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LoreMorettiLoreMoretti
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add logging of waist imu and cartesian wrenches for ergoCubGazeboV1_1 (#1009)
1 parent 7130496 commit 3ab9c6b

4 files changed

Lines changed: 28 additions & 9 deletions

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‎devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/blf-yarp-robot-logger-interfaces/imu_clients.xml‎

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@@ -5,6 +5,13 @@
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<devices>
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="waist_imu_client" type="multipleanalogsensorsclient">
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<param name="remote">/ergocubSim/waist/inertials</param>
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<param name="local">/yarp_robot_logger/waist/inertials</param>
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<param name="timeout">0.5</param>
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<param name="carrier">fast_tcp</param>
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</device>
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_foot_imu_client" type="multipleanalogsensorsclient">
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<param name="remote">/ergocubSim/left_foot_heel_tiptoe/imu</param>
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<param name="local">/yarp_robot_logger/left_foot/imu</param>

‎devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/blf-yarp-robot-logger-interfaces/mas-remapper.xml‎

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@@ -6,16 +6,16 @@
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="mas-remapper" type="multipleanalogsensorsremapper">
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<param name="period">10</param>
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<param name="ThreeAxisGyroscopesNames">
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(l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu)
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(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu)
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</param>
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<param name="ThreeAxisLinearAccelerometersNames">
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(l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu)
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(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu)
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</param>
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<param name="ThreeAxisMagnetometersNames">
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(l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu)
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(waist_imu_0,l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu)
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</param>
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<param name="OrientationSensorsNames">
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(l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu)
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(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu)
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</param>
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<param name="SixAxisForceTorqueSensorsNames">
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(l_arm_ft, r_arm_ft, l_leg_ft, l_foot_front_ft, l_foot_rear_ft, r_leg_ft, r_foot_front_ft, r_foot_rear_ft)
@@ -32,6 +32,7 @@
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<elem name="right_leg_ft_client">right_leg_ft_client</elem>
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<elem name="left_foot_imu_client">left_foot_imu_client</elem>
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<elem name="right_foot_imu_client">right_foot_imu_client</elem>
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<elem name="waist_imu_client">waist_imu_client</elem>
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</paramlist>
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</action>
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‎devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/launch-yarp-robot-logger.xml‎

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@@ -12,6 +12,7 @@ BSD-3-Clause license. -->
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<xi:include href="blf-yarp-robot-logger-interfaces/ft_clients.xml" />
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<xi:include href="blf-yarp-robot-logger-interfaces/imu_clients.xml" />
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<xi:include href="blf-yarp-robot-logger-interfaces/mas-remapper.xml" />
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<xi:include href="blf-yarp-robot-logger-interfaces/wrench_clients.xml" />
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<xi:include href="./yarp-robot-logger.xml" />
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</devices>
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</robot>

‎devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/yarp-robot-logger.xml‎

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@@ -62,7 +62,7 @@ BSD-3-Clause license. -->
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<param name="stream_joint_states">true</param>
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<param name="stream_joint_accelerations">false</param>
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<param name="stream_inertials">true</param>
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<param name="stream_cartesian_wrenches">false</param>
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<param name="stream_cartesian_wrenches">true</param>
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<param name="stream_forcetorque_sensors">true</param>
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<param name="stream_pids">false</param>
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<param name="stream_motor_PWM">false</param>
@@ -78,11 +78,15 @@ BSD-3-Clause license. -->
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<param name="temperature_sensors_list">("l_arm_ft", "r_arm_ft", "l_leg_ft", "l_foot_front_ft", "l_foot_rear_ft", "r_leg_ft", "r_foot_front_ft", "r_foot_rear_ft")</param>
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</group>
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<group name="CartesianWrenches">
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<param name="cartesian_wrenches_list">("left_front_wrench_client", "left_rear_wrench_client", "right_front_wrench_client", "right_rear_wrench_client", "left_arm_wrench_client", "right_arm_wrench_client")</param>
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</group>
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<group name="InertialSensors">
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<param name="accelerometers_list">(l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu)</param>
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<param name="gyroscopes_list">(l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu)</param>
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<param name="magnetometers_list">(l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu)</param>
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<param name="orientation_sensors_list">(l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu)</param>
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<param name="accelerometers_list">(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu)</param>
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<param name="gyroscopes_list">(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu)</param>
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<param name="magnetometers_list">(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu)</param>
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<param name="orientation_sensors_list">(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu)</param>
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</group>
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</group>
@@ -91,6 +95,12 @@ BSD-3-Clause license. -->
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<action phase="startup" level="15" type="attach">
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<paramlist name="networks">
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<elem name="all_joints">all_joints_mc</elem>
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<elem name="left_front_wrench_client">left_front_wrench_client</elem>
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<elem name="left_rear_wrench_client">left_rear_wrench_client</elem>
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<elem name="right_front_wrench_client">right_front_wrench_client</elem>
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<elem name="right_rear_wrench_client">right_rear_wrench_client</elem>
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<elem name="right_arm_wrench_client">right_arm_wrench_client</elem>
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<elem name="left_arm_wrench_client">left_arm_wrench_client</elem>
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<elem name="mas-remapper">mas-remapper</elem>
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</paramlist>
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</action>

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