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cmvr-es/config/cabin_robot.xml

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<CMVR-ES>
<Constants rootDir="/home/xtkuang/projects/cmvr-es"/>
<Logger dir="../log" level="info" bufSize="5" logSize="1024"/>
<DeviceManager name="cmvr_es" ver="0.1" description="cmvr edge system version 0.1">
<Devices>
<AGV>
</AGV>
<Battery>
</Battery>
<Camera>
<!-- <UVCCamera id="cam1" serial="/dev/video6" w="640" h="480" fps="30" mode="video" codec="H265"/>-->
<!-- <UVCCamera id="cam2" serial="/dev/video14" w="640" h="480" fps="30" mode="video" codec="H265"/>-->
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<!-- <RealsenseCamera id="cam3" serial="243122072252" w="640" h="480" fps="30" mode="video" stream_mode="rgbd" align_mode="color" codec="H265"/>-->
<RealsenseCamera id="cam4" serial="243122075614" w="640" h="480" fps="30" mode="video" stream_mode="rgbd" align_mode="color" codec="H265"/>
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<!-- <MechMind id="cam5" ip="10.148.108.111" align="true" _2dtype="color"/>-->
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<!-- <RealsenseCamera id="cam6" serial="243122075389" w="640" h="480" fps="30" mode="video" stream_mode="rgbd" align_mode="color" codec="H265"/>-->
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</Camera>
<DexHand>
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<RH56DFTP id="hand1" default_force="500" default_speed="500" ip_address="10.148.108.115" port="6000">
<Freedom order="01" default_force="500" default_speed="500" />
</RH56DFTP>
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<!-- <RH56DFTP id="hand2" default_force="500" default_speed="500" ip_address="10.148.108.113" port="6000">-->
<!-- <Freedom order="01" default_force="500" default_speed="500" />-->
<!-- </RH56DFTP>-->
</DexHand>
<Robot>
<!-- <LeftArm id="left_arm" devtype="ti5Robot" />-->
<!-- <RightArm />-->
<!-- <Neck/>-->
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<!-- <Humanoid id="hc01" dof="14"-->
<!-- urdf="/home/lgv/cmvr/cmvr-es/config/robot_description/hc_description/dual_arm.urdf"-->
<!-- baseLink="PELVIS_S"-->
<!-- jointNames="L_SHOULDER_P,L_SHOULDER_R,L_SHOULDER_Y,L_ELBOW_R,L_WRIST_P,L_WRIST_Y,L_WRIST_R,R_SHOULDER_P,R_SHOULDER_R,R_SHOULDER_Y,R_ELBOW_R,R_WRIST_P,R_WRIST_Y,R_WRIST_R"-->
<!-- linkNames="PELVIS_S,L_SHOULDER_P_S,L_SHOULDER_R_S,L_SHOULDER_Y_S,L_ELBOW_R_S,L_WRIST_P_S,L_WRIST_Y_S,L_WRIST_R_S,R_SHOULDER_P_S,R_SHOULDER_R_S,R_SHOULDER_Y_S,R_ELBOW_R_S,R_WRIST_P_S,R_WRIST_Y_S,R_WRIST_R_S"-->
<!-- bufferSize="50">-->
<!-- <CanManger id="" devId="">-->
<!-- <LeftArmCan id = " " devId = " " channelId ="0">-->
<!-- <Motor id="23" jointName="L_SHOULDER_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- <Motor id="24" jointName="L_SHOULDER_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- <Motor id="25" jointName="L_SHOULDER_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- <Motor id="26" jointName="L_ELBOW_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- <Motor id="27" jointName="L_WRIST_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- <Motor id="28" jointName="L_WRIST_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
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<!-- <Motor id="29" jointName="L_WRIST_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
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<!-- </LeftArmCan>-->
<!-- <RightArmCan id = " " devId = " " channelId ="1">-->
<!-- <Motor id="16" jointName="R_SHOULDER_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- <Motor id="17" jointName="R_SHOULDER_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- <Motor id="18" jointName="R_SHOULDER_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- <Motor id="19" jointName="R_ELBOW_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- <Motor id="20" jointName="R_WRIST_P" limitQLb="-3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- <Motor id="21" jointName="R_WRIST_Y" limitQLb="-1.102" limitQUb="1.02" limitQd="3.0"/>-->
<!-- <Motor id="22" jointName="R_WRIST_R" limitQLb="-0.293" limitQUb="1.57079" limitQd="3.0"/>-->
<!-- </RightArmCan>-->
<!-- <WaistCan id = " " devId = " " channelId ="2">-->
<!-- <Motor id="14" jointName="WAIST_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- <Motor id="15" jointName="WAIST_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- </WaistCan>-->
<!-- </CanManger>-->
<!-- </Humanoid>-->
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</Robot>
<BioHead>
<!-- <esp32 id="bio_head" serial="/dev/ttyUSB0" ctrlFreq="50">-->
<!-- &lt;!&ndash; 配置左眉毛，舵机通道 0~3 &ndash;&gt;-->
<!-- <EyeBrow serial="64:0~3" offest="90 90 90 90"-->
<!-- jLmtUp="170 170 170 170" jLmtLow="10 10 10 10"/>-->
<!-- &lt;!&ndash; 配置眼睛，舵机通道 4~9 &ndash;&gt;-->
<!-- <Eye serial="64:4~9" offest="90 90 90 90 90 90"-->
<!-- jLmtUp="170 170 170 170 170 170" jLmtLow="10 10 10 10 10 10"/>-->
<!-- &lt;!&ndash; 配置嘴巴，舵机通道 0~8 &ndash;&gt;-->
<!-- <Mouth serial="65:0~8" offest="90 90 90 90 90 90 90 90 90"-->
<!-- jLmtUp="170 170 170 170 170 170 170 170 170" jLmtLow="10 10 10 10 10 10 10 10 10"/>-->
<!-- </esp32>-->
</BioHead >
<Microphone>
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<!-- <ffmpegMicPhone id="mic1" alsa="hw:0" channels="2" sampleRate="44100" volume="80"/>-->
<ffmpegMicPhone id="mic2" alsa="hw:1" channels="1" sampleRate="44100" volume="80"/>
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</Microphone>
<Speaker>
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<ffmpegSpeaker id="spk1" serial="" alas="hw:0,0" channels="2" sampleRate="44100" softResample="1" latency="500000" volume="80"/>
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</Speaker>
<Canbus>
<!-- <rightArmCan id="can1" brand="SOCKET_CAN_RAW" type="USB_CARD" channel_id="CHANNEL_ID_ZERO" interface="NATIVE" baudrate="BCAN_BAUDRATE_500K"/>-->
</Canbus>
</Devices>
<HighLevelController>
<BioHeadExpre headId="bio_head" />
<CartesianWBC urdf="" />
<ScreenTouch robotID="" DexhandID="" />
</HighLevelController>
</DeviceManager>
<MonitorManager>
<DiskMonitor id="file_monitor" freq="1">
<!-- <Folder fileDir="/home/share/assets/audio" maxVolume="1000"/>-->
<!-- <Folder fileDir="/home/share/assets/image" maxVolume="1000"/>-->
<!-- <Folder fileDir="/home/share/assets/video" maxVolume="1000"/>-->
<!-- <Folder fileDir="../log" maxVolume="1000"/>-->
</DiskMonitor>
<JointMonitor id="robot_joint_monitor" freq="200">
<RobotJoint robotID="left_arm" motorID="0" maxTemp="80" maxCurrent="5" maxVel="2"/>
<RobotJoint robotID="left_arm" motorID="1" maxTemp="80" maxCurrent="5" maxVel="2"/>
<RobotJoint robotID="left_arm" motorID="2" maxTemp="80" maxCurrent="5" maxVel="2"/>
<RobotJoint robotID="left_arm" motorID="3" maxTemp="80" maxCurrent="5" maxVel="2"/>
<RobotJoint robotID="left_arm" motorID="4" maxTemp="80" maxCurrent="5" maxVel="2"/>
<RobotJoint robotID="left_arm" motorID="6" maxTemp="80" maxCurrent="5" maxVel="2"/>
<RobotJoint robotID="left_arm" motorID="7" maxTemp="80" maxCurrent="5" maxVel="2"/>
<RobotJoint robotID="right_arm" motorID="0" maxTemp="80" maxCurrent="5" maxVel="2"/>
<RobotJoint robotID="right_arm" motorID="1" maxTemp="80" maxCurrent="5" maxVel="2"/>
<RobotJoint robotID="right_arm" motorID="2" maxTemp="80" maxCurrent="5" maxVel="2"/>
<RobotJoint robotID="right_arm" motorID="3" maxTemp="80" maxCurrent="5" maxVel="2"/>
<RobotJoint robotID="right_arm" motorID="4" maxTemp="80" maxCurrent="5" maxVel="2"/>
<RobotJoint robotID="right_arm" motorID="6" maxTemp="80" maxCurrent="5" maxVel="2"/>
<RobotJoint robotID="right_arm" motorID="7" maxTemp="80" maxCurrent="5" maxVel="2"/>
</JointMonitor>
</MonitorManager>
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<gRPCServer port="50060">
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</gRPCServer>
</CMVR-ES>
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