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davidetomedavidetome
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added support for publishing mtb4 IMU data (#286)
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‎experimentalSetups/mc4plus-loco-project/hardware/inertials/mc4plusloco-IMU.xml

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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="mc4plusloco-imu" type="embObjIMU">
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<xi:include href="../../general.xml" />
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<xi:include href="../../hardware/electronics/devmc4plusloco-mc4plus01-eln.xml" />
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<group name="SERVICE">
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<param name="type"> eomn_serv_AS_inertials3 </param>
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<group name="PROPERTIES">
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<group name="CANBOARDS">
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<param name="type"> mtb4 </param>
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<group name="PROTOCOL">
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<param name="major"> 2 </param>
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<param name="minor"> 0 </param>
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</group>
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<group name="FIRMWARE">
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<param name="major"> 1 </param>
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<param name="minor"> 4 </param>
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<param name="build"> 6 </param>
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</group>
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</group>
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<group name="SENSORS">
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<param name="id"> mc4plusloco_acc mc4plusloco_gyro mc4plusloco_eul mc4plusloco_mag mc4plusloco_stat </param>
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<param name="type"> eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status </param>
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<param name="boardType"> mtb4 mtb4 mtb4 mtb4 mtb4 </param>
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<param name="location"> CAN1:14 CAN1:14 CAN1:14 CAN1:14 CAN1:14 </param>
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</group>
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</group>
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<group name="SETTINGS">
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<param name="acquisitionRate"> 50 </param>
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<param name="enabledSensors"> mc4plusloco_acc mc4plusloco_gyro mc4plusloco_eul mc4plusloco_mag mc4plusloco_stat
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</param>
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</group>
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</group>
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</device>

‎experimentalSetups/mc4plus-loco-project/main.xml

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<xi:include href="./hardware/motorControl/mc4plusloco_mc_hardware.xml" />
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<xi:include href="./wrappers/motorControl/mc4plusloco_mc_wrapper.xml" />
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<!-- IMU-->
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<xi:include href="hardware/inertials/mc4plusloco-IMU.xml" />
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<xi:include href="wrappers/inertials/mc4plusloco-IMU-wrapper.xml" />
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<!-- CALIBRATORS -->
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<xi:include href="./calibrators/mc4plusloco_calib.xml" />
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‎experimentalSetups/mc4plus-loco-project/wrappers/inertials/mc4plusloco-IMU-wrapper.xml

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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="mc4plusloco-imu_wrapper" type="multipleanalogsensorsserver">
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<param name="period"> 10 </param>
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<param name="name"> /icub/mc4plusloco-imu/imu </param>
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<action phase="startup" level="5" type="attach">
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<paramlist name="networks">
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<!-- The name of the element can be any string (we use SetOfInertials to better express its nature).
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Its value must match the device name in the corresponding body_part-jx_y-inertials.xml file
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or in body_part-ebX-inertials.xml -->
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<elem name="SetOfInertials">mc4plusloco-imu </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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