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Use new portprefix feature (YARP 3.7)
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@PeterBowman
PeterBowman committed Aug 30, 2023
1 parent 66082aa commit 7a7f0c2
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Showing 2 changed files with 15 additions and 15 deletions.
18 changes: 9 additions & 9 deletions models/teo/conf/teo_nws.xml
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<robot name="teo_nws" portprefix="/teoSim" build="0" xmlns:xi="http://www.w3.org/2001/XInclude">
<devices>
<device name="head_nws_yarp" type="controlBoard_nws_yarp">
<param name="name">/teoSim/head</param>
<param name="name">${portprefix}/head</param>
<param name="period">0.01</param>
<action phase="startup" level="5" type="attach">
<param name="device">controlboard_head</param>
</action>
<action phase="shutdown" level="5" type="detach" />
</device>
<device name="leftArm_nws_yarp" type="controlBoard_nws_yarp">
<param name="name">/teoSim/leftArm</param>
<param name="name">${portprefix}/leftArm</param>
<param name="period">0.01</param>
<action phase="startup" level="5" type="attach">
<param name="device">controlboard_leftArm</param>
</action>
<action phase="shutdown" level="5" type="detach" />
</device>
<device name="rightArm_nws_yarp" type="controlBoard_nws_yarp">
<param name="name">/teoSim/rightArm</param>
<param name="name">${portprefix}/rightArm</param>
<param name="period">0.01</param>
<action phase="startup" level="5" type="attach">
<param name="device">controlboard_rightArm</param>
</action>
<action phase="shutdown" level="5" type="detach" />
</device>
<device name="trunk_nws_yarp" type="controlBoard_nws_yarp">
<param name="name">/teoSim/trunk</param>
<param name="name">${portprefix}/trunk</param>
<param name="period">0.01</param>
<action phase="startup" level="5" type="attach">
<param name="device">controlboard_trunk</param>
</action>
<action phase="shutdown" level="5" type="detach" />
</device>
<device name="leftLeg_nws_yarp" type="controlBoard_nws_yarp">
<param name="name">/teoSim/leftLeg</param>
<param name="name">${portprefix}/leftLeg</param>
<param name="period">0.01</param>
<action phase="startup" level="5" type="attach">
<param name="device">controlboard_leftLeg</param>
</action>
<action phase="shutdown" level="5" type="detach" />
</device>
<device name="rightLeg_nws_yarp" type="controlBoard_nws_yarp">
<param name="name">/teoSim/rightLeg</param>
<param name="name">${portprefix}/rightLeg</param>
<param name="period">0.01</param>
<action phase="startup" level="5" type="attach">
<param name="device">controlboard_rightLeg</param>
</action>
<action phase="shutdown" level="5" type="detach" />
</device>
<device name="depthcamera_nws_yarp" type="rgbdSensor_nws_yarp">
<param name="name">/teoSim/camera</param>
<param name="name">${portprefix}/camera</param>
<param name="period">0.02</param>
<action phase="startup" level="5" type="attach">
<param name="device">depthcamera</param>
</action>
<action phase="shutdown" level="5" type="detach" />
</device>
<device name="imu_nws_yarp" type="multipleanalogsensorsserver">
<param name="name">/teoSim/imu</param>
<param name="name">${portprefix}/imu</param>
<param name="period">5</param>
<action phase="startup" level="5" type="attach">
<param name="device">imu</param>
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<action phase="shutdown" level="20" type="detach" />
</device>
<device name="forceTorque_nws_yarp" type="multipleanalogsensorsserver">
<param name="name">/teoSim/forceTorque</param>
<param name="name">${portprefix}/forceTorque</param>
<param name="period">5</param>
<action phase="startup" level="10" type="attach">
<param name="device">forceTorque_remapper</param>
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12 changes: 6 additions & 6 deletions models/teo_lacqueyFetch/conf/teo_lacqueyFetch_nws.xml
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<robot name="teo_rightLacqueyFetch_thumb_nws" portprefix="/teoSim" build="0" xmlns:xi="http://www.w3.org/2001/XInclude">
<devices>
<device name="teo_leftLacqueyFetch_internalFinger_nws_yarp" type="controlBoard_nws_yarp">
<param name="name">/teoSim/leftLacqueyFetch/internalFinger</param>
<param name="name">${portprefix}/leftLacqueyFetch/internalFinger</param>
<param name="period">0.01</param>
<action phase="startup" level="5" type="attach">
<param name="device">controlboard_leftLacqueyFetch_internalFinger</param>
</action>
<action phase="shutdown" level="5" type="detach" />
</device>
<device name="teo_leftLacqueyFetch_externalFinger_nws_yarp" type="controlBoard_nws_yarp">
<param name="name">/teoSim/leftLacqueyFetch/externalFinger</param>
<param name="name">${portprefix}/leftLacqueyFetch/externalFinger</param>
<param name="period">0.01</param>
<action phase="startup" level="5" type="attach">
<param name="device">controlboard_leftLacqueyFetch_externalFinger</param>
</action>
<action phase="shutdown" level="5" type="detach" />
</device>
<device name="teo_leftLacqueyFetch_thumb_nws_yarp" type="controlBoard_nws_yarp">
<param name="name">/teoSim/leftLacqueyFetch/thumb</param>
<param name="name">${portprefix}/leftLacqueyFetch/thumb</param>
<param name="period">0.01</param>
<action phase="startup" level="5" type="attach">
<param name="device">controlboard_leftLacqueyFetch_thumb</param>
</action>
<action phase="shutdown" level="5" type="detach" />
</device>
<device name="teo_rightLacqueyFetch_internalFinger_nws_yarp" type="controlBoard_nws_yarp">
<param name="name">/teoSim/rightLacqueyFetch/internalFinger</param>
<param name="name">${portprefix}/rightLacqueyFetch/internalFinger</param>
<param name="period">0.01</param>
<action phase="startup" level="5" type="attach">
<param name="device">controlboard_rightLacqueyFetch_internalFinger</param>
</action>
<action phase="shutdown" level="5" type="detach" />
</device>
<device name="teo_rightLacqueyFetch_externalFinger_nws_yarp" type="controlBoard_nws_yarp">
<param name="name">/teoSim/rightLacqueyFetch/externalFinger</param>
<param name="name">${portprefix}/rightLacqueyFetch/externalFinger</param>
<param name="period">0.01</param>
<action phase="startup" level="5" type="attach">
<param name="device">controlboard_rightLacqueyFetch_externalFinger</param>
</action>
<action phase="shutdown" level="5" type="detach" />
</device>
<device name="teo_rightLacqueyFetch_thumb_nws_yarp" type="controlBoard_nws_yarp">
<param name="name">/teoSim/rightLacqueyFetch/thumb</param>
<param name="name">${portprefix}/rightLacqueyFetch/thumb</param>
<param name="period">0.01</param>
<action phase="startup" level="5" type="attach">
<param name="device">controlboard_rightLacqueyFetch_thumb</param>
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