-
Notifications
You must be signed in to change notification settings - Fork 70
/
CER.xml
104 lines (89 loc) · 7.43 KB
/
CER.xml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
<?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="R1SN001" build="1" portprefix="cer" xmlns:xi="http://www.w3.org/2001/XInclude">
<devices>
<!-- ODOMETRY -->
<xi:include href="hardware/odometry/odometry.xml" disabled_by="disable_odometry" />
<xi:include href="wrappers/odometry/odometry_nws_yarp.xml" disabled_by="disable_odometry" />
<xi:include href="wrappers/odometry/odometry_nws_ros.xml" enabled_by="enable_ros" disabled_by="disable_odometry" />
<xi:include href="wrappers/odometry/odometry_nws_ros2.xml" enabled_by="enable_ros2" disabled_by="disable_odometry" />
<!-- LASER -->
<xi:include href="hardware/rpLidar/laserA3_hw_back.xml" disabled_by="disable_lidar" />
<xi:include href="wrappers/rpLidar/laser_back_nws_yarp.xml" disabled_by="disable_lidar" />
<xi:include href="hardware/rpLidar/laserA3_hw_front.xml" disabled_by="disable_lidar" />
<xi:include href="wrappers/rpLidar/laser_front_nws_yarp.xml" disabled_by="disable_lidar" />
<xi:include href="hardware/rpLidar/laserA3_hw_double.xml" disabled_by="disable_lidar" />
<xi:include href="wrappers/rpLidar/laser_double_nws_yarp.xml" disabled_by="disable_lidar" />
<xi:include href="wrappers/rpLidar/laser_double_nws_ros.xml" enabled_by="enable_ros" disabled_by="disable_lidar" />
<xi:include href="wrappers/rpLidar/laser_double_nws_ros2.xml" enabled_by="enable_ros2" disabled_by="disable_lidar" />
<!-- BASE -->
<xi:include href="hardware/motorControl/cer_base-ems1-mc.xml" disabled_by="disable_base" />
<xi:include href="wrappers/motorControl/cer_base-mc_remapper.xml" disabled_by="disable_base" />
<xi:include href="wrappers/motorControl/cer_base-mc_wrapper.xml" disabled_by="disable_base" />
<!-- TORSO -->
<xi:include href="hardware/motorControl/cer_torso-ems3-mc.xml" disabled_by="disable_torso" />
<xi:include href="wrappers/motorControl/cer_torso_tripod-mc_remapper.xml" disabled_by="disable_torso" />
<xi:include href="wrappers/motorControl/cer_torso_tripod-mc_wrapper.xml" disabled_by="disable_torso" />
<xi:include href="hardware/motorControl/cer_torso_equivalent-mc.xml" disabled_by="disable_torso" />
<xi:include href="wrappers/motorControl/cer_torso-mc_remapper.xml" disabled_by="disable_torso" />
<xi:include href="wrappers/motorControl/cer_torso-mc_wrapper.xml" disabled_by="disable_torso" />
<!-- LEFT ARM -->
<xi:include href="hardware/motorControl/cer_left_shoulder-ems5-mc.xml" disabled_by="disable_left_arm" />
<xi:include href="hardware/motorControl/cer_left_upper_arm-ems12-mc.xml" disabled_by="disable_left_arm"/>
<xi:include href="hardware/motorControl/cer_left_lower_arm-mcp8-mc.xml" disabled_by="disable_left_arm"/>
<xi:include href="hardware/motorControl/cer_left_wrist_equivalent-mc.xml" disabled_by="disable_left_arm"/>
<xi:include href="wrappers/motorControl/cer_left_wrist_tripod-mc_remapper.xml" disabled_by="disable_left_arm"/>
<xi:include href="wrappers/motorControl/cer_left_arm_no_hand-mc_remapper.xml" disabled_by="disable_left_arm"/>
<xi:include href="wrappers/motorControl/cer_left_wrist_tripod-mc_wrapper.xml" disabled_by="disable_left_arm"/>
<xi:include href="wrappers/motorControl/cer_left_arm_no_hand-mc_wrapper.xml" disabled_by="disable_left_arm"/>
<!-- LEFT HAND -->
<xi:include href="hardware/motorControl/cer_left_hand-mcp9-mc.xml" disabled_by="disable_left_hand"/>
<xi:include href="wrappers/motorControl/cer_left_hand-mc_remapper.xml" disabled_by="disable_left_hand"/>
<xi:include href="wrappers/motorControl/cer_left_hand-mc_wrapper.xml" disabled_by="disable_left_hand"/>
<!-- RIGHT ARM -->
<xi:include href="hardware/motorControl/cer_right_shoulder-ems4-mc.xml" disabled_by="disable_right_arm"/>
<xi:include href="hardware/motorControl/cer_right_upper_arm-ems11-mc.xml" disabled_by="disable_right_arm"/>
<xi:include href="hardware/motorControl/cer_right_lower_arm-mcp6-mc.xml" disabled_by="disable_right_arm"/>
<xi:include href="hardware/motorControl/cer_right_wrist_equivalent-mc.xml" disabled_by="disable_right_arm"/>
<xi:include href="wrappers/motorControl/cer_right_wrist_tripod-mc_remapper.xml" disabled_by="disable_right_arm"/>
<xi:include href="wrappers/motorControl/cer_right_arm_no_hand-mc_remapper.xml" disabled_by="disable_right_arm"/>
<xi:include href="wrappers/motorControl/cer_right_wrist_tripod-mc_wrapper.xml" disabled_by="disable_right_arm"/>
<xi:include href="wrappers/motorControl/cer_right_arm_no_hand-mc_wrapper.xml" disabled_by="disable_right_arm"/>
<!-- RIGHT HAND -->
<xi:include href="hardware/motorControl/cer_right_hand-mcp7-mc.xml" disabled_by="disable_right_hand"/>
<xi:include href="wrappers/motorControl/cer_right_hand-mc_remapper.xml" disabled_by="disable_right_hand" />
<xi:include href="wrappers/motorControl/cer_right_hand-mc_wrapper.xml" disabled_by="disable_right_hand"/>
<!-- HEAD -->
<xi:include href="hardware/motorControl/cer_head-mcp10-mc.xml" disabled_by="disable_head"/>
<xi:include href="wrappers/motorControl/cer_head-mc_remapper.xml" disabled_by="disable_head"/>
<xi:include href="wrappers/motorControl/cer_head-mc_wrapper.xml" disabled_by="disable_head"/>
<!-- CALIBRATORS -->
<xi:include href="calibrators/cer_torso-calib.xml" disabled_by="disable_torso"/>
<xi:include href="calibrators/cer_left_arm_no_hand-calib.xml" disabled_by="disable_left_arm"/>
<xi:include href="calibrators/cer_right_arm_no_hand-calib.xml" disabled_by="disable_right_arm"/>
<xi:include href="calibrators/cer_head-calib.xml" disabled_by="disable_head"/>
<xi:include href="calibrators/cer_base-calib.xml" disabled_by="disable_base"/>
<xi:include href="calibrators/cer_left_hand-calib.xml" disabled_by="disable_left_hand"/>
<xi:include href="calibrators/cer_right_hand-calib.xml" disabled_by="disable_right_hand"/>
<!-- SKIN-->
<!--<xi:include href="hardware/skin/left_hand-mc9-skin.xml" />
<xi:include href="wrappers/skin/left_hand-skin_wrapper.xml" />
<xi:include href="hardware/skin/right_hand-mc7-skin.xml" />
<xi:include href="wrappers/skin/right_hand-skin_wrapper.xml" />
-->
<!-- PSC -->
<xi:include href="wrappers/PSC/cer_right_arm-PSC_wrapper.xml" />
<xi:include href="hardware/PSC/right_hand-psc.xml" />
<xi:include href="wrappers/PSC/cer_left_arm-PSC_wrapper.xml" />
<xi:include href="hardware/PSC/left_hand-psc.xml" />
<!-- FT -->
<xi:include href="hardware/FT/cer_left_shoulder-ems5-strain.xml" />
<xi:include href="hardware/FT/cer_right_shoulder-ems4-strain.xml" />
<xi:include href="wrappers/FT/cer_left_arm-FT_wrapper.xml" />
<xi:include href="wrappers/FT/cer_right_arm-FT_wrapper.xml" />
<!-- ROS -->
<xi:include href="wrappers/motorControl/cer_alljoints_remapper.xml" enabled_by="enable_ros enable_ros2" disabled_by="disable_base disable_head disable_left_arm disable_left_hand disable_right_arm disable_right_hand disable_torso"/>
<xi:include href="wrappers/motorControl/cer_alljoints_ros_wrapper.xml" enabled_by="enable_ros" disabled_by="disable_base disable_head disable_left_arm disable_left_hand disable_right_arm disable_right_hand disable_torso"/>
<xi:include href="wrappers/motorControl/cer_alljoints_ros2_wrapper.xml" enabled_by="enable_ros2" disabled_by="disable_base disable_head disable_left_arm disable_left_hand disable_right_arm disable_right_hand disable_torso"/>
</devices>
</robot>