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Enable waist_imu on ergoCubSN000 #499

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merged 3 commits into from
Jul 19, 2023
Merged

Enable waist_imu on ergoCubSN000 #499

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9409ec0
Enable imu_waist on ergoCubSN000
martinaxgloria Apr 27, 2023
96534ff
Fix after tests with the xsens on bench
martinaxgloria May 29, 2023
0e95099
Include all imu-waist parameters into one wrapper config file
martinaxgloria Jul 17, 2023
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1 change: 1 addition & 0 deletions ergoCubSN000/ergocub_all.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -94,6 +94,7 @@
<xi:include href="wrappers/inertials/head-imuFilter.xml" />
<xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />
<xi:include href="hardware/inertials/head-inertial.xml" />
<xi:include href="wrappers/inertials/waist-inertials_wrapper.xml" />

<!-- IMU - MTB4 BOARDS -->
<xi:include href="hardware/inertials/left_arm-eb4-j2_3-inertial.xml" />
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1 change: 1 addition & 0 deletions ergoCubSN000/ergocub_all_ros2.xml
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Expand Up @@ -96,6 +96,7 @@
<xi:include href="wrappers/inertials/head-imuFilter.xml" />
<xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />
<xi:include href="hardware/inertials/head-inertial.xml" />
<xi:include href="wrappers/inertials/waist-inertials_wrapper.xml" />


<!-- BATTERY-->
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1 change: 1 addition & 0 deletions ergoCubSN000/ergocub_wbd.xml
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Expand Up @@ -93,6 +93,7 @@
<xi:include href="wrappers/inertials/head-imuFilter.xml" />
<xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />
<xi:include href="hardware/inertials/head-inertial.xml" />
<xi:include href="wrappers/inertials/waist-inertials_wrapper.xml" />

<!-- FT SENSORS - IMU -->
<xi:include href="hardware/inertials/left_arm-eb2-j0_1-inertial.xml" />
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20 changes: 20 additions & 0 deletions ergoCubSN000/wrappers/inertials/waist-inertials_wrapper.xml
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@@ -0,0 +1,20 @@
<?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="waist-inertial" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /ergocub/waist/inertials </param>
<param name="subdevice"> xsensmt </param>
<param name="serial"> /dev/ttyS0 </param>

<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The name of the element can be any string (we use SetOfIMUs to better express its nature).
Its value must match the device name in the corresponding body_part-jx_y-inertials.xml file
or in body_part-ebX-inertials.xml -->
<elem name="SetOfIMUs"> waist-inertial </elem>
</paramlist>
</action>

<action phase="shutdown" level="5" type="detach" />
</device>