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R1SN001: No PSC boards xml config file (#544)
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,106 @@ | ||
| <?xml version="1.0" encoding="UTF-8" ?> | ||
| <!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd"> | ||
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| <robot name="R1SN001" build="1" portprefix="cer" xmlns:xi="http://www.w3.org/2001/XInclude"> | ||
| <devices> | ||
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| <!-- 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" /> | ||
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| <!-- 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" /> | ||
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| <!-- 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" /> | ||
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| <!-- 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" /> | ||
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| <!-- 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"/> | ||
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| <!-- 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"/> | ||
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| <!-- 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"/> | ||
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| <!-- 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"/> | ||
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| <!-- 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"/> | ||
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| <!-- 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"/> | ||
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| <!-- 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" /> | ||
| --> | ||
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| <!-- 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" /> | ||
| --> | ||
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| <!-- 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" /> | ||
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| <!-- 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> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,3 +1,3 @@ | ||
| config ./CER.xml | ||
| config ./CER_noPSC.xml | ||
| enable_tags (enable_ros2) | ||
| disable_tags () | ||
| disable_tags () |