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R1SN001: No PSC boards xml config file #544

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merged 2 commits into from
Jul 24, 2023
Merged

R1SN001: No PSC boards xml config file #544

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4e8fcef
No PSC boards xml config file
elandini84 Jul 20, 2023
c05b93e
Update CMakeLists.txt
elandini84 Jul 24, 2023
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106 changes: 106 additions & 0 deletions R1SN001/CER_noPSC.xml
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<?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>
2 changes: 1 addition & 1 deletion R1SN001/CMakeLists.txt
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set(appname R1SN001)

set(scripts CER.xml yarprobotinterface.ini general.xml yarpmotorgui.ini firmwareupdater.ini)
set(scripts CER.xml CER_noPSC.xml yarprobotinterface.ini general.xml yarpmotorgui.ini firmwareupdater.ini)

yarp_install(FILES ${scripts} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
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4 changes: 2 additions & 2 deletions R1SN001/yarprobotinterface.ini
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config ./CER.xml
config ./CER_noPSC.xml
enable_tags (enable_ros2)
disable_tags ()
disable_tags ()