[ergoCubSN000] update config files of the logger device (#913)

ami-iit · Nov 19, 2024 · 0a89ea9 · 0a89ea9
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Showing 4 changed files with 14 additions and 13 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -15,6 +15,7 @@ All notable changes to this project are documented in this file.
 ### Changed
 - Change device jtcvc to use motor velocity and joint velocity in input to PINN models (https://github.com/ami-iit/bipedal-locomotion-framework/pull/903)
 - Set the system timer resolution to the minimum value for higher precision on `Windows` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/907)
+- Update the `mas-remapper` configuration file for `ergoCubSN000` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/913)
 
 ### Fixed
 - Bug fix of `JointTorqueControlDevice` device (https://github.com/ami-iit/bipedal-locomotion-framework/pull/890)

diff --git a/...obotLoggerDevice/app/robots/ergoCubSN000/blf-yarp-robot-logger-interfaces/imu_clients.xml b/...obotLoggerDevice/app/robots/ergoCubSN000/blf-yarp-robot-logger-interfaces/imu_clients.xml
@@ -5,12 +5,12 @@
 
 <devices>
 
-  <device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_imu_acc" type="multipleanalogsensorsclient">
+  <!-- <device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_imu_acc" type="multipleanalogsensorsclient">
     <param name="remote">/ergocub/head/inertials</param>
     <param name="local">/yarp_robot_logger/head/inertials</param>
     <param name="timeout">0.5</param>
     <param name="carrier">fast_tcp</param>
-  </device>
+  </device> -->
 
   <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_imu_client" type="multipleanalogsensorsclient">
     <param name="remote">/ergocub/left_arm/imu</param>
@@ -54,7 +54,7 @@
     <param name="carrier">fast_tcp</param>
   </device>
 
-  <device xmlns:xi="http://www.w3.org/2001/XInclude" name="waist_client" type="multipleanalogsensorsclient">
+  <device xmlns:xi="http://www.w3.org/2001/XInclude" name="waist_imu_client" type="multipleanalogsensorsclient">
     <param name="remote">/ergocub/waist/inertials</param>
     <param name="local">/yarp_robot_logger/waist/imu</param>
     <param name="timeout">0.5</param>

diff --git a/...botLoggerDevice/app/robots/ergoCubSN000/blf-yarp-robot-logger-interfaces/mas-remapper.xml b/...botLoggerDevice/app/robots/ergoCubSN000/blf-yarp-robot-logger-interfaces/mas-remapper.xml
@@ -6,16 +6,16 @@
 <device  xmlns:xi="http://www.w3.org/2001/XInclude" name="mas-remapper" type="multipleanalogsensorsremapper">
   <param name="period">10</param>
   <param name="ThreeAxisGyroscopesNames">
-    (sensor_imu_xsensmt, rfeimu_gyro, l_arm_ft_gyro, r_arm_ft_gyro, l_foot_front_ft_gyro, l_foot_rear_ft_gyro, r_foot_front_ft_gyro, r_foot_rear_ft_gyro, l_leg_ft_gyro, r_leg_ft_gyro)
+    (waist_imu_0, l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)
   </param>
   <param name="ThreeAxisLinearAccelerometersNames">
-    (sensor_imu_xsensmt, rfeimu_acc, l_arm_ft_acc, r_arm_ft_acc, l_foot_front_ft_acc, l_foot_rear_ft_acc, r_foot_front_ft_acc, r_foot_rear_ft_acc, l_leg_ft_acc, r_leg_ft_acc)
+    (waist_imu_0, l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)
   </param>
   <param name="ThreeAxisMagnetometersNames">
-    (sensor_imu_xsensmt, rfeimu_mag, l_arm_ft_mag, r_arm_ft_mag, l_foot_front_ft_mag, l_foot_rear_ft_mag, r_foot_front_ft_mag, r_foot_rear_ft_mag, l_leg_ft_mag, r_leg_ft_mag)
+    (waist_imu_0, l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)
   </param>
   <param name="OrientationSensorsNames">
-    (sensor_imu_xsensmt, rfeimu_eul, l_arm_ft_eul, r_arm_ft_eul, l_foot_front_ft_eul, l_foot_rear_ft_eul, r_foot_front_ft_eul, r_foot_rear_ft_eul, l_leg_ft_eul, r_leg_ft_eul)
+    (waist_imu_0, l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)
   </param>
   <param name="SixAxisForceTorqueSensorsNames">
     (l_arm_ft, r_arm_ft, l_foot_front_ft, l_foot_rear_ft, r_foot_front_ft, r_foot_rear_ft, l_leg_ft, r_leg_ft)
@@ -30,14 +30,14 @@
       <elem name="right_arm_ft_client">right_arm_ft_client</elem>
       <elem name="left_leg_ft_client">left_leg_ft_client</elem>
       <elem name="right_leg_ft_client">right_leg_ft_client</elem>
-      <elem name="head_imu_acc">head_imu_acc</elem>
+      <!--elem name="head_imu_acc">head_imu_acc</elem-->
+      <elem name="waist_imu_client">waist_imu_client</elem>
       <elem name="left_arm_imu_client">left_arm_imu_client</elem>
       <elem name="right_arm_imu_client">right_arm_imu_client</elem>
       <elem name="left_foot_imu_client">left_foot_imu_client</elem>
       <elem name="right_foot_imu_client">right_foot_imu_client</elem>
       <elem name="left_leg_imu_client">left_leg_imu_client</elem>
       <elem name="right_leg_imu_client">right_leg_imu_client</elem>
-      <elem name="waist_client">waist_client</elem>
     </paramlist>
   </action>
 

diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN000/yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN000/yarp-robot-logger.xml
@@ -72,10 +72,10 @@ BSD-3-Clause license. -->
     </group>
 
     <group name="InertialSensors">
-      <param name="accelerometers_list">(sensor_imu_xsensmt, rfeimu_acc, l_arm_ft_acc, r_arm_ft_acc, l_foot_front_ft_acc, l_foot_rear_ft_acc, r_foot_front_ft_acc, r_foot_rear_ft_acc, l_leg_ft_acc, r_leg_ft_acc)</param>
-      <param name="gyroscopes_list">(sensor_imu_xsensmt, rfeimu_gyro, l_arm_ft_gyro, r_arm_ft_gyro, l_foot_front_ft_gyro, l_foot_rear_ft_gyro, r_foot_front_ft_gyro, r_foot_rear_ft_gyro, l_leg_ft_gyro, r_leg_ft_gyro)</param>
-      <param name="magnetometers_list">(sensor_imu_xsensmt, rfeimu_mag, l_arm_ft_mag, r_arm_ft_mag, l_foot_front_ft_mag, l_foot_rear_ft_mag, r_foot_front_ft_mag, r_foot_rear_ft_mag, l_leg_ft_mag, r_leg_ft_mag)</param>
-      <param name="orientation_sensors_list">(sensor_imu_xsensmt, rfeimu_eul, l_arm_ft_eul, r_arm_ft_eul, l_foot_front_ft_eul, l_foot_rear_ft_eul, r_foot_front_ft_eul, r_foot_rear_ft_eul, l_leg_ft_eul, r_leg_ft_eul)</param>
+      <param name="accelerometers_list">(waist_imu_0, l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)</param>
+      <param name="gyroscopes_list">(waist_imu_0, l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)</param>
+      <param name="magnetometers_list">(waist_imu_0, l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)</param>
+      <param name="orientation_sensors_list">(waist_imu_0, l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)</param>
     </group>
 
   </group>