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Disable FT sensors on R1SN001 #674

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merged 1 commit into from
Aug 7, 2024
Merged

Disable FT sensors on R1SN001 #674

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8 changes: 4 additions & 4 deletions R1SN001/CER.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -85,10 +85,10 @@
-->

<!-- FT -->
<xi:include href="hardware/FT/cer_left_shoulder-ems5-strain.xml" />
<xi:include href="hardware/FT/cer_right_shoulder-ems4-strain.xml" />
<xi:include href="wrappers/FT/cer_left_arm-FT_wrapper.xml" />
<xi:include href="wrappers/FT/cer_right_arm-FT_wrapper.xml" />
<xi:include href="hardware/FT/cer_left_shoulder-ems5-strain.xml" disabled_by="disable_ft"/>
<xi:include href="hardware/FT/cer_right_shoulder-ems4-strain.xml" disabled_by="disable_ft"/>
<xi:include href="wrappers/FT/cer_left_arm-FT_wrapper.xml" disabled_by="disable_ft"/>
<xi:include href="wrappers/FT/cer_right_arm-FT_wrapper.xml" disabled_by="disable_ft"/>

<!-- ROS -->
<xi:include href="wrappers/motorControl/cer_alljoints_remapper.xml" enabled_by="enable_ros enable_ros2" disabled_by="disable_base disable_head disable_left_arm disable_left_hand disable_right_arm disable_right_hand disable_torso"/>
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2 changes: 1 addition & 1 deletion R1SN001/yarprobotinterface.ini
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Original file line number Diff line number Diff line change
@@ -1,3 +1,3 @@
config ./CER.xml
enable_tags (enable_ros2)
disable_tags ()
disable_tags (disable_ft)