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randaz81randaz81
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R1SN003nws:
* added odometry devices * fixed lidar actions level in yarprobotinterface
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9 files changed

+54
-32
lines changed

9 files changed

+54
-32
lines changed

‎R1SN003nws/CER.xml‎

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<robot name="R1SN003" build="1" portprefix="cer" xmlns:xi="http://www.w3.org/2001/XInclude">
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<devices>
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<!-- ODOMETRY -->
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<xi:include href="wrappers/odometry/odometry_nws_yarp.xml" />
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<xi:include href="wrappers/odometry/odometry_nws_ros.xml" />
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<xi:include href="hardware/odometry/odometry.xml" />
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<!-- LASER -->
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<xi:include href="hardware/rpLidar/laserA3_hw_back.xml" />
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<xi:include href="wrappers/rpLidar/laser_back_nws_yarp.xml" />

‎R1SN003nws/hardware/odometry/odometry.xml‎

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<?xml version="1.0" encoding="UTF-8"?>
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_odometry" type="cerOdometry">
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<param name="geom_r"> 10 </param>
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<param name="geom_l"> 10 </param>
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<action phase="startup" level="20" type="attach">
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<param name="device"> cer_mobile_base_mc_remapper </param>
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</action>
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<action phase="shutdown" level="5" type="detach" />
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</device>

‎R1SN003nws/hardware/rpLidar/laserA3_hw_double.xml‎

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<param name="allow_infinity"> 1 </param>
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</group>
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<action phase="startup" level="3" type="attach">
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<action phase="startup" level="5" type="attach">
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<paramlist name="networks">
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<elem name="L_Front"> cer_laser_front_device </elem>
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<elem name="L_Back"> cer_laser_back_device </elem>
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</paramlist>
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</action>
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<action phase="shutdown" level="3" type="detach"/>
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<action phase="shutdown" level="20" type="detach"/>
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</device>
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‎R1SN003nws/wrappers/odometry/odometry_nws_ros.xml‎

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<?xml version="1.0" encoding="UTF-8"?>
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_odometry_nws_ros" type="odometry2D_nws_ros">
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<param name="topic_name"> /odometry </param>
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<param name="node_name"> /cer_odometry_nws_ros </param>
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<param name="base_frame"> mobile_base_link </param>
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<param name="odom_frame"> odometry </param>
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<action phase="startup" level="10" type="attach">
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<param name="device"> cer_odometry </param>
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</action>
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<action phase="shutdown" level="15" type="detach" />
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</device>

‎R1SN003nws/wrappers/odometry/odometry_nws_yarp.xml‎

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<?xml version="1.0" encoding="UTF-8"?>
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_odometry_nws_yarp" type="odometry2D_nws_yarp">
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<param name="odometry_port_name"> /cer/odometry </param>
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<param name="odometer_port_name"> /cer/odometer </param>
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<param name="velocity_port_name"> /cer/velocity </param>
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<action phase="startup" level="10" type="attach">
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<param name="device"> cer_odometry </param>
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</action>
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<action phase="shutdown" level="15" type="detach" />
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</device>

‎R1SN003nws/wrappers/rpLidar/laser_back_nws_yarp.xml‎

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<param name="period"> 0.01 </param>
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<param name="name"> /cer/laser/back:o </param>
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<action phase="startup" level="5" type="attach">
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<action phase="startup" level="10" type="attach">
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<paramlist name="networks">
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<elem name="cer_laser"> cer_laser_back_device </elem>
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</paramlist>
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</action>
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<group name ="ROS">
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<param name ="useROS"> true </param>
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<param name ="ROS_nodeName"> /cer-laserBack </param>
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<param name ="ROS_topicName"> /laserBack </param>
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<param name ="frame_id"> mobile_base_lidar_B </param>>
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</group>
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<action phase="shutdown" level="5" type="detach" />
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<action phase="shutdown" level="15" type="detach" />
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</device>
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‎R1SN003nws/wrappers/rpLidar/laser_double_nws_ros.xml‎

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<param name="period"> 0.01 </param>
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<param name="name"> /cer/laser:o </param>
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<action phase="startup" level="6" type="attach">
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<action phase="startup" level="10" type="attach">
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<paramlist name="networks">
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<elem name="cer_laser"> cer_double_laser_device </elem>
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</paramlist>
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<param name ="topic_name"> /laser</param>
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<param name ="frame_id"> mobile_base_double_lidar </param>
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<action phase="shutdown" level="5" type="detach" />
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<action phase="shutdown" level="15" type="detach" />
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</device>
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‎R1SN003nws/wrappers/rpLidar/laser_double_nws_yarp.xml‎

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<param name="period"> 0.01 </param>
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<param name="name"> /cer/laser:o </param>
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<action phase="startup" level="6" type="attach">
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<action phase="startup" level="10" type="attach">
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<paramlist name="networks">
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<elem name="cer_laser"> cer_double_laser_device </elem>
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</paramlist>
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</action>
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<group name ="ROS">
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<param name ="useROS"> true </param>
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<param name ="ROS_nodeName"> /cer-laser </param>
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<param name ="ROS_topicName"> /laser</param>
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<param name ="frame_id"> mobile_base_double_lidar </param>
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</group>
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<action phase="shutdown" level="5" type="detach" />
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<action phase="shutdown" level="15" type="detach" />
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</device>
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‎R1SN003nws/wrappers/rpLidar/laser_front_nws_yarp.xml‎

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<param name="period"> 0.01 </param>
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<param name="name"> /cer/laser/front:o </param>
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<action phase="startup" level="5" type="attach">
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<action phase="startup" level="10" type="attach">
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<paramlist name="networks">
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<elem name="cer_laser"> cer_laser_front_device </elem>
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</paramlist>
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</action>
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<group name ="ROS">
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<param name ="useROS"> true </param>
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<param name ="ROS_nodeName"> /cer-laserFront </param>
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<param name ="ROS_topicName"> /laserFront </param>
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<param name ="frame_id"> mobile_base_lidar_F </param>
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</group>
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<action phase="shutdown" level="5" type="detach" />
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<action phase="shutdown" level="15" type="detach" />
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</device>
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