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Fixes for nws odometry and cer joints #306

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Merged
pattacini merged 1 commit into from
Nov 11, 2021
Merged

Fixes for nws odometry and cer joints #306

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4 changes: 2 additions & 2 deletions R1SN003nws/hardware/odometry/odometry.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -2,8 +2,8 @@
<!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="cer_odometry" type="cerOdometry">
<param name="geom_r"> 10 </param>
<param name="geom_l"> 10 </param>
<param name="geom_r"> 0.16416 </param> <!--//m wheels radius ((320.0 / 2 / 1000.0)*1.026) -->
<param name="geom_l"> 0.338 </param> <!--//m wheels distance -->

<action phase="startup" level="20" type="attach">
<param name="device"> cer_mobile_base_mc_remapper </param>
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6 changes: 4 additions & 2 deletions R1SN003nws/wrappers/motorControl/cer_alljoints_remapper.xml
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Expand Up @@ -4,7 +4,8 @@
<param name="joints"> 28 </param>
<paramlist name="networks">
<elem name="head">( 0 1 0 1 )</elem>
<elem name="torso">( 2 5 0 3 )</elem>
<elem name="torso">( 2 4 0 2 )</elem>
<elem name="torso_yaw">( 5 5 3 3 )</elem>
<elem name="right_arm">( 6 13 0 7 )</elem>
<elem name="left_arm">( 14 21 0 7 )</elem>
<elem name="right_hand">( 22 23 0 1 )</elem>
Expand All @@ -14,7 +15,8 @@
<action phase="startup" level="6" type="attach">
<paramlist name="networks">
<elem name="head"> cer_head_mc </elem>
<elem name="torso"> cer_torso_mc </elem>
<elem name="torso"> cer_torso_equivalent_mc </elem>
<elem name="torso_yaw"> cer_torso_mc </elem>
<elem name="base"> cer_mobile_base_mc </elem>
<elem name="right_arm"> cer_right_arm_no_hand_mc_remapper </elem>
<elem name="right_hand"> cer_right_hand_mc </elem>
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4 changes: 2 additions & 2 deletions R1SN003nws/wrappers/odometry/odometry_nws_ros.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,8 +4,8 @@
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_odometry_nws_ros" type="odometry2D_nws_ros">
<param name="topic_name"> /odometry </param>
<param name="node_name"> /cer_odometry_nws_ros </param>
<param name="base_frame"> mobile_base_link </param>
<param name="odom_frame"> odometry </param>
<param name="base_frame"> mobile_base_body_link </param>
<param name="odom_frame"> odom </param>

<action phase="startup" level="10" type="attach">
<param name="device"> cer_odometry </param>
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