param name="topic_name"> /scan </param> | ||
| <param name="frame_id"> head_laser_frame </param> | ||
| <action phase="startup" level="5" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="the_device"> rpLidarS2 </elem> | ||
| </paramlist> | ||
| </action> | ||
| <action phase="shutdown" level="5" type="detach" /> | ||
| </device> | ||
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| </devices> |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,11 @@ | ||
| <?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="ergoCubSN000" build="1" portprefix="/ergocub" xmlns:xi="http://www.w3.org/2001/XInclude"> | ||
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| <devices> | ||
| <xi:include href="sensors/rplidar_ros2.xml" /> | ||
| <xi:include href="sensors/realsense_ros2.xml" /> | ||
| </devices> | ||
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| </robot> |