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Support joints publishing on ROS 2 for iCubGazeboV2_5_visuomanip #211

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Oct 3, 2023
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Support joints publishing on ROS 2 for iCubGazeboV2_5_visuomanip #211

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3 changes: 3 additions & 0 deletions CHANGELOG.md
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Expand Up @@ -5,6 +5,9 @@ The format of this document is based on [Keep a Changelog](https://keepachangelo

## [Unreleased]

### Changed
* Enable publishing of robot joints in ROS 2 via `controlBoard_nws_ros2` for `iCubGazeboV2_5_visuomanip` (https://github.com/robotology/icub-models/pull/211).

# [2.3.0] - 2023-09-11

### Fixed
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43 changes: 43 additions & 0 deletions iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/icub_ros2.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">

<robot name="iCubGazeboV3" build="1" portprefix="/icubSim" xmlns:xi="http://www.w3.org/2001/XInclude">
<devices>

<!-- MOTOR CONTROLLERS -->

<!-- wrapper are all inherited from automatically generated models -->
<xi:include href="../../../iCub/conf/wrappers/motorControl/torso-mc_wrapper.xml" />
<xi:include href="../../../iCub/conf/wrappers/motorControl/head-mc_wrapper.xml" />
<xi:include href="../../../iCub/conf/wrappers/motorControl/left_arm-mc_wrapper.xml" />
<xi:include href="../../../iCub/conf/wrappers/motorControl/right_arm-mc_wrapper.xml" />

<!-- only the torso remapper is inherited from automatically generated models -->
<xi:include href="../../../iCub/conf/wrappers/motorControl/torso-mc_remapper.xml" />

<!-- all the other remappers are specific to this model due to eyes and fingers -->
<xi:include href="wrappers/motorControl/head-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/left_arm-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/right_arm-mc_remapper.xml" />
<!-- -->

<!-- HEAD SENSORS -->

<xi:include href="wrappers/camera/left_camera-rgbd_wrapper.xml" />
<xi:include href="wrappers/camera/right_camera-rgb_wrapper.xml" />

<!-- -->

<!-- INERTIAL SENSORS -->

<!-- this wrapper is inherited from automatically generated models -->
<xi:include href="../../../iCub/conf/wrappers/inertials/head-inertials_wrapper.xml" />

<!-- -->

<!-- ROS 2 entries -->
<xi:include href="wrappers/motorControl/alljoints-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/alljoints-mc_nws_ros2.xml" />

</devices>
</robot>
11 changes: 11 additions & 0 deletions ...ual/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/motorControl/alljoints-mc_nws_ros2.xml
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<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-mc_nws_ros2" type="controlBoard_nws_ros2">
<param name="node_name"> icub_cb_node </param>
<param name="topic_name"> /joint_states </param>
<action phase="startup" level="10" type="attach">
<param name="device"> alljoints-mc_remapper </param>
</action>
<action phase="shutdown" level="15" type="detach" />
</device>
15 changes: 15 additions & 0 deletions ...ual/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/motorControl/alljoints-mc_remapper.xml
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<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-mc_remapper" type="controlboardremapper">
<param name="axesNames">(neck_pitch neck_roll neck_yaw l_shoulder_pitch l_shoulder_roll l_shoulder_yaw l_elbow l_wrist_prosup l_wrist_pitch l_wrist_yaw r_shoulder_pitch r_shoulder_roll r_shoulder_yaw r_elbow r_wrist_prosup r_wrist_pitch r_wrist_yaw torso_yaw torso_roll torso_pitch)</param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="head_joints"> head_hardware_device </elem>
<elem name="left_arm_joints"> left_arm_hardware_device</elem>
<elem name="right_arm_joints"> right_arm_hardware_device </elem>
<elem name="torso_joints"> torso_hardware_device </elem>
</paramlist>
</action>
<action phase="shutdown" level="20" type="detach"/>
</device>
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