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Merged
merged 4 commits into from
Aug 31, 2021
Merged

R1 nws #288

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43e79e6
initial commit
randaz81 Aug 5, 2021
fc3994f
added nws for rpLidar
randaz81 Aug 5, 2021
a1fa12a
now using RP3 Lidar
randaz81 Aug 18, 2021
860ca88
fix camera params in nws
randaz81 Aug 25, 2021
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84 changes: 84 additions & 0 deletions R1SN003nws/CER.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="R1SN003" build="1" portprefix="cer" xmlns:xi="http://www.w3.org/2001/XInclude">
<devices>

<!-- LASER -->
<xi:include href="hardware/rpLidar/laserA3_hw_back.xml" />
<xi:include href="wrappers/rpLidar/laser_back_nws_yarp.xml" />
<xi:include href="hardware/rpLidar/laserA3_hw_front.xml" />
<xi:include href="wrappers/rpLidar/laser_front_nws_yarp.xml" />
<xi:include href="hardware/rpLidar/laserA3_hw_double.xml" />
<xi:include href="wrappers/rpLidar/laser_double_nws_yarp.xml" />
<xi:include href="wrappers/rpLidar/laser_double_nws_ros.xml" />

<!-- BASE -->
<xi:include href="hardware/motorControl/cer_base-ems1-mc.xml" />
<xi:include href="wrappers/motorControl/cer_base-mc_wrapper.xml" />

<!-- TORSO -->
<xi:include href="hardware/motorControl/cer_torso-ems3-mc.xml" />
<xi:include href="wrappers/motorControl/cer_torso_tripod-mc_wrapper.xml" />
<xi:include href="hardware/motorControl/cer_torso_equivalent-mc.xml" />
<xi:include href="wrappers/motorControl/cer_torso-mc_wrapper.xml" />

<!-- LEFT ARM -->
<xi:include href="hardware/motorControl/cer_left_shoulder-ems5-mc.xml" />
<xi:include href="hardware/motorControl/cer_left_upper_arm-ems12-mc.xml" />
<xi:include href="hardware/motorControl/cer_left_lower_arm-mcp8-mc.xml" />
<xi:include href="hardware/motorControl/cer_left_wrist_equivalent-mc.xml" />
<xi:include href="wrappers/motorControl/cer_left_wrist_tripod-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/cer_left_arm_no_hand-mc_wrapper.xml" />

<!-- LEFT HAND -->
<xi:include href="hardware/motorControl/cer_left_hand-mcp9-mc.xml" />
<xi:include href="wrappers/motorControl/cer_left_hand-mc_wrapper.xml" />

<!-- RIGHT ARM -->
<xi:include href="hardware/motorControl/cer_right_shoulder-ems4-mc.xml" />
<xi:include href="hardware/motorControl/cer_right_upper_arm-ems11-mc.xml" />
<xi:include href="hardware/motorControl/cer_right_lower_arm-mcp6-mc.xml" />
<xi:include href="hardware/motorControl/cer_right_wrist_equivalent-mc.xml" />
<xi:include href="wrappers/motorControl/cer_right_wrist_tripod-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/cer_right_arm_no_hand-mc_wrapper.xml" />

<!-- RIGHT HAND -->
<xi:include href="hardware/motorControl/cer_right_hand-mcp7-mc.xml" />
<xi:include href="wrappers/motorControl/cer_right_hand-mc_wrapper.xml" />

<!-- HEAD -->
<xi:include href="hardware/motorControl/cer_head-mcp10-mc.xml" />
<xi:include href="wrappers/motorControl/cer_head-mc_wrapper.xml" />

<!-- CALIBRATORS -->
<xi:include href="calibrators/cer_torso-calib.xml" />
<xi:include href="calibrators/cer_left_arm_no_hand-calib.xml" />
<xi:include href="calibrators/cer_right_arm_no_hand-calib.xml" />
<xi:include href="calibrators/cer_head-calib.xml" />
<xi:include href="calibrators/cer_base-calib.xml" />
<xi:include href="calibrators/cer_left_hand-calib.xml" />
<xi:include href="calibrators/cer_right_hand-calib.xml" />

<!-- SKIN-->
<!--<xi:include href="hardware/skin/left_hand-mc9-skin.xml" />
<xi:include href="wrappers/skin/left_hand-skin_wrapper.xml" />
<xi:include href="hardware/skin/right_hand-mc7-skin.xml" />
<xi:include href="wrappers/skin/right_hand-skin_wrapper.xml" />
-->
<!-- PSC -->
<xi:include href="wrappers/PSC/cer_right_arm-PSC_wrapper.xml" />
<xi:include href="hardware/PSC/right_hand-psc.xml" />
<xi:include href="wrappers/PSC/cer_left_arm-PSC_wrapper.xml" />
<xi:include href="hardware/PSC/left_hand-psc.xml" />

<!-- FT -->
<xi:include href="hardware/FT/cer_left_shoulder-ems5-strain.xml" />
<xi:include href="hardware/FT/cer_right_shoulder-ems4-strain.xml" />
<xi:include href="wrappers/FT/cer_left_arm-FT_wrapper.xml" />
<xi:include href="wrappers/FT/cer_right_arm-FT_wrapper.xml" />

<!-- ROS -->
<xi:include href="wrappers/motorControl/cer_ros_wrapper.xml" />
</devices>
</robot>
27 changes: 27 additions & 0 deletions R1SN003nws/CER_base.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="R1SN003" build="1" portprefix="cer" xmlns:xi="http://www.w3.org/2001/XInclude">
<devices>

<!-- LASER -->
<xi:include href="hardware/rpLidar/laserA3_hw_back.xml" />
<xi:include href="wrappers/rpLidar/laser_back_nws_yarp.xml" />
<xi:include href="hardware/rpLidar/laserA3_hw_front.xml" />
<xi:include href="wrappers/rpLidar/laser_front_nws_yarp.xml" />
<xi:include href="hardware/rpLidar/laserA3_hw_double.xml" />
<xi:include href="wrappers/rpLidar/laser_double_nws_yarp.xml" />
<xi:include href="wrappers/rpLidar/laser_double_nws_ros.xml" />

<!-- BASE -->
<!-- <xi:include href="hardware/motorControl/cer_base-ems1-mc.xml" />
<xi:include href="wrappers/motorControl/cer_base-mc_wrapper.xml" />-->


<!-- CALIBRATORS -->
<!-- <xi:include href="calibrators/cer_base-calib.xml" /> -->

<!-- ROS -->
<!-- <xi:include href="wrappers/motorControl/cer_ros_wrapper_base_only.xml" /> -->
</devices>
</robot>
24 changes: 24 additions & 0 deletions R1SN003nws/CER_hands_only.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="R1SN003" build="1" portprefix="cer" xmlns:xi="http://www.w3.org/2001/XInclude">
<devices>

<!-- DEVICE -->
<xi:include href="hardware/motorControl/cer_right_hand-mcp7-mc.xml" />
<xi:include href="wrappers/motorControl/cer_right_hand-mc_wrapper.xml" />
<xi:include href="hardware/motorControl/cer_left_hand-mcp9-mc.xml" />
<xi:include href="wrappers/motorControl/cer_left_hand-mc_wrapper.xml" />

<xi:include href="wrappers/PSC/cer_right_arm-PSC_wrapper.xml" />
<xi:include href="hardware/PSC/right_hand-psc.xml" />
<xi:include href="wrappers/PSC/cer_left_arm-PSC_wrapper.xml" />
<xi:include href="hardware/PSC/left_hand-psc.xml" />

<!-- CALIBRATORS -->
<xi:include href="calibrators/cer_right_hand-calib.xml" />
<xi:include href="calibrators/cer_left_hand-calib.xml" />
</devices>
</robot>


84 changes: 84 additions & 0 deletions R1SN003nws/CER_mc_no_hands.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="R1SN003" build="1" portprefix="cer" xmlns:xi="http://www.w3.org/2001/XInclude">
<devices>

<!-- LASER -->
<xi:include href="hardware/rpLidar/laserA2_hw_back.xml" />
<xi:include href="wrappers/rpLidar/laser_back_nws_yarp.xml" />
<xi:include href="hardware/rpLidar/laserA2_hw_front.xml" />
<xi:include href="wrappers/rpLidar/laser_front_nws_yarp.xml" />
<xi:include href="hardware/rpLidar/laserA2_hw_double.xml" />
<xi:include href="wrappers/rpLidar/laser_double_nws_yarp.xml" />
<xi:include href="wrappers/rpLidar/laser_double_nws_ros.xml" />

<!-- BASE -->
<xi:include href="hardware/motorControl/cer_base-ems1-mc.xml" />
<xi:include href="wrappers/motorControl/cer_base-mc_wrapper.xml" />

<!-- TORSO -->
<xi:include href="hardware/motorControl/cer_torso-ems3-mc.xml" />
<xi:include href="wrappers/motorControl/cer_torso_tripod-mc_wrapper.xml" />
<xi:include href="hardware/motorControl/cer_torso_equivalent-mc.xml" />
<xi:include href="wrappers/motorControl/cer_torso-mc_wrapper.xml" />

<!-- LEFT ARM -->
<xi:include href="hardware/motorControl/cer_left_shoulder-ems5-mc.xml" />
<xi:include href="hardware/motorControl/cer_left_upper_arm-ems12-mc.xml" />
<xi:include href="hardware/motorControl/cer_left_lower_arm-mcp8-mc.xml" />
<xi:include href="hardware/motorControl/cer_left_wrist_equivalent-mc.xml" />
<xi:include href="wrappers/motorControl/cer_left_wrist_tripod-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/cer_left_arm_no_hand-mc_wrapper.xml" />

<!-- LEFT HAND -->
<xi:include href="hardware/motorControl/cer_left_hand-mcp9-mc.xml" />
<xi:include href="wrappers/motorControl/cer_left_hand-mc_wrapper.xml" />

<!-- RIGHT ARM -->
<xi:include href="hardware/motorControl/cer_right_shoulder-ems4-mc.xml" />
<xi:include href="hardware/motorControl/cer_right_upper_arm-ems11-mc.xml" />
<xi:include href="hardware/motorControl/cer_right_lower_arm-mcp6-mc.xml" />
<xi:include href="hardware/motorControl/cer_right_wrist_equivalent-mc.xml" />
<xi:include href="wrappers/motorControl/cer_right_wrist_tripod-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/cer_right_arm_no_hand-mc_wrapper.xml" />

<!-- RIGHT HAND -->
<xi:include href="hardware/motorControl/cer_right_hand-mcp7-mc.xml" />
<xi:include href="wrappers/motorControl/cer_right_hand-mc_wrapper.xml" />

<!-- HEAD -->
<xi:include href="hardware/motorControl/cer_head-mcp10-mc.xml" />
<xi:include href="wrappers/motorControl/cer_head-mc_wrapper.xml" />

<!-- CALIBRATORS -->
<xi:include href="calibrators/cer_torso-calib.xml" />
<xi:include href="calibrators/cer_left_arm_no_hand-calib.xml" />
<xi:include href="calibrators/cer_right_arm_no_hand-calib.xml" />
<xi:include href="calibrators/cer_head-calib.xml" />
<xi:include href="calibrators/cer_base-calib.xml" />
<xi:include href="calibrators/cer_left_hand-calib.xml" />
<xi:include href="calibrators/cer_right_hand-calib.xml" />

<!-- SKIN-->
<xi:include href="hardware/skin/left_hand-mc9-skin.xml" />
<xi:include href="wrappers/skin/left_hand-skin_wrapper.xml" />
<xi:include href="hardware/skin/right_hand-mc7-skin.xml" />
<xi:include href="wrappers/skin/right_hand-skin_wrapper.xml" />

<!-- PSC -->
<xi:include href="wrappers/PSC/cer_right_arm-PSC_wrapper.xml" />
<xi:include href="hardware/PSC/right_hand-psc.xml" />
<xi:include href="wrappers/PSC/cer_left_arm-PSC_wrapper.xml" />
<xi:include href="hardware/PSC/left_hand-psc.xml" />

<!-- FT -->
<xi:include href="hardware/FT/cer_left_shoulder-ems5-strain.xml" />
<xi:include href="hardware/FT/cer_right_shoulder-ems4-strain.xml" />
<xi:include href="wrappers/FT/cer_left_arm-FT_wrapper.xml" />
<xi:include href="wrappers/FT/cer_right_arm-FT_wrapper.xml" />

<!-- ROS -->
<xi:include href="wrappers/motorControl/cer_ros_wrapper.xml" />
</devices>
</robot>
73 changes: 73 additions & 0 deletions R1SN003nws/CER_mc_only_no_hands.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="R1SN003" build="1" portprefix="cer" xmlns:xi="http://www.w3.org/2001/XInclude">
<devices>

<!-- LASER -->
<xi:include href="hardware/rpLidar/laserA2_hw_back.xml" />
<xi:include href="wrappers/rpLidar/laser_back_nws_yarp.xml" />
<xi:include href="hardware/rpLidar/laserA2_hw_front.xml" />
<xi:include href="wrappers/rpLidar/laser_front_nws_yarp.xml" />
<xi:include href="hardware/rpLidar/laserA2_hw_double.xml" />
<xi:include href="wrappers/rpLidar/laser_double_nws_yarp.xml" />
<xi:include href="wrappers/rpLidar/laser_double_nws_ros.xml" />

<!-- BASE -->
<xi:include href="hardware/motorControl/cer_base-ems1-mc.xml" />
<xi:include href="wrappers/motorControl/cer_base-mc_wrapper.xml" />

<!-- TORSO -->
<xi:include href="hardware/motorControl/cer_torso-ems3-mc.xml" />
<xi:include href="wrappers/motorControl/cer_torso_tripod-mc_wrapper.xml" />
<xi:include href="hardware/motorControl/cer_torso_equivalent-mc.xml" />
<xi:include href="wrappers/motorControl/cer_torso-mc_wrapper.xml" />

<!-- LEFT ARM -->
<xi:include href="hardware/motorControl/cer_left_shoulder-ems5-mc.xml" />
<xi:include href="hardware/motorControl/cer_left_upper_arm-ems12-mc.xml" />
<xi:include href="hardware/motorControl/cer_left_lower_arm-mcp8-mc.xml" />
<xi:include href="hardware/motorControl/cer_left_wrist_equivalent-mc.xml" />
<xi:include href="wrappers/motorControl/cer_left_wrist_tripod-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/cer_left_arm_no_hand-mc_wrapper.xml" />

<!-- LEFT HAND
<xi:include href="hardware/motorControl/cer_left_hand-mcp9-mc.xml" />
<xi:include href="wrappers/motorControl/cer_left_hand-mc_wrapper.xml" /> -->

<!-- RIGHT ARM -->
<xi:include href="hardware/motorControl/cer_right_shoulder-ems4-mc.xml" />
<xi:include href="hardware/motorControl/cer_right_upper_arm-ems11-mc.xml" />
<xi:include href="hardware/motorControl/cer_right_lower_arm-mcp6-mc.xml" />
<xi:include href="hardware/motorControl/cer_right_wrist_equivalent-mc.xml" />
<xi:include href="wrappers/motorControl/cer_right_wrist_tripod-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/cer_right_arm_no_hand-mc_wrapper.xml" />

<!-- RIGHT HAND
<xi:include href="hardware/motorControl/cer_right_hand-mcp7-mc.xml" />
<xi:include href="wrappers/motorControl/cer_right_hand-mc_wrapper.xml" /> -->

<!-- HEAD -->
<xi:include href="hardware/motorControl/cer_head-mcp10-mc.xml" />
<xi:include href="wrappers/motorControl/cer_head-mc_wrapper.xml" />

<!-- CALIBRATORS -->
<xi:include href="calibrators/cer_torso-calib.xml" />
<xi:include href="calibrators/cer_left_arm_no_hand-calib.xml" />
<xi:include href="calibrators/cer_right_arm_no_hand-calib.xml" />
<xi:include href="calibrators/cer_head-calib.xml" />
<xi:include href="calibrators/cer_base-calib.xml" />
<!-- <xi:include href="calibrators/cer_left_hand-calib.xml" />
<xi:include href="calibrators/cer_right_hand-calib.xml" /> -->

<!-- ROS -->
<xi:include href="wrappers/motorControl/cer_ros_wrapper_base_only.xml" />

<!-- PSC
<xi:include href="wrappers/PSC/cer_right_arm-PSC_wrapper.xml" />
<xi:include href="hardware/PSC/right_hand-psc.xml" />
<xi:include href="wrappers/PSC/cer_left_arm-PSC_wrapper.xml" />
<xi:include href="hardware/PSC/left_hand-psc.xml" /> -->

</devices>
</robot>
11 changes: 11 additions & 0 deletions R1SN003nws/CMakeLists.txt
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set(appname R1SN003)

set(scripts CER.xml yarprobotinterface.ini general.xml yarpmotorgui.ini firmwareupdater.ini)

yarp_install(FILES ${scripts} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY sensors DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})

50 changes: 50 additions & 0 deletions R1SN003nws/calibrators/cer_base-calib.xml
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<?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="mobile_base_calibrator" type="parametricCalibratorEth">
<xi:include href="../general.xml" />

<group name="GENERAL">
<param name="joints"> 2 </param> <!-- the number of joints of the robot part -->
<param name="deviceName"> Mobile_Base_Calibrator </param>
</group>


<!-- mobile base does not require parking action -->
<group name="PARKING_SEQUENCE">
<param name= "numberOfSequences"> 0 </param>
</group>


<group name="CALIBRATION">
<param name="calibrationType"> 3 3 </param>
<param name="calibration1"> 0 0 </param>
<param name="calibration2"> 10.0 10.0 </param>
<param name="calibration3"> 0 0 </param>
<param name="calibration4"> 0 0 </param>
<param name="calibration5"> 0 0 </param>
<param name="calibrationZero"> 0 0 </param>
<param name="calibrationDelta"> 0.0 0.0 </param>
<param name="startupPosition"> 0.0 0.0 </param>
<param name="startupVelocity"> 1.0 1.0 </param>
<param name="startupMaxPwm"> 5000 5000 </param>
<param name="startupPosThreshold"> 2 2 </param>
<param name="calibrationTimeout"> 1.0 1.0 </param>
<param name="startupDisablePosCheck"> 1 1 </param>
</group>

<param name="CALIB_ORDER">(0 1) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">cer_mobile_base_mc_wrapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">cer_mobile_base_mc_wrapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />

</device>

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