add realsense and fix variable names

ami-iit · May 23, 2024 · b0464bb · b0464bb
1 parent e341b70
commit b0464bb
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diff --git a/...botLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/mas-remapper.xml b/...botLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/mas-remapper.xml
@@ -6,16 +6,16 @@
 <device  xmlns:xi="http://www.w3.org/2001/XInclude" name="mas-remapper" type="multipleanalogsensorsremapper">
   <param name="period">10</param>
   <param name="ThreeAxisGyroscopesNames">
-    (waist_imu_0, l_foot_front_ft_gyro, l_foot_rear_ft_gyro, r_foot_front_ft_gyro, r_foot_rear_ft_gyro, l_leg_ft_gyro, r_leg_ft_gyro)
+    (waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)
   </param>
   <param name="ThreeAxisLinearAccelerometersNames">
-    (waist_imu_0, l_foot_front_ft_acc, l_foot_rear_ft_acc, r_foot_front_ft_acc, r_foot_rear_ft_acc, l_leg_ft_acc, r_leg_ft_acc)
+    (waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)
   </param>
   <param name="ThreeAxisMagnetometersNames">
-    (waist_imu_0, l_foot_front_ft_mag, l_foot_rear_ft_mag, r_foot_front_ft_mag, r_foot_rear_ft_mag, l_leg_ft_mag, r_leg_ft_mag)
+    (waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)
   </param>
   <param name="OrientationSensorsNames">
-    (waist_imu_0, l_foot_front_ft_eul, l_foot_rear_ft_eul, r_foot_front_ft_eul, r_foot_rear_ft_eul, l_leg_ft_eul, r_leg_ft_eul)
+    (waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)
   </param>
   <param name="SixAxisForceTorqueSensorsNames">
     (l_foot_front_ft, l_foot_rear_ft, r_foot_front_ft, r_foot_rear_ft, l_leg_ft, r_leg_ft, r_arm_ft, l_arm_ft)

diff --git a/...arpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/webcams.xml b/...arpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/webcams.xml
@@ -6,9 +6,9 @@ BSD-3-Clause license. -->
 <devices>
 
   <device xmlns:xi="http://www.w3.org/2001/XInclude" name="jabra" type="opencv_grabber">
-      <param name="camera">4</param>
-      <param name="width">1280</param>
-      <param name="height">720</param>
+      <param name="camera">0</param>
+      <param name="width">1920</param>
+      <param name="height">1080</param>
   </device>
 
   <!-- Enable the following block if you want to collect retrieve the cameras of the robot -->
@@ -26,7 +26,7 @@ BSD-3-Clause license. -->
   <!-- </device> -->
 
 
-  <!-- <device xmlns:xi="http://www.w3.org/2001/XInclude" name="realsense" type="RGBDSensorClient">
+  <device xmlns:xi="http://www.w3.org/2001/XInclude" name="realsense" type="RGBDSensorClient">
     <param name="localImagePort">/yarp_robot_logger/depthCamera/rgbImage:i</param>
     <param name="localDepthPort">/yarp_robot_logger/depthCamera/depthImage:i</param>
     <param name="localRpcPort">/yarp_robot_logger/depthCamera/rpc:o</param>
@@ -35,6 +35,8 @@ BSD-3-Clause license. -->
     <param name="remoteRpcPort">/depthCamera/rpc:i</param>
     <param name="ImageCarrier">mjpeg</param>
     <param name="DepthCarrier">tcp+send.portmonitor+file.depthimage_compression_zlib+recv.portmonitor+file.depthimage_compression_zlib+type.dll</param>
-  </device> -->
+  </device>
+
 
 </devices>
+
diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/yarp-robot-logger.xml
@@ -10,10 +10,10 @@ BSD-3-Clause license. -->
   <param name="rgb_cameras_fps">(20)</param>
   <param name="rgb_cameras_rgb_save_mode">("video")</param>
 
-  <param name="rgbd_cameras_fps">()</param>
-  <param name="rgbd_cameras_depth_scale">()</param>
-  <param name="rgbd_cameras_depth_save_mode">()</param>
-  <param name="rgbd_cameras_rgb_save_mode">()</param>
+  <param name="rgbd_cameras_fps">(30)</param>
+  <param name="rgbd_cameras_depth_scale">(1000)</param>
+  <param name="rgbd_cameras_depth_save_mode">("frame")</param>
+  <param name="rgbd_cameras_rgb_save_mode">("frame")</param>
 
   <param name="video_codec_code">mp4v</param>
   <param name="port_prefix">/yarp-robot-logger</param>
@@ -69,7 +69,7 @@ BSD-3-Clause license. -->
       <param name="stream_cameras">true</param>
       <group name="Cameras">
         <param name="rgb_cameras_list">("jabra")</param>
-        <param name="rgbd_cameras_list">()</param>
+        <param name="rgbd_cameras_list">("realsense")</param>
       </group>
   </group>
 
@@ -102,10 +102,10 @@ BSD-3-Clause license. -->
     </group>
 
     <group name="InertialSensors">
-      <param name="accelerometers_list">(waist_imu_0, l_foot_front_ft_acc, l_foot_rear_ft_acc, r_foot_front_ft_acc, r_foot_rear_ft_acc, l_leg_ft_acc, r_leg_ft_acc)</param>
-      <param name="gyroscopes_list">(waist_imu_0, l_foot_front_ft_gyro, l_foot_rear_ft_gyro, r_foot_front_ft_gyro, r_foot_rear_ft_gyro, l_leg_ft_gyro, r_leg_ft_gyro)</param>
-      <param name="magnetometers_list">(waist_imu_0, l_foot_front_ft_mag, l_foot_rear_ft_mag, r_foot_front_ft_mag, r_foot_rear_ft_mag, l_leg_ft_mag, r_leg_ft_mag)</param>
-      <param name="orientation_sensors_list">(waist_imu_0, l_foot_front_ft_eul, l_foot_rear_ft_eul, r_foot_front_ft_eul, r_foot_rear_ft_eul, l_leg_ft_eul, r_leg_ft_eul)</param>
+      <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, l_leg_ft_imu, r_leg_ft_imu)</param>
+      <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, l_leg_ft_imu, r_leg_ft_imu)</param>
+      <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, l_leg_ft_imu, r_leg_ft_imu)</param>
+      <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, l_leg_ft_imu, r_leg_ft_imu)</param>
     </group>
 
   </group>
@@ -121,7 +121,7 @@ BSD-3-Clause license. -->
       <!--elem name="right_arm_wrench_client">right_arm_wrench_client</elem>
       <elem name="left_arm_wrench_client">left_arm_wrench_client</elem-->
       <elem name="mas-remapper">mas-remapper</elem>
-      <!-- <elem name="realsense">realsense</elem> -->
+      <elem name="realsense">realsense</elem>
       <elem name="jabra">jabra</elem>
     </paramlist>
   </action>
@@ -130,3 +130,4 @@ BSD-3-Clause license. -->
   <!-- FINISH ATTACH-->
 
 </device>
+