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ergocub: add configuration of lidar and camera #430

Merged
merged 5 commits into from
Feb 3, 2023
Merged

ergocub: add configuration of lidar and camera #430

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bb13b56
First commit regarding lidar cfg
mfussi66 Nov 14, 2022
a96fb42
remove dragonfly cfg and add R1 realsense cfg
mfussi66 Oct 27, 2022
f4d66a3
rename device names with models
mfussi66 Dec 23, 2022
b65d3c4
rename yarprobotinterface files that launch head devices
mfussi66 Dec 23, 2022
2b7019d
increase fps
mfussi66 Jan 5, 2023
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1 change: 0 additions & 1 deletion ergoCubSN000/CMakeLists.txt
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Expand Up @@ -9,6 +9,5 @@ yarp_install(DIRECTORY estimators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/
yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY sensors DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY telemetry DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
9 changes: 0 additions & 9 deletions ergoCubSN000/camera/ServerGrabberDualDragon.ini
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7 changes: 0 additions & 7 deletions ergoCubSN000/camera/ServerGrabberDualDragon640_480.ini
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9 changes: 0 additions & 9 deletions ergoCubSN000/camera/ServerGrabberDualDragonBayer.ini
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9 changes: 0 additions & 9 deletions ergoCubSN000/camera/ServerGrabberDualDragonBayer640_480.ini
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19 changes: 0 additions & 19 deletions ergoCubSN000/camera/dragonfly2_config_left.ini
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18 changes: 0 additions & 18 deletions ergoCubSN000/camera/dragonfly2_config_left640_480.ini
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19 changes: 0 additions & 19 deletions ergoCubSN000/camera/dragonfly2_config_leftLowRes.ini
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20 changes: 0 additions & 20 deletions ergoCubSN000/camera/dragonfly2_config_left_bayer_320_240.ini
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20 changes: 0 additions & 20 deletions ergoCubSN000/camera/dragonfly2_config_left_bayer_640_480.ini
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19 changes: 0 additions & 19 deletions ergoCubSN000/camera/dragonfly2_config_right.ini
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18 changes: 0 additions & 18 deletions ergoCubSN000/camera/dragonfly2_config_right640_480.ini
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19 changes: 0 additions & 19 deletions ergoCubSN000/camera/dragonfly2_config_rightLowRes.ini
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20 changes: 0 additions & 20 deletions ergoCubSN000/camera/dragonfly2_config_right_bayer_320_240.ini
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20 changes: 0 additions & 20 deletions ergoCubSN000/camera/dragonfly2_config_right_bayer_640_480.ini
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5 changes: 5 additions & 0 deletions ergoCubSN000/ergocub_head.xml → ergoCubSN000/head.xml
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Expand Up @@ -17,6 +17,11 @@
<xi:include href="hardware/motorControl/head-eb21-j2_3-mc.xml" />

<xi:include href="calibrators/head-calib.xml" />

<!-- Head sensors-->
<xi:include href="sensors/realsense.xml" />
<xi:include href="sensors/rplidar.xml" />

</devices>

</robot>
11 changes: 11 additions & 0 deletions ergoCubSN000/sensors.xml
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@@ -0,0 +1,11 @@
<?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="ergoCubSN000" build="1" portprefix="/ergocub" xmlns:xi="http://www.w3.org/2001/XInclude">

<devices>
<xi:include href="sensors/rplidar.xml" />
<xi:include href="sensors/realsense.xml" />
</devices>

</robot>
13 changes: 0 additions & 13 deletions ergoCubSN000/sensors/RealSense_conf.ini
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35 changes: 35 additions & 0 deletions ergoCubSN000/sensors/realsense.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<devices>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="realsenseD450" type="realsense2">
<group name="SETTINGS">
<param name="depthResolution"> (640 480) </param>
<param name="rgbResolution"> (640 480) </param>
<param name="framerate"> 30 </param>
<param name="enableEmitter"> true </param>
<param name="alignmentFrame"> RGB </param>
</group>
<group name="HW_DESCRIPTION">
<param name="clipPlanes"> (0.2 10.0) </param>
</group>
<group name="QUANT_PARAM">
<param name="depth_quant"> 2 </param>
</group>
<param name="rotateImage180"> false </param>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="RGBDWrapperyarp" type="rgbdSensor_nws_yarp">
<param name="period"> 0.03 </param>
<param name="name"> /ergocub/depthCamera </param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="subdevicergbd"> realsenseD450 </elem>
</paramlist>
</action>
<action phase="shutdown" level="5" type="detach" />
</device>

</devices>

37 changes: 37 additions & 0 deletions ergoCubSN000/sensors/rplidar.xml
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@@ -0,0 +1,37 @@
<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<devices>
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="rpLidarS2" type="rpLidar4">
<group name="GENERAL">
<param name="name"> rpLidar4 </param>
<param name="serial_baudrate"> 1000000 </param>
<param name="serial_port"> /dev/ttyUSB0 </param>
<param name="sample_buffer_life"> 1 </param>
</group>
<group name="SENSOR">
<param name="max_distance"> 30.0 </param>
<param name="min_distance"> 0.1 </param>
<param name="max_angle"> 360 </param>
<param name="min_angle"> 0 </param>
<param name="resolution"> 0.12 </param>
<param name="allow_infinity"> 1 </param>
</group>
<group name="RPLIDAR">
<param name="scan_mode"> DenseBoost </param>
</group>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="laser_wrapper_yarp" type="rangefinder2D_nws_yarp">
<param name="period"> 0.01 </param>
<param name="name"> /ergocub/laser:o </param>
<action phase="startup" level="10" type="attach">
<paramlist name="networks">
<elem name="laser"> rpLidarS2 </elem>
</paramlist>
</action>
<action phase="shutdown" level="15" type="detach"/>
</device>

</devices>