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icub_all_no_legs_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="iCubGenova11" portprefix="icub" build="1" xmlns:xi="http://www.w3.org/2001/XInclude">
<params>
<xi:include href="hardware/electronics/pc104.xml" />
</params>
<devices>
<!-- motor controllers wrappers -->
<xi:include href="wrappers/motorControl/left_arm-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/right_arm-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/head-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/face-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/left_arm-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/right_arm-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/head-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/face-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/torso-mc_remapper.xml" />
<!-- CARTESIANS -->
<xi:include href="cartesian/left_arm-cartesian.xml" />
<xi:include href="cartesian/right_arm-cartesian.xml" />
<!-- HEAD -->
<xi:include href="./hardware/motorControl/head-eb20-j0_1-mc.xml" />
<xi:include href="./hardware/motorControl/head-eb21-j2_5-mc.xml" />
<!-- FACE -->
<xi:include href="./hardware/motorControl/face-eb22-j0-mc.xml" />
<!-- TORSO -->
<xi:include href="hardware/motorControl/torso-eb5-j0_2-mc.xml" />
<!-- LEFT ARM -->
<xi:include href="hardware/motorControl/left_arm-eb1-j0_3-mc.xml" />
<xi:include href="hardware/motorControl/left_arm-eb24-j4_7-mc.xml" />
<xi:include href="hardware/motorControl/left_arm-eb25-j8_11-mc.xml" />
<xi:include href="hardware/motorControl/left_arm-eb26-j12_15-mc.xml" />
<!-- RIGHT ARM -->
<xi:include href="hardware/motorControl/right_arm-eb3-j0_3-mc.xml" />
<xi:include href="hardware/motorControl/right_arm-eb27-j4_7-mc.xml" />
<xi:include href="hardware/motorControl/right_arm-eb28-j8_11-mc.xml" />
<xi:include href="hardware/motorControl/right_arm-eb29-j12_15-mc.xml" />
<!-- INERTIAL SENSOR -->
<xi:include href="wrappers/inertials/head-imuFilter_wrapper.xml" />
<xi:include href="wrappers/inertials/head-imuFilter.xml" />
<xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />
<xi:include href="hardware/inertials/head-inertial.xml" />
<xi:include href="hardware/inertials/waist-inertial.xml" />
<!-- ANALOG SENSOR MAIS -->
<xi:include href="wrappers/MAIS/left_arm-mais_wrapper.xml" />
<xi:include href="wrappers/MAIS/right_arm-mais_wrapper.xml" />
<xi:include href="hardware/MAIS/left_arm-eb26-j12_15-mais.xml" />
<xi:include href="hardware/MAIS/right_arm-eb29-j12_15-mais.xml" />
<!-- SKINS -->
<xi:include href="wrappers/skin/left_arm-skin_wrapper.xml" />
<xi:include href="hardware/skin/left_arm-eb24-j4_7-skin.xml" />
<xi:include href="wrappers/skin/right_arm-skin_wrapper.xml" />
<xi:include href="hardware/skin/right_arm-eb27-j4_7-skin.xml" />
<xi:include href="wrappers/skin/torso-skin_wrapper.xml" />
<xi:include href="hardware/skin/torso-eb22-skin.xml" />
<!-- ANALOG SENSOR FT -->
<xi:include href="wrappers/FT/left_arm-FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" />
<xi:include href="hardware/FT/left_arm-eb1-j0_3-strain.xml" />
<xi:include href="hardware/FT/right_arm-eb3-j0_3-strain.xml" />
<!-- VIRTUAL ANALOG SENSORS (WRAPPER ONLY)-->
<xi:include href="wrappers/VFT/left_arm-VFT_wrapper.xml" />
<xi:include href="wrappers/VFT/right_arm-VFT_wrapper.xml" />
<xi:include href="wrappers/VFT/torso-VFT_wrapper.xml" />
<!-- CALIBRATORS -->
<xi:include href="calibrators/left_arm-calib.xml" />
<xi:include href="calibrators/right_arm-calib.xml" />
<xi:include href="calibrators/torso-calib.xml" />
<xi:include href="calibrators/head-calib.xml" />
<xi:include href="calibrators/face-calib.xml" />
<!-- ROS 2 entries -->
<xi:include href="wrappers/motorControl/alljoints_no_legs-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/alljoints_no_legs-mc_nws_ros2.xml" />
<xi:include href="wrappers/FT/left_arm-FT_nws_ros2.xml" />
<xi:include href="wrappers/FT/right_arm-FT_nws_ros2.xml" />
</devices>
</robot>