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iCubGazeboV2_5_visuomanip: migrate hand encoder arrays (i.e. MAIS) sensors to use multipleanalogsensorsserver and gazebo_yarp_robotinterface #240

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Sep 19, 2024
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iCubGazeboV2_5_visuomanip: migrate hand encoder arrays (i.e. MAIS) sensors to use multipleanalogsensorsserver and gazebo_yarp_robotinterface #240

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caf7105
iCubGazeboV2_5_visuomanip: migrate hand encoder arrays (i.e. MAIS) se…
traversaro Sep 18, 2024
a33dd64
Fix port prefix in MAIS port names
traversaro Sep 18, 2024
4798b65
Bump version to 2.8.0
traversaro Sep 19, 2024
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10 changes: 3 additions & 7 deletions iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_mais.ini
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Original file line number Diff line number Diff line change
@@ -1,8 +1,4 @@
[WRAPPER]
name /icubSim/left_hand/analog:o
period 10
networks (left_mais)
device analogServer

[left_mais]
disableImplicitNetworkWrapper
yarpDeviceName icub_left_hand_mais_hardware_device
sensorName l_hand_mais
jointNames l_hand_thumb_1_joint l_hand_thumb_2_joint l_hand_thumb_3_joint l_hand_index_1_joint l_hand_index_2_joint l_hand_index_3_joint l_hand_middle_1_joint l_hand_middle_2_joint l_hand_middle_3_joint l_hand_ring_1_joint l_hand_ring_2_joint l_hand_ring_3_joint l_hand_little_1_joint l_hand_little_2_joint l_hand_little_3_joint
10 changes: 3 additions & 7 deletions iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_mais.ini
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Original file line number Diff line number Diff line change
@@ -1,8 +1,4 @@
[WRAPPER]
name /icubSim/right_hand/analog:o
period 10
networks (right_mais)
device analogServer

[right_mais]
disableImplicitNetworkWrapper
yarpDeviceName icub_right_hand_mais_hardware_device
sensorName r_hand_mais
jointNames r_hand_thumb_1_joint r_hand_thumb_2_joint r_hand_thumb_3_joint r_hand_index_1_joint r_hand_index_2_joint r_hand_index_3_joint r_hand_middle_1_joint r_hand_middle_2_joint r_hand_middle_3_joint r_hand_ring_1_joint r_hand_ring_2_joint r_hand_ring_3_joint r_hand_little_1_joint r_hand_little_2_joint r_hand_little_3_joint
10 changes: 9 additions & 1 deletion iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/icub.xml
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="iCubGazeboV3" build="1" portprefix="/icubSim" xmlns:xi="http://www.w3.org/2001/XInclude">
<robot name="iCubGazeboV2_5" build="1" portprefix="/icubSim" xmlns:xi="http://www.w3.org/2001/XInclude">
<devices>

<!-- MOTOR CONTROLLERS -->
Expand Down Expand Up @@ -35,5 +35,13 @@

<!-- -->

<!-- MAIS (i.e. ENCODER ARRAY) SENSORS -->

<xi:include href="wrappers/MAIS/left_arm-mais_wrapper.xml" />
<xi:include href="wrappers/MAIS/right_arm-mais_wrapper.xml" />

<!-- -->


</devices>
</robot>
9 changes: 8 additions & 1 deletion iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/icub_ros2.xml
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="iCubGazeboV3" build="1" portprefix="/icubSim" xmlns:xi="http://www.w3.org/2001/XInclude">
<robot name="iCubGazeboV2_5" build="1" portprefix="/icubSim" xmlns:xi="http://www.w3.org/2001/XInclude">
<devices>

<!-- MOTOR CONTROLLERS -->
Expand Down Expand Up @@ -35,6 +35,13 @@

<!-- -->

<!-- MAIS (i.e. ENCODER ARRAY) SENSORS -->

<xi:include href="wrappers/MAIS/left_arm-mais_wrapper.xml" />
<xi:include href="wrappers/MAIS/right_arm-mais_wrapper.xml" />

<!-- -->

<!-- ROS 2 entries -->
<xi:include href="wrappers/motorControl/alljoints-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/alljoints-mc_nws_ros2.xml" />
Expand Down
15 changes: 15 additions & 0 deletions iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/MAIS/left_arm-mais_wrapper.xml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,15 @@
<?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="left_arm-mais_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/left_hand/MAIS </param>
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<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="leftMais"> icub_left_hand_mais_hardware_device </elem>
</paramlist>
</action>

<action phase="shutdown" level="20" type="detach" />
</device>
15 changes: 15 additions & 0 deletions iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/MAIS/right_arm-mais_wrapper.xml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,15 @@
<?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="right_arm-mais_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/right_hand/MAIS </param>
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<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="rightMais"> icub_right_hand_mais_hardware_device </elem>
</paramlist>
</action>

<action phase="shutdown" level="20" type="detach" />
</device>
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