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added support for publishing mtb4 IMU data (#286)
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@davidetome
davidetome authored Aug 3, 2021
1 parent 577f423 commit 2a7ea18
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52 changes: 52 additions & 0 deletions experimentalSetups/mc4plus-loco-project/hardware/inertials/mc4plusloco-IMU.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="mc4plusloco-imu" type="embObjIMU">

<xi:include href="../../general.xml" />

<xi:include href="../../hardware/electronics/devmc4plusloco-mc4plus01-eln.xml" />

<group name="SERVICE">

<param name="type"> eomn_serv_AS_inertials3 </param>

<group name="PROPERTIES">

<group name="CANBOARDS">
<param name="type"> mtb4 </param>

<group name="PROTOCOL">
<param name="major"> 2 </param>
<param name="minor"> 0 </param>
</group>
<group name="FIRMWARE">
<param name="major"> 1 </param>
<param name="minor"> 4 </param>
<param name="build"> 6 </param>
</group>
</group>

<group name="SENSORS">
<param name="id"> mc4plusloco_acc mc4plusloco_gyro mc4plusloco_eul mc4plusloco_mag mc4plusloco_stat </param>

<param name="type"> eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status </param>

<param name="boardType"> mtb4 mtb4 mtb4 mtb4 mtb4 </param>

<param name="location"> CAN1:14 CAN1:14 CAN1:14 CAN1:14 CAN1:14 </param>
</group>

</group>

<group name="SETTINGS">
<param name="acquisitionRate"> 50 </param>
<param name="enabledSensors"> mc4plusloco_acc mc4plusloco_gyro mc4plusloco_eul mc4plusloco_mag mc4plusloco_stat
</param>
</group>

</group>

</device>
5 changes: 5 additions & 0 deletions experimentalSetups/mc4plus-loco-project/main.xml
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<xi:include href="./hardware/motorControl/mc4plusloco_mc_hardware.xml" />
<xi:include href="./wrappers/motorControl/mc4plusloco_mc_wrapper.xml" />

<!-- IMU-->
<xi:include href="hardware/inertials/mc4plusloco-IMU.xml" />

<xi:include href="wrappers/inertials/mc4plusloco-IMU-wrapper.xml" />

<!-- CALIBRATORS -->
<xi:include href="./calibrators/mc4plusloco_calib.xml" />

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20 changes: 20 additions & 0 deletions experimentalSetups/mc4plus-loco-project/wrappers/inertials/mc4plusloco-IMU-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="mc4plusloco-imu_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/mc4plusloco-imu/imu </param>


<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The name of the element can be any string (we use SetOfInertials to better express its nature).
Its value must match the device name in the corresponding body_part-jx_y-inertials.xml file
or in body_part-ebX-inertials.xml -->
<elem name="SetOfInertials">mc4plusloco-imu </elem>
</paramlist>
</action>

<action phase="shutdown" level="5" type="detach" />
</device>

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