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GiulioRomualdiGiulioRomualdi
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[ergoCubSN000] Update the YarpRobotLogger configuration file to be compliant with robots-configuration v2.5.2 (#763)
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‎CHANGELOG.md‎

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All notable changes to this project are documented in this file.
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## [unreleased]
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### Changed
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- [ergoCubSN000] Update the YarpRobotLogger configuration file to be mpliant with robots-configuration v2.5.2 (https://github.com/ami-iit/bipedal-locomotion-framework/pull/763)
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### Fixed
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Fixed compilation on Windows of fmt formatter for Eigen types (https://github.com/ami-iit/bipedal-locomotion-framework/pull/762)
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- Fixed compilation on Windows of fmt formatter for Eigen types (https://github.com/ami-iit/bipedal-locomotion-framework/pull/762)
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## [0.16.0] - 2023-11-15
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### Added

‎devices/YarpRobotLoggerDevice/app/robots/ergoCubSN000/blf-yarp-robot-logger-interfaces/all_joints_mc.xml‎

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@@ -4,7 +4,7 @@ BSD-3-Clause license. -->
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<?xml version="1.0" encoding="UTF-8" ?>
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="all_joints_mc" type="remotecontrolboardremapper">
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<param name="remoteControlBoards">("/ergocub/head", "/ergocub/torso", "/ergocub/left_arm", "/ergocub/right_arm", "/ergocub/left_leg", "/ergocub/right_leg")</param>
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<param name="axesNames">("neck_pitch", "neck_roll", "neck_yaw", "camera_tilt", "torso_roll", "torso_yaw", "l_shoulder_pitch", "l_shoulder_roll", "l_shoulder_yaw", "l_elbow", "l_wrist_roll", "l_wrist_pitch", "l_wrist_yaw", "r_shoulder_pitch", "r_shoulder_roll", "r_shoulder_yaw", "r_elbow", "r_wrist_roll", "r_wrist_pitch", "r_wrist_yaw", "l_hip_pitch", "l_hip_roll", "l_hip_yaw", "l_knee", "l_ankle_pitch", "l_ankle_roll", "r_hip_pitch", "r_hip_roll", "r_hip_yaw", "r_knee", "r_ankle_pitch", "r_ankle_roll")</param>
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<param name="axesNames">("neck_pitch", "neck_roll", "neck_yaw", "camera_tilt", "torso_pitch", "torso_roll", "torso_yaw", "l_shoulder_pitch", "l_shoulder_roll", "l_shoulder_yaw", "l_elbow", "l_wrist_roll", "l_wrist_pitch", "l_wrist_yaw", "l_thumb_add", "l_thumb_oc", "l_index_oc", "l_middle_oc", "l_ring_pinky_oc", "r_shoulder_pitch", "r_shoulder_roll", "r_shoulder_yaw", "r_elbow", "r_wrist_roll", "r_wrist_pitch", "r_wrist_yaw", "r_thumb_add", "r_thumb_oc", "r_index_oc", "r_middle_oc", "r_ring_pinky_oc", "l_hip_pitch", "l_hip_roll", "l_hip_yaw", "l_knee", "l_ankle_pitch", "l_ankle_roll", "r_hip_pitch", "r_hip_roll", "r_hip_yaw", "r_knee", "r_ankle_pitch", "r_ankle_roll")</param>
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<param name="localPortPrefix">/yarp_robot_logger/joints</param>
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<group name="REMOTE_CONTROLBOARD_OPTIONS">

‎devices/YarpRobotLoggerDevice/app/robots/ergoCubSN000/blf-yarp-robot-logger-interfaces/imu_clients.xml‎

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<param name="carrier">fast_tcp</param>
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</device>
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</devices>
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="waist_client" type="multipleanalogsensorsclient">
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<param name="remote">/ergocub/waist/inertials</param>
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<param name="local">/yarp_robot_logger/waist/imu</param>
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<param name="timeout">0.5</param>
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<param name="carrier">fast_tcp</param>
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</device>
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</devices>

‎devices/YarpRobotLoggerDevice/app/robots/ergoCubSN000/blf-yarp-robot-logger-interfaces/mas-remapper.xml‎

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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="mas-remapper" type="multipleanalogsensorsremapper">
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<param name="period">10</param>
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<param name="ThreeAxisGyroscopesNames">
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(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)
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(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)
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</param>
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<param name="ThreeAxisLinearAccelerometersNames">
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(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)
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(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)
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</param>
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<param name="ThreeAxisMagnetometersNames">
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(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)
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(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)
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</param>
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<param name="OrientationSensorsNames">
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(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)
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(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)
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</param>
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<param name="SixAxisForceTorqueSensorsNames">
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(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)
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<elem name="right_foot_imu_client">right_foot_imu_client</elem>
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<elem name="left_leg_imu_client">left_leg_imu_client</elem>
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<elem name="right_leg_imu_client">right_leg_imu_client</elem>
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<elem name="waist_client">waist_client</elem>
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</paramlist>
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</action>
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‎devices/YarpRobotLoggerDevice/app/robots/ergoCubSN000/blf-yarp-robot-logger-interfaces/webcams.xml‎

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@@ -6,35 +6,22 @@ BSD-3-Clause license. -->
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<devices>
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<!-- <device xmlns:xi="http://www.w3.org/2001/XInclude" name="jabra" type="opencv_grabber"> -->
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<!-- <param name="camera">0</param> -->
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<!-- <param name="camera">4</param> -->
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<!-- <param name="width">1280</param> -->
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<!-- <param name="height">720</param> -->
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<!-- </device> -->
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<!-- Enable the following block if you want to collect retrieve the cameras of the robot -->
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<!-- <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_eye" type="remote_grabber"> -->
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<!-- <param name="local">/yarp_robot_logger/cam/left</param> -->
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<!-- <param name="remote">/icub/cam/left</param> -->
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<!-- <param name="stream">mjpeg</param> -->
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<!-- <device xmlns:xi="http://www.w3.org/2001/XInclude" name="realsense" type="RGBDSensorClient"> -->
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<!-- <param name="localImagePort">/yarp_robot_logger/depthCamera/rgbImage:i</param> -->
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<!-- <param name="localDepthPort">/yarp_robot_logger/depthCamera/depthImage:i</param> -->
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<!-- <param name="localRpcPort">/yarp_robot_logger/depthCamera/rpc:o</param> -->
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<!-- <param name="remoteImagePort">/depthCamera/rgbImage:o</param> -->
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<!-- <param name="remoteDepthPort">/depthCamera/depthImage:o</param> -->
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<!-- <param name="remoteRpcPort">/depthCamera/rpc:i</param> -->
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<!-- <param name="ImageCarrier">mjpeg</param> -->
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<!-- <param name="DepthCarrier">tcp+send.portmonitor+file.depthimage_compression_zlib+recv.portmonitor+file.depthimage_compression_zlib+type.dll</param> -->
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<!-- </device> -->
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<!-- <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_eye" type="remote_grabber"> -->
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<!-- <param name="local">/yarp_robot_logger/cam/right</param> -->
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<!-- <param name="remote">/icub/cam/right</param> -->
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<!-- <param name="stream">mjpeg</param> -->
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<!-- </device> -->
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="realsense" type="RGBDSensorClient">
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<param name="localImagePort">/yarp_robot_logger/depthCamera/rgbImage:i</param>
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<param name="localDepthPort">/yarp_robot_logger/depthCamera/depthImage:i</param>
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<param name="localRpcPort">/yarp_robot_logger/depthCamera/rpc:o</param>
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<param name="remoteImagePort">/depthCamera/rgbImage:o</param>
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<param name="remoteDepthPort">/depthCamera/depthImage:o</param>
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<param name="remoteRpcPort">/depthCamera/rpc:i</param>
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<param name="ImageCarrier">mjpeg</param>
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<param name="DepthCarrier">tcp+send.portmonitor+file.depthimage_compression_zlib+recv.portmonitor+file.depthimage_compression_zlib+type.dll</param>
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</device>
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</devices>

‎devices/YarpRobotLoggerDevice/app/robots/ergoCubSN000/yarp-robot-logger.xml‎

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@@ -10,15 +10,15 @@ BSD-3-Clause license. -->
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<param name="rgb_cameras_fps">()</param>
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<param name="rgb_cameras_rgb_save_mode">()</param>
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<param name="rgbd_cameras_fps">(30)</param>
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<param name="rgbd_cameras_depth_scale">(1000)</param>
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<param name="rgbd_cameras_depth_save_mode">("frame")</param>
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<param name="rgbd_cameras_rgb_save_mode">("frame")</param>
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<param name="rgbd_cameras_fps">()</param>
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<param name="rgbd_cameras_depth_scale">()</param>
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<param name="rgbd_cameras_depth_save_mode">()</param>
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<param name="rgbd_cameras_rgb_save_mode">()</param>
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<param name="video_codec_code">mp4v</param>
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<param name="port_prefix">/yarp-robot-logger</param>
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<param name="text_logging_subnames">("ergoCubSN000/yarprobotinterface")</param>
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<param name="code_status_cmd_prefixes">("ssh ergocub@10.0.2.2" "ssh ergocub@10.0.2.1")</param>
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<param name="text_logging_subnames">("ergocub-torso/yarprobotinterface")</param>
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<param name="code_status_cmd_prefixes">("ssh ergocub@10.0.2.2" "ssh ergocub@10.0.2.3")</param>
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<group name="Telemetry">
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<param name="save_period">1800.0</param>
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<param name="signal_name">"walking"</param>
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<param name="carrier">"udp"</param>
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</group>
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<group name="RobotDynamicsEstimator">
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<param name="local">"/yarp-robot-logger/exogenous_signals/rde:i"</param>
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<param name="remote">"/robot-dynamics-estimator/data:o"</param>
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<param name="signal_name">"rde"</param>
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<param name="carrier">"udp"</param>
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</group>
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</group>
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<group name="RobotCameraBridge">
47-
<param name="stream_cameras">true</param>
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<param name="stream_cameras">false</param>
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<group name="Cameras">
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<param name="rgb_cameras_list">()</param>
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<param name="rgbd_cameras_list">("realsense")</param>
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<param name="rgbd_cameras_list">()</param>
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</group>
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</group>
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<param name="stream_temperatures">true</param>
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<group name="RemoteControlBoardRemapper">
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<param name="joints_list">("neck_pitch", "neck_roll", "neck_yaw", "camera_tilt", "torso_roll", "torso_yaw", "l_shoulder_pitch", "l_shoulder_roll", "l_shoulder_yaw", "l_elbow", "l_wrist_roll", "l_wrist_pitch", "l_wrist_yaw", "r_shoulder_pitch", "r_shoulder_roll", "r_shoulder_yaw", "r_elbow", "r_wrist_roll", "r_wrist_pitch", "r_wrist_yaw", "l_hip_pitch", "l_hip_roll", "l_hip_yaw", "l_knee", "l_ankle_pitch", "l_ankle_roll", "r_hip_pitch", "r_hip_roll", "r_hip_yaw", "r_knee", "r_ankle_pitch", "r_ankle_roll")</param>
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<param name="joints_list">("neck_pitch", "neck_roll", "neck_yaw", "camera_tilt", "torso_pitch", "torso_roll", "torso_yaw", "l_shoulder_pitch", "l_shoulder_roll", "l_shoulder_yaw", "l_elbow", "l_wrist_roll", "l_wrist_pitch", "l_wrist_yaw", "l_thumb_add", "l_thumb_oc", "l_index_oc", "l_middle_oc", "l_ring_pinky_oc", "r_shoulder_pitch", "r_shoulder_roll", "r_shoulder_yaw", "r_elbow", "r_wrist_roll", "r_wrist_pitch", "r_wrist_yaw", "r_thumb_add", "r_thumb_oc", "r_index_oc", "r_middle_oc", "r_ring_pinky_oc", "l_hip_pitch", "l_hip_roll", "l_hip_yaw", "l_knee", "l_ankle_pitch", "l_ankle_roll", "r_hip_pitch", "r_hip_roll", "r_hip_yaw", "r_knee", "r_ankle_pitch", "r_ankle_roll")</param>
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</group>
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<group name="SixAxisForceTorqueSensors">
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</group>
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<group name="InertialSensors">
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<param name="accelerometers_list">(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>
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<param name="gyroscopes_list">(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>
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<param name="magnetometers_list">(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>
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<param name="orientation_sensors_list">(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>
75+
<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>
76+
<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>
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<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>
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<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>
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</group>
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</group>
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<elem name="right_arm_wrench_client">right_arm_wrench_client</elem>
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<elem name="left_arm_wrench_client">left_arm_wrench_client</elem>
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<elem name="mas-remapper">mas-remapper</elem>
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<elem name="realsense">realsense</elem>
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<!-- <elem name="jabra">jabra</elem> -->
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</paramlist>
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</action>
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