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Merged
merged 1 commit into from
Dec 13, 2021
Merged

R1SN003nws promoted #314

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33 changes: 25 additions & 8 deletions R1SN003/CER.xml
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Expand Up @@ -4,50 +4,66 @@
<robot name="R1SN003" build="1" portprefix="cer" xmlns:xi="http://www.w3.org/2001/XInclude">
<devices>

<!-- ODOMETRY -->
<xi:include href="wrappers/odometry/odometry_nws_yarp.xml" />
<xi:include href="wrappers/odometry/odometry_nws_ros.xml" />
<xi:include href="hardware/odometry/odometry.xml" />

<!-- LASER -->
<xi:include href="hardware/rpLidar/laserA2_hw_back.xml" />
<xi:include href="wrappers/rpLidar/laser_back_wrapper.xml" />
<xi:include href="hardware/rpLidar/laserA2_hw_front.xml" />
<xi:include href="wrappers/rpLidar/laser_front_wrapper.xml" />
<xi:include href="hardware/rpLidar/laserA2_hw_double.xml" />
<xi:include href="wrappers/rpLidar/laser_double_wrapper.xml" />
<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_remapper.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_remapper.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_remapper.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_remapper.xml" />
<xi:include href="wrappers/motorControl/cer_left_arm_no_hand-mc_remapper.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_remapper.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_remapper.xml" />
<xi:include href="wrappers/motorControl/cer_right_arm_no_hand-mc_remapper.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_remapper.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_remapper.xml" />
<xi:include href="wrappers/motorControl/cer_head-mc_wrapper.xml" />

<!-- CALIBRATORS -->
Expand Down Expand Up @@ -78,6 +94,7 @@
<xi:include href="wrappers/FT/cer_right_arm-FT_wrapper.xml" />

<!-- ROS -->
<xi:include href="wrappers/motorControl/cer_ros_wrapper.xml" />
<xi:include href="wrappers/motorControl/cer_alljoints_remapper.xml" />
<xi:include href="wrappers/motorControl/cer_alljoints_ros_wrapper.xml" />
</devices>
</robot>
26 changes: 0 additions & 26 deletions R1SN003/CER_base.xml
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24 changes: 0 additions & 24 deletions R1SN003/CER_hands_only.xml
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83 changes: 0 additions & 83 deletions R1SN003/CER_mc_no_hands.xml
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72 changes: 0 additions & 72 deletions R1SN003/CER_mc_only_no_hands.xml
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6 changes: 3 additions & 3 deletions R1SN003/calibrators/cer_base-calib.xml
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Expand Up @@ -36,12 +36,12 @@

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

<action phase="startup" level="10" type="calibrate">
<param name="target">cer_mobile_base_mc_wrapper</param>
<action phase="startup" level="15" type="calibrate">
<param name="target">cer_mobile_base_mc_remapper</param>
</action>

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

<action phase="interrupt3" level="1" type="abort" />
Expand Down
6 changes: 3 additions & 3 deletions R1SN003/calibrators/cer_head-calib.xml
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Expand Up @@ -38,12 +38,12 @@

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

<action phase="startup" level="10" type="calibrate">
<param name="target">cer_head_mc_wrapper</param>
<action phase="startup" level="15" type="calibrate">
<param name="target">cer_head_mc_remapper</param>
</action>

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

<action phase="interrupt3" level="1" type="abort" />
Expand Down
8 changes: 4 additions & 4 deletions R1SN003/calibrators/cer_left_arm_no_hand-calib.xml
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Expand Up @@ -44,15 +44,15 @@

<param name="CALIB_ORDER">(0 1 2) (3) (4) (5 6 7)</param>

<action phase="startup" level="10" type="calibrate">
<param name="target">cer_left_arm_no_hand_mc_wrapper</param>
<action phase="startup" level="15" type="calibrate">
<param name="target">cer_left_arm_no_hand_mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">cer_left_arm_no_hand_mc_wrapper</param>
<param name="target">cer_left_arm_no_hand_mc_remapper</param>
</action>
<action phase="interrupt1" level="2" type="park">
<param name="target">cer_left_arm_no_hand_mc_wrapper</param>
<param name="target">cer_left_arm_no_hand_mc_remapper</param>
</action>


Expand Down
6 changes: 3 additions & 3 deletions R1SN003/calibrators/cer_left_hand-calib.xml
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Expand Up @@ -37,12 +37,12 @@

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

<action phase="startup" level="10" type="calibrate">
<param name="target">cer_left_hand_mc_wrapper</param>
<action phase="startup" level="15" type="calibrate">
<param name="target">cer_left_hand_mc_remapper</param>
</action>

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

<action phase="interrupt3" level="1" type="abort" />
Expand Down
8 changes: 4 additions & 4 deletions R1SN003/calibrators/cer_right_arm_no_hand-calib.xml
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Expand Up @@ -42,15 +42,15 @@

<param name="CALIB_ORDER">(0 1 2) (3) (4) (5 6 7)</param>

<action phase="startup" level="10" type="calibrate">
<param name="target">cer_right_arm_no_hand_mc_wrapper</param>
<action phase="startup" level="15" type="calibrate">
<param name="target">cer_right_arm_no_hand_mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">cer_right_arm_no_hand_mc_wrapper</param>
<param name="target">cer_right_arm_no_hand_mc_remapper</param>
</action>
<action phase="interrupt1" level="2" type="park">
<param name="target">cer_right_arm_no_hand_mc_wrapper</param>
<param name="target">cer_right_arm_no_hand_mc_remapper</param>
</action>


Expand Down
6 changes: 3 additions & 3 deletions R1SN003/calibrators/cer_right_hand-calib.xml
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Expand Up @@ -36,12 +36,12 @@

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

<action phase="startup" level="10" type="calibrate">
<param name="target">cer_right_hand_mc_wrapper</param>
<action phase="startup" level="15" type="calibrate">
<param name="target">cer_right_hand_mc_remapper</param>
</action>

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

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