-
Notifications
You must be signed in to change notification settings - Fork 48
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
- Loading branch information
1 parent
7e2b70a
commit 50e2395
Showing
1 changed file
with
80 additions
and
2 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,5 +1,83 @@ | ||
| gazebo_yarp_robotinterface | ||
| ========================== | ||
|
|
||
| The `gazebo_yarp_robotinterface` plugin permits to load several [YARP devices]() that can be attached to YARP devices | ||
| already opened by other Gazebo-YARP plugins using the same XML format used by the [`yarprobotinterface`](http://www.yarp.it/git-master/yarprobotinterface.html) tool and the [`libYARP_robotinterface` C++ library](https://github.com/robotology/yarp/tree/master/src/libYARP_robotinterface). | ||
| The `gazebo_yarp_robotinterface` plugin permits to load several [YARP devices](http://www.yarp.it/git-master/note_devices.html) that can be attached to YARP devices | ||
| already opened by other Gazebo-YARP plugins using the same XML format used by the [`yarprobotinterface`](http://www.yarp.it/git-master/yarprobotinterface.html) tool and the [`libYARP_robotinterface` C++ library](https://github.com/robotology/yarp/tree/master/src/libYARP_robotinterface). | ||
|
|
||
| ## Usage | ||
|
|
||
| ### Add the plugin in the SDF model | ||
| The `gazebo_yarp_robotinterface` plugin can be used by including in any SDF model: | ||
| ~~~xml | ||
| <model name="model_name"> | ||
| <!-- Insert models, links, joints --> | ||
| <!-- ... --> | ||
|
|
||
| <!-- Insert other plugins --> | ||
| <!-- ... --> | ||
|
|
||
| <!-- Insert other gazebo_yarp_robotinterface --> | ||
| <plugin name="robotinterface" filename="libgazebo_yarp_robotinterface.so"> | ||
| <!-- This file can be specified with the model:// URI already used in Gazebo, see http://gazebosim.org/tutorials?tut=components&cat=get_started --> | ||
| <yarpRobotInterfaceConfigurationFile>model://RobotInterfaceConfigurationFile.xml</yarpRobotInterfaceConfigurationFile> | ||
| </plugin> | ||
| </model> | ||
| ~~~ | ||
|
|
||
| **Warning: the `gazebo_yarp_robotinterface` plugin is only able to be attached to YARP devices that have been already created once the `gazebo_yarp_robotinterface` plugin has been spawned, so it is a good practice to always include it as last tag in a model.** | ||
|
|
||
| ### Example of the robotinterface XML file | ||
|
|
||
| The file specified in `yarpRobotInterfaceConfigurationFile` is a XML file specified according to the `yarprobotinterface` format, for example: | ||
| ~~~xml | ||
| <?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="robot_name" prefix="robot_prefix"> | ||
| <!-- YARP devices to spawn in the robotinterface be specified with the devices tag --> | ||
| <devices> | ||
| <!-- each YARP device is specified with the device tag --> | ||
| <device name="yarp_device_name" type="yarp_device_type"> | ||
| <!-- specify any parameter to the device with param tags --> | ||
| <param name="integer_param_example"> 10 </param> | ||
| <param name="string_param_example">this_is_a_string/param> | ||
| <!-- To specify the existing YARP devices to which the newly spawned device needs to attach --> | ||
| <action phase="startup" level="5" type="attach"> | ||
| <paramlist name="networks"> | ||
| <!-- This should match the yarpDeviceName in the .ini file loaded in the Gazebo plugin. --> | ||
| <!-- The yarpDeviceName plays the same role of the name attribute of the device XML element | ||
| for devices that are created via the robotinterface XML format. --> | ||
| <elem name="list_key_example"> yarp_device_name_of_device_to_which_to_attach </elem> | ||
| </paramlist> | ||
| </action> | ||
| <!-- If you added an attach action, always specify the detach action during the shutdown phase --> | ||
| <action phase="shutdown" level="5" type="detach" /> | ||
| </device> | ||
| </devices> | ||
| </robot> | ||
| ~~~ | ||
|
|
||
|
|
||
| ### How to specify existing YARP devices to which to attach | ||
|
|
||
| The main use of the `gazebo_yarp_robotinterface` plugin is to spawn YARP devices that are **attached** to YARP devices that have been already spawned by other `gazebo-yarp-plugins`. For this reason, it is necessary to have a way to specify to which YARP devices a device spawned by `gazebo_yarp_robotinterface` is attached, i.e. the values of each element in the `<paramlist name="networks">` list under the `<action phase="startup" level="5" type="attach">` element. In this content, we call this "device instance identified" as **YARP device instance name**, as for devices spawned by the XML of robotinterface, this is specified by the `name` attribute of the `device` tag. It is important not to confuse this with the **YARP device type name**, that is instead the name that identifies the type of plugin that is spawned, i.e. the `type` attribute of the `device` tag. | ||
|
|
||
| The `gazebo_yarp_robotinterface` can be attached to any YARP device created by any plugin inside the model, or in any plugin contained in any nested sensor or model. | ||
|
|
||
| For historic reason, not all the `gazebo-yarp-plugins` support specifying the **YARP device instance name** for the device that they spawn to permit to use them with the `gazebo_yarp_robotinterface` plugin. If you need to have this functionality in a specific plugin, feel free to open an issue. | ||
|
|
||
| **Warning: as the YARP device instance name is specified without any specific Gazebo model or sensor namespace, it is important to use the `gazebo_yarp_robotinterface` plugin that all the YARP devices contained in the model have a unique YARP device instance name. If this is not the case, the plugin will print a clear error and exit without starting.** | ||
|
|
||
| The plugins that spawn YARP devices in a way that they can be then attached to the yarprobotinterface as specified in the following table, together with the details with which the **YARP device instance name** can be specified: | ||
|
|
||
| | Plugin | Details | | ||
| |:----------:|:----------------------------------------------------:| | ||
| | `gazebo_yarp_controlboard` | This plugin can create multiple YARP devices that expose joint-level motor and control interfaces such as [`yarp::dev::IPositionControl`](https://www.yarp.it/git-master/classyarp_1_1dev_1_1IPositionControl.html), [`yarp::dev::ITorqueControl`](https://www.yarp.it/git-master/classyarp_1_1dev_1_1ITorqueControl.html) and [`yarp::dev::ITorqueControl`](https://www.yarp.it/git-master/classyarp_1_1dev_1_1IEncoders.html). For this plugin, the **YARP device instance name** for each created device is specified with the `networks` parameter list in the plugin configuration. | | ||
| | `gazebo_yarp_depthcamera` | This plugin can create a YARP device that expose a depth-camera interface. For this plugin, the **YARP device instance name** can be specified by the `yarpDeviceName` parameter in the plugin configuration. | | ||
| | `gazebo_yarp_lasersensor` | This plugin can create a YARP device that expose a laser-seensor interface. For this plugin, the **YARP device instance name** can be specified by the `yarpDeviceName` parameter in the plugin configuration. | | ||
| | `gazebo_yarp_doublelaser` | This plugin can create a YARP device network wrapper server that expose two existing laser sensors. For this plugin, the **YARP device instance name** can be specified by the `yarpDeviceName` parameter in the plugin configuration. | | ||
|
|
||
|
|
||
|
|
||
|
|
||
|
|
||
|
|