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Merged
merged 4 commits into from
May 20, 2022
Merged

Upgrade robots to the latest NWS/NWC layers - 9 #341

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cd35021
R1SN001 - updated files for nws layer
davidetome Feb 22, 2022
c276402
R1SN002 - updated files for nws layer
davidetome Feb 22, 2022
ecd3115
R1SN002 - updated files for nws layer
davidetome Feb 22, 2022
ea3877b
R1SN002 - updated files for nws layer
davidetome Feb 22, 2022
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23 changes: 17 additions & 6 deletions R1SN001/CER.xml
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Expand Up @@ -4,50 +4,60 @@
<robot name="R1SN001" build="1" portprefix="cer" xmlns:xi="http://www.w3.org/2001/XInclude">
<devices>

<!-- LASER -->
<!-- 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="wrappers/rpLidar/laser_double_wrapper.xml" />

<!-- BASE -->
<!-- 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 @@ -76,8 +86,9 @@
<xi:include href="wrappers/MAIS/right_hand-mais_wrapper.xml" />
<xi:include href="hardware/MAIS/left_hand-multi_enc.xml" />
<xi:include href="wrappers/MAIS/left_hand-mais_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>
4 changes: 2 additions & 2 deletions R1SN001/calibrators/cer_base-calib.xml
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Expand Up @@ -36,11 +36,11 @@
<param name="CALIB_ORDER">(0 1) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">cer_mobile_base_mc_wrapper</param>
<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
4 changes: 2 additions & 2 deletions R1SN001/calibrators/cer_head-calib.xml
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Expand Up @@ -34,11 +34,11 @@
<param name="CALIB_ORDER">(0 1) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">cer_head_mc_wrapper</param>
<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
4 changes: 2 additions & 2 deletions R1SN001/calibrators/cer_left_arm_no_hand-calib.xml
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Expand Up @@ -34,11 +34,11 @@
<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>
<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="interrupt3" level="1" type="abort" />
Expand Down
4 changes: 2 additions & 2 deletions R1SN001/calibrators/cer_left_hand-calib.xml
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Expand Up @@ -33,11 +33,11 @@
<param name="CALIB_ORDER">(0 1) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">cer_left_hand_mc_wrapper</param>
<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
4 changes: 2 additions & 2 deletions R1SN001/calibrators/cer_right_arm_no_hand-calib.xml
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Expand Up @@ -34,11 +34,11 @@
<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>
<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="interrupt3" level="1" type="abort" />
Expand Down
4 changes: 2 additions & 2 deletions R1SN001/calibrators/cer_right_hand-calib.xml
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Expand Up @@ -33,11 +33,11 @@
<param name="CALIB_ORDER">(0 1) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">cer_right_hand_mc_wrapper</param>
<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
4 changes: 2 additions & 2 deletions R1SN001/calibrators/cer_torso-calib.xml
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Expand Up @@ -35,11 +35,11 @@
<param name="CALIB_ORDER">(0 1 2 3) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">cer_torso_mc_wrapper</param>
<param name="target">cer_torso_mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">cer_torso_mc_wrapper</param>
<param name="target">cer_torso_mc_remapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />
Expand Down
28 changes: 28 additions & 0 deletions R1SN001/wrappers/motorControl/cer_alljoints_remapper.xml
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@@ -0,0 +1,28 @@
<?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="cer_all_joints_mc_remapper" type="controlboardremapper">
<param name="joints"> 28 </param>
<paramlist name="networks">
<elem name="head">( 0 1 0 1 )</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>
<elem name="left_hand">( 24 25 0 1 )</elem>
<elem name="base">( 26 27 0 1 )</elem>
</paramlist>
<action phase="startup" level="6" type="attach">
<paramlist name="networks">
<elem name="head"> cer_head_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>
<elem name="left_arm"> cer_left_arm_no_hand_mc_remapper </elem>
<elem name="left_hand"> cer_left_hand_mc </elem>
</paramlist>
</action>
<action phase="shutdown" level="19" type="detach" />
</device>
12 changes: 12 additions & 0 deletions R1SN001/wrappers/motorControl/cer_alljoints_ros_wrapper.xml
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<?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="cer_all_joints_mc_wrapper" type="controlBoard_nws_ros">
<param name="topic_name"> /joint_states </param>
<param name="node_name"> /cer </param>

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

<action phase="shutdown" level="15" type="detach" />
</device>
14 changes: 14 additions & 0 deletions R1SN001/wrappers/motorControl/cer_base-mc_remapper.xml
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<?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="cer_mobile_base_mc_remapper" type="controlboardremapper">
<paramlist name="networks">
<elem name="FirstSetOfJoints">( 0 1 0 1 )</elem>
</paramlist>
<param name="joints"> 2 </param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="FirstSetOfJoints"> cer_mobile_base_mc </elem>
</paramlist>
</action>
<action phase="shutdown" level="20" type="detach" />
</device>
19 changes: 5 additions & 14 deletions R1SN001/wrappers/motorControl/cer_base-mc_wrapper.xml
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@@ -1,19 +1,10 @@
<?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="cer_mobile_base_mc_wrapper" type="controlboardwrapper2">
<paramlist name="networks">
<!-- elem name hereafter are custom names that live only in this file, they are used in the attach phase -->
<elem name="FirstSetOfJoints">( 0 1 0 1 )</elem>
</paramlist>
<param name="period"> 10 </param>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_mobile_base_mc_wrapper" type="controlBoard_nws_yarp">
<param name="name"> /cer/mobile_base </param>
<param name="ports"> mobile_base </param>
<param name="joints"> 2 </param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding emsX file -->
<elem name="FirstSetOfJoints"> cer_mobile_base_mc </elem>
</paramlist>
<action phase="startup" level="10" type="attach">
<param name="device"> cer_mobile_base_mc_remapper </param>
</action>
<action phase="shutdown" level="5" type="detach" />
<action phase="shutdown" level="15" type="detach" />
</device>
12 changes: 12 additions & 0 deletions R1SN001/wrappers/motorControl/cer_baseonly_ros_wrapper.xml
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<?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="cer_all_joints_mc_wrapper" type="controlBoard_nws_ros">
<param name="ROS_topicName"> /joint_states </param>
<param name="ROS_nodeName"> /cer </param>

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

<action phase="shutdown" level="15" type="detach" />
</device>
15 changes: 15 additions & 0 deletions R1SN001/wrappers/motorControl/cer_head-mc_remapper.xml
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<?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="cer_head_mc_remapper" type="controlboardremapper">
<paramlist name="networks">
<!-- elem name hereafter are custom names that live only in this file, they are used in the attach phase -->
<elem name="FirstSetOfJoints">( 0 1 0 1 )</elem>
</paramlist>
<param name="joints"> 2 </param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="FirstSetOfJoints"> cer_head_mc </elem>
</paramlist>
</action>
<action phase="shutdown" level="20" type="detach" />
</device>
21 changes: 6 additions & 15 deletions R1SN001/wrappers/motorControl/cer_head-mc_wrapper.xml
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<?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="cer_head_mc_wrapper" type="controlboardwrapper2">
<paramlist name="networks">
<!-- elem name hereafter are custom names that live only in this file, they are used in the attach phase -->
<elem name="FirstSetOfJoints">( 0 1 0 1 )</elem>
</paramlist>
<param name="period"> 10 </param>
<param name="name"> /cer/head </param>
<param name="ports"> head </param>
<param name="joints"> 2 </param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding emsX file -->
<elem name="FirstSetOfJoints"> cer_head_mc </elem>
</paramlist>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_head_mc_wrapper" type="controlBoard_nws_yarp">
<param name="name"> /cer/head </param>
<action phase="startup" level="10" type="attach">
<param name="device"> cer_head_mc_remapper </param>
</action>
<action phase="shutdown" level="5" type="detach" />
<action phase="shutdown" level="15" type="detach" />
</device>
24 changes: 24 additions & 0 deletions R1SN001/wrappers/motorControl/cer_left_arm_no_hand-mc_remapper.xml
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<?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="cer_left_arm_no_hand_mc_remapper" type="controlboardremapper">
<paramlist name="networks">
<!-- elem name hereafter are custom names that live only in this file, they are used in the attach phase -->
<elem name="FirstSetOfJoints">( 0 1 0 1 )</elem>
<elem name="SecondSetOfJoints">( 2 3 0 1 )</elem>
<elem name="YawSetOfJoints">( 4 4 3 3 )</elem>
<elem name="ThirdSetOfJoints">( 5 7 0 2 )</elem>
<!-- <elem name="HandSetOfJoints"> 8 9 0 1 </elem> -->
</paramlist>
<param name="joints"> 8 </param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding emsX file -->
<elem name="FirstSetOfJoints"> cer_left_shoulder_mc </elem>
<elem name="SecondSetOfJoints"> cer_left_upper_arm_mc </elem>
<elem name="YawSetOfJoints"> cer_left_lower_arm_mc </elem>
<elem name="ThirdSetOfJoints"> cer_left_wrist_equivalent_mc </elem>
<!-- <elem name="HandSetOfJoints"> cer_left_hand_mc </elem> -->
</paramlist>
</action>
<action phase="shutdown" level="20" type="detach" />
</device>
28 changes: 5 additions & 23 deletions R1SN001/wrappers/motorControl/cer_left_arm_no_hand-mc_wrapper.xml
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<?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="cer_left_arm_no_hand_mc_wrapper" type="controlboardwrapper2">
<paramlist name="networks">
<!-- elem name hereafter are custom names that live only in this file, they are used in the attach phase -->
<elem name="FirstSetOfJoints">( 0 1 0 1 )</elem>
<elem name="SecondSetOfJoints">( 2 3 0 1 )</elem>
<elem name="YawSetOfJoints">( 4 4 3 3 )</elem>
<elem name="ThirdSetOfJoints">( 5 7 0 2 )</elem>
<!-- <elem name="HandSetOfJoints"> 8 9 0 1 </elem> -->
</paramlist>
<param name="period"> 10 </param>
<param name="name"> /cer/left_arm </param>
<param name="ports"> left_arm </param>
<param name="joints"> 8 </param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding emsX file -->
<elem name="FirstSetOfJoints"> cer_left_shoulder_mc </elem>
<elem name="SecondSetOfJoints"> cer_left_upper_arm_mc </elem>
<elem name="YawSetOfJoints"> cer_left_lower_arm_mc </elem>
<elem name="ThirdSetOfJoints"> cer_left_wrist_equivalent_mc </elem>
<!-- <elem name="HandSetOfJoints"> cer_left_hand_mc </elem> -->
</paramlist>
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_left_arm_no_hand_mc_wrapper" type="controlBoard_nws_yarp">
<param name="name"> /cer/left_arm </param>
<action phase="startup" level="10" type="attach">
<param name="device"> cer_left_arm_no_hand_mc_remapper </param>
</action>
<action phase="shutdown" level="5" type="detach" />
<action phase="shutdown" level="15" type="detach" />
</device>
15 changes: 15 additions & 0 deletions R1SN001/wrappers/motorControl/cer_left_hand-mc_remapper.xml
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<?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="cer_left_hand_mc_remapper" type="controlboardremapper">
<paramlist name="networks">
<!-- elem name hereafter are custom names that live only in this file, they are used in the attach phase -->
<elem name="FirstSetOfJoints">( 0 1 0 1 )</elem>
</paramlist>
<param name="joints"> 2 </param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="FirstSetOfJoints"> cer_left_hand_mc </elem>
</paramlist>
</action>
<action phase="shutdown" level="20" type="detach" />
</device>
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