Skip to content

Commit

Permalink
Ref #20 Merged branch feature/WYSIWYG into master, plus some code ref…
Browse files Browse the repository at this point in the history 
…actoring for improved readability
  • Loading branch information
@alecive
alecive committed May 3, 2016
2 parents e8d9606 + 2edcca0 commit eacb274
Show file tree
Hide file tree
Showing 33 changed files with 3,001 additions and 372 deletions.
2 changes: 1 addition & 1 deletion app/conf/visuoTactileRF.ini
View file
Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
name visuoTactileRF
robot icub
rate 50
rate 20
verbosity 0
modality 1D
2 changes: 1 addition & 1 deletion app/scripts/PPS_OptFlow.xml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -162,7 +162,7 @@
<protocol>tcp</protocol>
</connection>
<connection>
<from>/visuoTactileRF/skin_events:o</from>
<from>/visuoTactileRF/pps_events_aggreg:o</from>
<to>/avoidance/data:i</to>
<protocol>tcp</protocol>
</connection>
Expand Down
270 changes: 270 additions & 0 deletions app/scripts/ppsAndReactControl_LyonIntegrated.xml
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,270 @@
<application>
<name>PPSReactCtrl_LyonIntegrated</name>

<dependencies>
</dependencies>

<module>
<name>reactController</name>
<parameters></parameters>
<node>icub-b3</node>
<stdio></stdio>
<tag>reactController</tag>
</module>

<module>
<name>skinEventsAggregator</name>
<parameters>general::robot icub</parameters>
<node>console1</node>
<stdio></stdio>
<tag>skinEventsAggreg</tag>
</module>

<module>
<name>ppsAggregEventsForiCubGui</name>
<parameters></parameters>
<node>console1</node>
<stdio></stdio>
<tag>aggregEvForiCubGui</tag>
</module>

<module>
<name>pf3dTracker</name>
<parameters>--from pf3dTracker.ini</parameters>
<node>icub-b1</node>
<tag>PF3DTracker</tag>
</module>

<module>
<name>visuoTactileWrapper</name>
<parameters>--noDoubleTouch</parameters>
<node>icub-b2</node>
<stdio></stdio>
</module>

<module>
<name>visuoTactileRF</name>
<parameters>--taxelsFile taxels1D_learnedAll.ini --rate 20</parameters>
<node>icub-b2</node>
<stdio></stdio>
</module>


<module>
<name>yarpview</name>
<parameters>--name /PF3DT_viewer --RefreshTime 33 --x 2340 --y 275 --w 320 --h 260 --compact</parameters>
<node>rococo</node>
<tag>PF3DTracker_viewer</tag>
</module>


<module>
<name>skinManagerGui</name>
<parameters>--from skinManGui.ini --context skinGui --xpos 1020 --ypos 350</parameters>
<node>console1</node>
<tag>skinManGui</tag>
</module>

<module>
<name>iCubSkinGui</name>
<!-- Remember to use the proper configuration files (i.e. "_V2.ini" for V2 robots) -->
<parameters>--from right_arm.ini --useCalibration --xpos 1305 --ypos 390 --width 300 --height 230</parameters>
<node>rococo</node>
<tag>skinGuiRA</tag>
</module>
<module>
<name>iCubSkinGui</name>
<!-- Remember to use the proper configuration files (i.e. "_V2.ini" for V2 robots) -->
<parameters>--from right_forearm.ini --useCalibration --xpos 1305 --ypos 620 --width 300 --height 230</parameters>
<node>rococo</node>
<tag>skinGuiRF</tag>
</module>



<!--module>
<name></name>
<parameters></parameters>
<node>localhost</node>
<stdio></stdio>
<tag></tag>
</module-->

<connection>
<from>/reactController/gui:o</from>
<to>/iCubGui/objects</to>
<protocol>udp</protocol>
</connection>

<connection>
<from>/skinManager/skin_events:o</from>
<to>/skinEventsAggregator/skin_events:i</to>
<protocol>udp</protocol>
</connection>

<connection>
<from>/skinEventsAggregator/skin_events_aggreg:o</from>
<to>/reactController/skin_events_aggreg:i</to>
<protocol>udp</protocol>
</connection>

<connection>
<from>/visuoTactileRF/pps_events_aggreg:o</from>
<to>/reactController/pps_events_aggreg:i</to>
<protocol>udp</protocol>
</connection>


<connection>
<from>/skinEventsAggregator/skin_events_aggreg:o</from>
<to>/ppsAggregEventsForiCubGui/skin_events_aggreg:i</to>
<protocol>udp</protocol>
</connection>

<connection>
<from>/visuoTactileRF/pps_events_aggreg:o</from>
<to>/ppsAggregEventsForiCubGui/pps_events_aggreg:i</to>
<protocol>udp</protocol>
</connection>

<connection>
<from>/ppsAggregEventsForiCubGui/contacts:o</from>
<to>/iCubGui/forces</to>
<protocol>udp</protocol>
</connection>

<connection>
<from>/skinManager/skin_events:o</from>
<to>/visuoTactileRF/skin_events:i</to>
<protocol>tcp</protocol>
</connection>
<connection>
<from>/icub/camcalib/left/out</from>
<to>/pf3dTracker/video:i</to>
<protocol>tcp</protocol>
</connection>
<connection>
<from>/pf3dTracker/video:o</from>
<to>/PF3DT_viewer</to>
<protocol>tcp</protocol>
</connection>
<connection>
<from>/pf3dTracker/data:o</from>
<to>/visuoTactileWrapper/pf3dTracker:i</to>
<protocol>tcp</protocol>
</connection>

<connection>
<from>/visuoTactileWrapper/gui:o</from>
<to>/iCubGui/objects</to>
<protocol>tcp</protocol>
</connection>

<connection>
<from>/icub/camcalib/left/out</from>
<to>/visuoTactileRF/imageL:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/icub/camcalib/right/out</from>
<to>/visuoTactileRF/imageR:i</to>
<protocol>udp</protocol>
</connection>

<connection>
<from>/visuoTactileWrapper/events:o</from>
<to>/visuoTactileRF/events:i</to>
<protocol>tcp</protocol>
</connection>

<connection>
<from>/visuoTactileRF/skinGuiForearmL:o</from>
<to>/skinGui/left_forearm_virtual:i</to>
<protocol>tcp</protocol>
</connection>
<connection>
<from>/visuoTactileRF/skinGuiForearmR:o</from>
<to>/skinGui/right_forearm_virtual:i</to>
<protocol>tcp</protocol>
</connection>
<connection>
<from>/visuoTactileRF/skinGuiHandL:o</from>
<to>/skinGui/left_hand_virtual:i</to>
<protocol>tcp</protocol>
</connection>
<connection>
<from>/visuoTactileRF/skinGuiHandR:o</from>
<to>/skinGui/right_hand_virtual:i</to>
<protocol>tcp</protocol>
</connection>


<connection>
<from>/skinManager/skin_events:o</from>
<to>/wholeBodyDynamics/skin_contacts:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/skinManagerGui/rpc:o</from>
<to>/skinManager/rpc</to>
<protocol>tcp</protocol>
</connection>
<connection>
<from>/skinManager/monitor:o</from>
<to>/skinManagerGui/monitor:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/skinManager/info:o</from>
<to>/skinManagerGui/info:i</to>
<protocol>tcp</protocol>
</connection>

<connection>
<from>/icub/skin/right_hand_comp</from>
<to>/skinGui/right_hand:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/icub/skin/right_forearm_comp</from>
<to>/skinGui/right_forearm:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/icub/skin/right_arm_comp</from>
<to>/skinGui/right_arm:i</to>
<protocol>udp</protocol>
</connection>

<connection>
<from>/icub/head/state:o</from>
<to>/iCubGui/head:i</to>
<protocol>udp</protocol>
</connection>

<connection>
<from>/icub/left_arm/state:o</from>
<to>/iCubGui/left_arm:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/icub/right_arm/state:o</from>
<to>/iCubGui/right_arm:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/icub/torso/state:o</from>
<to>/iCubGui/torso:i</to>
<protocol>udp</protocol>
</connection>





<!--connection>
<from></from>
<to></to>
<protocol>udp</protocol>
</connection-->
</application>
Loading

0 comments on commit eacb274

Please sign in to comment.