Support joints publishing on ROS 2 for iCubGazeboV2_5_visuomanip

Author: xEnVrE

iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/icub_ros2.xml

@@ -0,0 +1,43 @@
+<?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>

iCub_manual/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="15" type="attach">
+        <param name="device"> alljoints-mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="20" type="detach" />
+</device>

iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/motorControl/alljoints-mc_remapper.xml

@@ -0,0 +1,21 @@
+<?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">
+    <paramlist name="networks">
+        <elem name="head_joints">       (  0  2 0 2 )</elem>
+        <elem name="left_arm_joints">   (  3  9 0 6 )</elem>
+        <elem name="right_arm_joints">  ( 10 16 0 6 )</elem>
+        <elem name="torso_joints">      ( 17 19 0 2 )</elem>
+    </paramlist>
+    <param name="joints"> 20 </param>
+    <action phase="startup" level="6" 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="19" type="detach" />
+</device>