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SimoneMicSimoneMic
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added configuration for launching ros2 sensors wrappers (#530)
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‎ergoCubSN000/sensors/realsense_ros2.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<devices>
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="realsenseD450" type="realsense2">
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<group name="SETTINGS">
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<param name="depthResolution"> (640 480) </param>
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<param name="rgbResolution"> (640 480) </param>
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<param name="framerate"> 30 </param>
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<param name="enableEmitter"> true </param>
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<param name="alignmentFrame"> RGB </param>
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</group>
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<group name="HW_DESCRIPTION">
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<param name="clipPlanes"> (0.2 10.0) </param>
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</group>
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<group name="QUANT_PARAM">
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<param name="depth_quant"> 2 </param>
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</group>
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<param name="rotateImage180"> false </param>
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</device>
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="RGBDWrapperyarp" type="rgbdSensor_nws_yarp">
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<param name="period"> 0.03 </param>
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<param name="name"> /depthCamera </param>
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<action phase="startup" level="5" type="attach">
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<paramlist name="networks">
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<elem name="subdevicergbd"> realsenseD450 </elem>
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</paramlist>
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</action>
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<action phase="shutdown" level="5" type="detach" />
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</device>
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="depthWrapR" type="rgbdSensor_nws_ros2">
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<param name="period">0.033</param>
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<param name="node_name">rgbdsensor_ros2_node</param>
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<param name="color_topic_name">/camera_rgbd/color/image_rect_color</param>
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<param name="depth_topic_name">/camera_rgbd/depth/image_rect</param>
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<param name="color_frame_id">realsense_rgb_frame</param>
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<param name="depth_frame_id">realsense_rgb_frame</param>
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<action phase="startup" level="5" type="attach">
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<paramlist name="networks">
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<elem name="the_device"> realsenseD450 </elem>
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</paramlist>
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</action>
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<action phase="shutdown" level="5" type="detach" />
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</device>
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</devices>

‎ergoCubSN000/sensors/rplidar_ros2.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<devices>
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="rpLidarS2" type="rpLidar4">
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<group name="GENERAL">
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<param name="name"> rpLidar4 </param>
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<param name="serial_baudrate"> 1000000 </param>
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<param name="serial_port"> /dev/ttyUSB0 </param>
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<param name="sample_buffer_life"> 1 </param>
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</group>
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<group name="SENSOR">
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<param name="max_distance"> 30.0 </param>
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<param name="min_distance"> 0.1 </param>
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<param name="max_angle"> 360 </param>
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<param name="min_angle"> 0 </param>
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<param name="resolution"> 0.12 </param>
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<param name="allow_infinity"> 1 </param>
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</group>
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<group name="RPLIDAR">
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<param name="scan_mode"> DenseBoost </param>
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</group>
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</device>
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="laser_wrapper_yarp" type="rangefinder2D_nws_yarp">
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<param name="period"> 0.01 </param>
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<param name="name"> /ergocub/laser:o </param>
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<action phase="startup" level="10" type="attach">
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<paramlist name="networks">
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<elem name="laser"> rpLidarS2 </elem>
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</paramlist>
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</action>
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<action phase="shutdown" level="15" type="detach"/>
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</device>
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="lidarWrapR" type="rangefinder2D_nws_ros2">
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<param name="period"> 0.1 </param>
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<param name="node_name"> rangefinder_ros2_node </param>
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<param name="topic_name"> /scan </param>
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<param name="frame_id"> head_laser_frame </param>
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<action phase="startup" level="5" type="attach">
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<paramlist name="networks">
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<elem name="the_device"> rpLidarS2 </elem>
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</paramlist>
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</action>
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<action phase="shutdown" level="5" type="detach" />
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</device>
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</devices>

‎ergoCubSN000/sensors_ros2.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<robot name="ergoCubSN000" build="1" portprefix="/ergocub" xmlns:xi="http://www.w3.org/2001/XInclude">
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<devices>
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<xi:include href="sensors/rplidar_ros2.xml" />
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<xi:include href="sensors/realsense_ros2.xml" />
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</devices>
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</robot>

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