Fix the ergoCubSN001 logging (#848)

ami-iit · Jun 3, 2024 · fab9279 · fab9279
1 parent e341b70
commit fab9279
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Showing 3 changed files with 14 additions and 11 deletions.
diff --git a/...botLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/mas-remapper.xml b/...botLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/mas-remapper.xml
@@ -6,16 +6,16 @@
 <device  xmlns:xi="http://www.w3.org/2001/XInclude" name="mas-remapper" type="multipleanalogsensorsremapper">
   <param name="period">10</param>
   <param name="ThreeAxisGyroscopesNames">
-    (waist_imu_0, l_foot_front_ft_gyro, l_foot_rear_ft_gyro, r_foot_front_ft_gyro, r_foot_rear_ft_gyro, l_leg_ft_gyro, r_leg_ft_gyro)
+    (waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)
   </param>
   <param name="ThreeAxisLinearAccelerometersNames">
-    (waist_imu_0, l_foot_front_ft_acc, l_foot_rear_ft_acc, r_foot_front_ft_acc, r_foot_rear_ft_acc, l_leg_ft_acc, r_leg_ft_acc)
+    (waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)
   </param>
   <param name="ThreeAxisMagnetometersNames">
-    (waist_imu_0, l_foot_front_ft_mag, l_foot_rear_ft_mag, r_foot_front_ft_mag, r_foot_rear_ft_mag, l_leg_ft_mag, r_leg_ft_mag)
+    (waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)
   </param>
   <param name="OrientationSensorsNames">
-    (waist_imu_0, l_foot_front_ft_eul, l_foot_rear_ft_eul, r_foot_front_ft_eul, r_foot_rear_ft_eul, l_leg_ft_eul, r_leg_ft_eul)
+    (waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)
   </param>
   <param name="SixAxisForceTorqueSensorsNames">
     (l_foot_front_ft, l_foot_rear_ft, r_foot_front_ft, r_foot_rear_ft, l_leg_ft, r_leg_ft, r_arm_ft, l_arm_ft)

diff --git a/...arpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/webcams.xml b/...arpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/webcams.xml
@@ -6,9 +6,9 @@ BSD-3-Clause license. -->
 <devices>
 
   <device xmlns:xi="http://www.w3.org/2001/XInclude" name="jabra" type="opencv_grabber">
-      <param name="camera">4</param>
-      <param name="width">1280</param>
-      <param name="height">720</param>
+      <param name="camera">0</param>
+      <param name="width">1920</param>
+      <param name="height">1080</param>
   </device>
 
   <!-- Enable the following block if you want to collect retrieve the cameras of the robot -->
@@ -37,4 +37,6 @@ BSD-3-Clause license. -->
     <param name="DepthCarrier">tcp+send.portmonitor+file.depthimage_compression_zlib+recv.portmonitor+file.depthimage_compression_zlib+type.dll</param>
   </device> -->
 
+
 </devices>
+
diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/yarp-robot-logger.xml
@@ -102,10 +102,10 @@ BSD-3-Clause license. -->
     </group>
 
     <group name="InertialSensors">
-      <param name="accelerometers_list">(waist_imu_0, l_foot_front_ft_acc, l_foot_rear_ft_acc, r_foot_front_ft_acc, r_foot_rear_ft_acc, l_leg_ft_acc, r_leg_ft_acc)</param>
-      <param name="gyroscopes_list">(waist_imu_0, l_foot_front_ft_gyro, l_foot_rear_ft_gyro, r_foot_front_ft_gyro, r_foot_rear_ft_gyro, l_leg_ft_gyro, r_leg_ft_gyro)</param>
-      <param name="magnetometers_list">(waist_imu_0, l_foot_front_ft_mag, l_foot_rear_ft_mag, r_foot_front_ft_mag, r_foot_rear_ft_mag, l_leg_ft_mag, r_leg_ft_mag)</param>
-      <param name="orientation_sensors_list">(waist_imu_0, l_foot_front_ft_eul, l_foot_rear_ft_eul, r_foot_front_ft_eul, r_foot_rear_ft_eul, l_leg_ft_eul, r_leg_ft_eul)</param>
+      <param name="accelerometers_list">(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)</param>
+      <param name="gyroscopes_list">(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)</param>
+      <param name="magnetometers_list">(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)</param>
+      <param name="orientation_sensors_list">(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)</param>
     </group>
 
   </group>
@@ -130,3 +130,4 @@ BSD-3-Clause license. -->
   <!-- FINISH ATTACH-->
 
 </device>
+