R1SN003nws:

* added odometry devices * fixed lidar actions level in yarprobotinterface
robotology · Nov 9, 2021 · 012cc67 · 012cc67
1 parent 69fcaec
commit 012cc67
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Showing 9 changed files with 54 additions and 32 deletions.
diff --git a/R1SN003nws/CER.xml b/R1SN003nws/CER.xml
@@ -4,6 +4,11 @@
 <robot name="R1SN003" build="1" portprefix="cer" xmlns:xi="http://www.w3.org/2001/XInclude">
 <devices>
 
+    <!-- ODOMETRY -->
+    <xi:include href="wrappers/odometry/odometry_nws_yarp.xml" />
+    <xi:include href="wrappers/odometry/odometry_nws_ros.xml" />
+    <xi:include href="hardware/odometry/odometry.xml" />
+
     <!-- LASER -->
     <xi:include href="hardware/rpLidar/laserA3_hw_back.xml" /> 
     <xi:include href="wrappers/rpLidar/laser_back_nws_yarp.xml" /> 

diff --git a/R1SN003nws/hardware/odometry/odometry.xml b/R1SN003nws/hardware/odometry/odometry.xml
@@ -0,0 +1,12 @@
+<?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="cer_odometry" type="cerOdometry">
+    <param name="geom_r">   10 </param>
+    <param name="geom_l">   10 </param>
+
+    <action phase="startup" level="20" type="attach">
+            <param name="device">  cer_mobile_base_mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="5" type="detach" />
+</device>
diff --git a/R1SN003nws/hardware/rpLidar/laserA3_hw_double.xml b/R1SN003nws/hardware/rpLidar/laserA3_hw_double.xml
@@ -20,14 +20,14 @@
             <param name="allow_infinity">  1            </param>
          </group>
 
-      <action phase="startup" level="3" type="attach">
+      <action phase="startup" level="5" type="attach">
          <paramlist name="networks">
             <elem name="L_Front">  cer_laser_front_device </elem>
             <elem name="L_Back">   cer_laser_back_device </elem>
          </paramlist>
       </action>
 
-      <action phase="shutdown" level="3" type="detach"/>
+      <action phase="shutdown" level="20" type="detach"/>
 
     </device>
 

diff --git a/R1SN003nws/wrappers/odometry/odometry_nws_ros.xml b/R1SN003nws/wrappers/odometry/odometry_nws_ros.xml
@@ -0,0 +1,14 @@
+<?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="cer_odometry_nws_ros" type="odometry2D_nws_ros">
+    <param name="topic_name">   /odometry </param>
+    <param name="node_name">    /cer_odometry_nws_ros </param>
+    <param name="base_frame">   mobile_base_link </param>
+    <param name="odom_frame">   odometry </param>
+
+    <action phase="startup" level="10" type="attach">
+            <param name="device">  cer_odometry </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
diff --git a/R1SN003nws/wrappers/odometry/odometry_nws_yarp.xml b/R1SN003nws/wrappers/odometry/odometry_nws_yarp.xml
@@ -0,0 +1,13 @@
+<?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="cer_odometry_nws_yarp" type="odometry2D_nws_yarp">
+    <param name="odometry_port_name">  /cer/odometry </param>
+    <param name="odometer_port_name">  /cer/odometer </param>
+    <param name="velocity_port_name">  /cer/velocity </param>
+
+    <action phase="startup" level="10" type="attach">
+            <param name="device">  cer_odometry </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
diff --git a/R1SN003nws/wrappers/rpLidar/laser_back_nws_yarp.xml b/R1SN003nws/wrappers/rpLidar/laser_back_nws_yarp.xml
@@ -5,20 +5,12 @@
       <param name="period"> 0.01 </param>
       <param name="name">   /cer/laser/back:o       </param>
 
-      <action phase="startup" level="5" type="attach">
+      <action phase="startup" level="10" type="attach">
          <paramlist name="networks">
             <elem name="cer_laser">  cer_laser_back_device </elem>
          </paramlist>
       </action>
 
-      <group name ="ROS">
-         <param name ="useROS"> true </param>
-         <param name ="ROS_nodeName"> /cer-laserBack </param>
-         <param name ="ROS_topicName"> /laserBack </param>
-         <param name ="frame_id"> mobile_base_lidar_B </param>>
-
-      </group>
-
-      <action phase="shutdown" level="5" type="detach" />
+      <action phase="shutdown" level="15" type="detach" />
   </device>
 
diff --git a/R1SN003nws/wrappers/rpLidar/laser_double_nws_ros.xml b/R1SN003nws/wrappers/rpLidar/laser_double_nws_ros.xml
@@ -5,7 +5,7 @@
       <param name="period"> 0.01 </param>
       <param name="name">   /cer/laser:o       </param>
 
-      <action phase="startup" level="6" type="attach">
+      <action phase="startup" level="10" type="attach">
          <paramlist name="networks">
             <elem name="cer_laser">  cer_double_laser_device </elem>
          </paramlist>
@@ -15,6 +15,6 @@
       <param name ="topic_name"> /laser</param>
       <param name ="frame_id"> mobile_base_double_lidar </param>
 
-      <action phase="shutdown" level="5" type="detach" />
+      <action phase="shutdown" level="15" type="detach" />
   </device>
 
diff --git a/R1SN003nws/wrappers/rpLidar/laser_double_nws_yarp.xml b/R1SN003nws/wrappers/rpLidar/laser_double_nws_yarp.xml
@@ -5,19 +5,12 @@
       <param name="period"> 0.01 </param>
       <param name="name">   /cer/laser:o       </param>
 
-      <action phase="startup" level="6" type="attach">
+      <action phase="startup" level="10" type="attach">
          <paramlist name="networks">
             <elem name="cer_laser">  cer_double_laser_device </elem>
          </paramlist>
       </action>
 
-      <group name ="ROS">
-         <param name ="useROS"> true </param>
-         <param name ="ROS_nodeName"> /cer-laser </param>
-         <param name ="ROS_topicName"> /laser</param>
-         <param name ="frame_id"> mobile_base_double_lidar </param>
-      </group>
-
-      <action phase="shutdown" level="5" type="detach" />
+      <action phase="shutdown" level="15" type="detach" />
   </device>
 
diff --git a/R1SN003nws/wrappers/rpLidar/laser_front_nws_yarp.xml b/R1SN003nws/wrappers/rpLidar/laser_front_nws_yarp.xml
@@ -5,19 +5,12 @@
       <param name="period"> 0.01 </param>
       <param name="name">   /cer/laser/front:o       </param>
 
-      <action phase="startup" level="5" type="attach">
+      <action phase="startup" level="10" type="attach">
          <paramlist name="networks">
             <elem name="cer_laser">  cer_laser_front_device </elem>
          </paramlist>
       </action>
 
-      <group name ="ROS">
-         <param name ="useROS"> true </param>
-         <param name ="ROS_nodeName"> /cer-laserFront </param>
-         <param name ="ROS_topicName"> /laserFront </param>
-         <param name ="frame_id"> mobile_base_lidar_F </param>
-      </group>
-
-      <action phase="shutdown" level="5" type="detach" />
+      <action phase="shutdown" level="15" type="detach" />
   </device>