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Replace controlboardwrapper2 w/ controlBoard_nws_yarp #808

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Jun 16, 2022
Merged

Replace controlboardwrapper2 w/ controlBoard_nws_yarp #808

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5 changes: 2 additions & 3 deletions app/simConfig/conf/Sim_head.ini
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Original file line number Diff line number Diff line change
@@ -1,15 +1,14 @@
/// initialization file for the head of the iCub Simulation

device controlboardwrapper2
device controlBoard_nws_yarp
subdevice simulationcontrol
name /head
rate 100
period 0.02

[GENERAL]
Type 3
TotalJoints 6 //total number of joints....

AxisMap 0 1 2 3 4 5
Vel 20.0
Zeros 0.0 0.0 0.0 0.0 0.0 0.0
Encoder 0.0174533 0.0174533 0.0174533 0.0174533 0.0174533 0.0174533
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5 changes: 2 additions & 3 deletions app/simConfig/conf/Sim_left_arm.ini
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Original file line number Diff line number Diff line change
@@ -1,15 +1,14 @@
/// initialization file for the left arm of the iCub Simulation

device controlboardwrapper2
device controlBoard_nws_yarp
subdevice simulationcontrol
name /left_arm
rate 100
period 0.02

[GENERAL]
Type 1 /// 1 is for the left arm ///2 is for the right....
TotalJoints 16 //total number of joints....

AxisMap 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Vel 20.0
Zeros 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
Encoder 0.0174533 0.0174533 0.0174533 0.0174533 0.0174533 0.0174533 0.0174533 0.0174533 0.0174533 0.0174533 0.0174533 0.0174533 0.0174533 0.0174533 0.0174533 0.0174533
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5 changes: 2 additions & 3 deletions app/simConfig/conf/Sim_left_leg.ini
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Original file line number Diff line number Diff line change
@@ -1,15 +1,14 @@
/// initialization file for the head of the iCub Simulation

device controlboardwrapper2
device controlBoard_nws_yarp
subdevice simulationcontrol
name /left_leg
rate 100
period 0.02

[GENERAL]
Type 4
TotalJoints 6 //total number of joints....

AxisMap 0 1 2 3 4 5
Vel 20.0
Zeros 0.0 0.0 0.0 0.0 0.0 0.0
Encoder 0.0174533 0.0174533 0.0174533 0.0174533 0.0174533 0.0174533
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5 changes: 2 additions & 3 deletions app/simConfig/conf/Sim_right_arm.ini
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Original file line number Diff line number Diff line change
@@ -1,15 +1,14 @@
/// initialization file for the right arm of the iCub Simulation

device controlboardwrapper2
device controlBoard_nws_yarp
subdevice simulationcontrol
name /right_arm
rate 100
period 0.02

[GENERAL]
Type 2 /// 1 is for the left arm ///2 is for the right....
TotalJoints 16 //total number of joints....

AxisMap 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Vel 20.0
Zeros 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
Encoder 0.0174533 0.0174533 0.0174533 0.0174533 0.0174533 0.0174533 0.0174533 0.0174533 0.0174533 0.0174533 0.0174533 0.0174533 0.0174533 0.0174533 0.0174533 0.0174533
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5 changes: 2 additions & 3 deletions app/simConfig/conf/Sim_right_leg.ini
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Original file line number Diff line number Diff line change
@@ -1,15 +1,14 @@
/// initialization file for the head of the iCub Simulation

device controlboardwrapper2
device controlBoard_nws_yarp
subdevice simulationcontrol
name /right_leg
rate 100
period 0.02

[GENERAL]
Type 5
TotalJoints 6 //total number of joints....

AxisMap 0 1 2 3 4 5
Vel 20.0
Zeros 0.0 0.0 0.0 0.0 0.0 0.0
Encoder 0.0174533 0.0174533 0.0174533 0.0174533 0.0174533 0.0174533
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5 changes: 2 additions & 3 deletions app/simConfig/conf/Sim_torso.ini
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Original file line number Diff line number Diff line change
@@ -1,15 +1,14 @@
/// initialization file for the head of the iCub Simulation

device controlboardwrapper2
device controlBoard_nws_yarp
subdevice simulationcontrol
name /torso
rate 100
period 0.02

[GENERAL]
Type 6
TotalJoints 3 //total number of joints....

AxisMap 0 1 2
Vel 20.0
Zeros 0.0 0.0 0.0
Encoder 0.0174533 0.0174533 0.0174533
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3 changes: 1 addition & 2 deletions src/libraries/icubmod/canBusMotionControl/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -2,12 +2,11 @@
# Authors: Lorenzo Natale
# CopyPolicy: Released under the terms of the GNU GPL v2.0.


yarp_prepare_plugin(canmotioncontrol
CATEGORY device
TYPE yarp::dev::CanBusMotionControl
INCLUDE CanBusMotionControl.h
EXTRA_CONFIG WRAPPER=controlboardwrapper2)
EXTRA_CONFIG WRAPPER=controlBoard_nws_yarp)

if (ENABLE_icubmod_canmotioncontrol)

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2 changes: 1 addition & 1 deletion src/libraries/icubmod/embObjMotionControl/CMakeLists.txt
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Expand Up @@ -6,7 +6,7 @@ yarp_prepare_plugin(embObjMotionControl
CATEGORY device
TYPE yarp::dev::embObjMotionControl
INCLUDE embObjMotionControl.h
EXTRA_CONFIG WRAPPER=controlboardwrapper2)
EXTRA_CONFIG WRAPPER=controlBoard_nws_yarp)
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IF (NOT SKIP_embObjMotionControl)

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12 changes: 6 additions & 6 deletions src/simulators/iCubSimulation/wrapper/SimulatorModule.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -436,46 +436,46 @@ bool SimulatorModule::initSimulatorModule()
//start left arm device driver
iCubLArm = createPart("left_arm");
desc.device_name = moduleName+"/left_arm";
desc.device_type = "controlboardwrapper2";
desc.device_type = "controlBoard_nws_yarp";
if (idesc) idesc->registerDevice(desc);
}

if (robot_flags.actRArm || robot_flags.actRHand) {
//start right arm device driver
iCubRArm = createPart("right_arm");
desc.device_name = moduleName + "/right_arm";
desc.device_type = "controlboardwrapper2";
desc.device_type = "controlBoard_nws_yarp";
if (idesc) idesc->registerDevice(desc);
}

if (robot_flags.actHead) {
//start head device driver
iCubHead = createPart("head");
desc.device_name = moduleName + "/head";
desc.device_type = "controlboardwrapper2";
desc.device_type = "controlBoard_nws_yarp";
if (idesc) idesc->registerDevice(desc);
}

if (robot_flags.actLegs) {
//start left leg device driver
iCubLLeg = createPart("left_leg");
desc.device_name = moduleName + "/left_leg";
desc.device_type = "controlboardwrapper2";
desc.device_type = "controlBoard_nws_yarp";
if (idesc) idesc->registerDevice(desc);
}

if (robot_flags.actLegs) {
//start right leg device driver
iCubRLeg = createPart("right_leg");
desc.device_name = moduleName + "/right_leg";
desc.device_type = "controlboardwrapper2";
desc.device_type = "controlBoard_nws_yarp";
if (idesc) idesc->registerDevice(desc);
}
if (robot_flags.actTorso) {
//start torso device driver
iCubTorso = createPart("torso");
desc.device_name = moduleName + "/torso";
desc.device_type = "controlboardwrapper2";
desc.device_type = "controlBoard_nws_yarp";
if (idesc) idesc->registerDevice(desc);
}

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10 changes: 2 additions & 8 deletions src/simulators/iCubSimulation/wrapper/iCubSimulationControl.cpp
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Expand Up @@ -186,15 +186,9 @@ bool iCubSimulationControl::open(yarp::os::Searchable& config) {
/* GENERAL */
/////////////////////////

Bottle& xtmp = p.findGroup("GENERAL").findGroup("AxisMap","a list of reordered indices for the axes");

if (xtmp.size() != njoints+1) {
yError("AxisMap does not have the right number of entries\n");
return false;
}
for (int i = 1; i < xtmp.size(); i++) axisMap[i-1] = xtmp.get(i).asInt32();
for (int i = 0; i < njoints; i++) axisMap[i] = i;

xtmp = p.findGroup("GENERAL").findGroup("Encoder","a list of scales for the encoders");
Bottle& xtmp = p.findGroup("GENERAL").findGroup("Encoder","a list of scales for the encoders");
if (xtmp.size() != njoints+1) {
yError("Encoder does not have the right number of entries\n");
return false;
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