This PR aims to upgrade the stickBot with the RGBD camera, LIDAR, and adds compatibiltiy with future versions of Yarp (>= 3.5) and Gazebo Yarp Plugins (>=4.0). The current Gazebo plugins in use (e.g. controlboards, cameras) are deprecated, and it might be useful to keep the model up to date.
The main contributions are:
The .urdf stickBot model with lidar and rgbd camera
The conf_stickBot folder
The icub.xml file, used by yarprobotinterface
The urdf model is upgraded with:
RGBD camera and LIDAR sensors, and related calls to the new .so plugins
A call to the yarprobotinterface object, which loads the icub.xml tasked with launching the network services for the used devices
The new paths of the devices' .ini files, in accordance to the folder structure in conf_stickBot.
The conf_stickBot folder contains folders used to store the configurations of the devices, similarly to cer-sim:
The .ini files contained in the folders are the same as the ones in icub-models/conf_icub3. The parameters regarding the network and joint remap, however, are commented out and moved to dedicated .xml files.
Files ending with _nws_yarp.xml specify the network properties of the devices (e.g. yarp port, period, name of the device). They exist for both control board devices and imaging sensors.
Files ending with _remapper.xml are dedicated to the control boards and specify the remapping procedure of the joints.
This PR aims to upgrade the stickBot with the RGBD camera, LIDAR, and adds compatibiltiy with future versions of Yarp (>= 3.5) and Gazebo Yarp Plugins (>=4.0). The current Gazebo plugins in use (e.g. controlboards, cameras) are deprecated, and it might be useful to keep the model up to date. The main contributions are:
.urdfstickBot model with lidar and rgbd cameraconf_stickBotfoldericub.xmlfile, used by yarprobotinterfaceThe urdf model is upgraded with:
.sopluginsicub.xmltasked with launching the network services for the used devices.inifiles, in accordance to the folder structure inconf_stickBot.The
conf_stickBotfolder contains folders used to store the configurations of the devices, similarly to cer-sim:_nws_yarp.xmlspecify the network properties of the devices (e.g. yarp port, period, name of the device). They exist for both control board devices and imaging sensors._remapper.xmlare dedicated to the control boards and specify the remapping procedure of the joints.Both classes of .xml files are written by following the upgrade process of iCubGenova01 by @randaz81: https://github.com/randaz81/robots-configuration/tree/iCubGenova01_nws/iCubGenova01_nws/wrappers/motorControl. The xml files are called by
icub.xmlwhen yarprobotinterface is launched.The updated model so far is missing:
therefore I think it is sensible for this PR to target a development branch.