Enable waist_imu on ergoCubSN000 (robotology#499)

valegagge · Apr 11, 2024 · fa088c7 · fa088c7
1 parent 3de7315
commit fa088c7
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diff --git a/ergoCubSN000/ergocub_all.xml b/ergoCubSN000/ergocub_all.xml
@@ -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" />

diff --git a/ergoCubSN000/ergocub_all_ros2.xml b/ergoCubSN000/ergocub_all_ros2.xml
@@ -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-->

diff --git a/ergoCubSN000/ergocub_wbd.xml b/ergoCubSN000/ergocub_wbd.xml
@@ -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" />

diff --git a/ergoCubSN000/wrappers/inertials/waist-inertials_wrapper.xml b/ergoCubSN000/wrappers/inertials/waist-inertials_wrapper.xml
@@ -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>