142 lines
7.8 KiB
XML
142 lines
7.8 KiB
XML
<CMVR-ES>
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<Constants rootDir="/home/xtkuang/projects/cmvr-es"/>
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<Logger dir="../log" level="info" bufSize="5" logSize="1024"/>
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<HardwareManager>
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<CanManager>
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<CanGroup id="LeftArmCAN" channelId="0" enable="true">
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<MotorProtocolManager>
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<!-- 这里每个协议节点中配置的参数应该是can通信协议中可修改的默认配置，比如钛虎电机默认的加速度，速度，限位-->
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<Ti5MotorProtocol id="23" jointName="L_SHOULDER_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
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<Ti5MotorProtocol id="24" jointName="L_SHOULDER_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
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<Ti5MotorProtocol id="25" jointName="L_SHOULDER_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
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<Ti5MotorProtocol id="26" jointName="L_ELBOW_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
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<Ti5MotorProtocol id="27" jointName="L_WRIST_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
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<Ti5MotorProtocol id="28" jointName="L_WRIST_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
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<Ti5MotorProtocol id="1" jointName="L_WRIST_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
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</MotorProtocolManager>
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</CanGroup>
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<CanGroup id="RightArmCAN" channelId="1" enable="true">
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<MotorProtocolManager>
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<Ti5MotorProtocol id="16" jointName="R_SHOULDER_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
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<Ti5MotorProtocol id="17" jointName="R_SHOULDER_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
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<Ti5MotorProtocol id="18" jointName="R_SHOULDER_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
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<Ti5MotorProtocol id="19" jointName="R_ELBOW_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
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<Ti5MotorProtocol id="20" jointName="R_WRIST_P" limitQLb="-3.14" limitQUb="3.14" limitQd="3.0"/>
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<Ti5MotorProtocol id="21" jointName="R_WRIST_Y" limitQLb="-1.102" limitQUb="1.02" limitQd="3.0"/>
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<Ti5MotorProtocol id="22" jointName="R_WRIST_R" limitQLb="-0.293" limitQUb="1.57079" limitQd="3.0"/>
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</MotorProtocolManager>
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</CanGroup>
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<CanGroup id="NeckCAN" channelId ="2" enable="true">
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<MotorProtocolManager>
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<Ti5MotorProtocol id="32" jointName="HEAD_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
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<Ti5MotorProtocol id="30" jointName="HEAD_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
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<Ti5MotorProtocol id="31" jointName="HEAD_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
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</MotorProtocolManager>
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</CanGroup>
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<CanGroup id = "WaistCAN" channelId ="3" enable="false">
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<MotorProtocolManager>
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<Ti5MotorProtocol id="14" jointName="WAIST_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
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<Ti5MotorProtocol id="15" jointName="WAIST_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
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</MotorProtocolManager>
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</CanGroup>
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</CanManager>
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<SerialManager>
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<RS485Manager>
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</RS485Manager>
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<IOManager>
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</IOManager>
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</SerialManager>
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</HardwareManager>
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<DeviceManager>
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<Devices>
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<AGV>
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</AGV>
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<Battery>
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</Battery>
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<Camera>
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<UVCCamera id="cam1" serial="/dev/video6" w="640" h="480" fps="30" mode="video" codec="H265"/>
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<UVCCamera id="cam2" serial="/dev/video14" w="640" h="480" fps="30" mode="video" codec="H265"/>
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<RealsenseCamera id="left_hand_cam" serial="243122072252" w="640" h="480" fps="30" mode="video" stream_mode="rgbd" align_mode="color" codec="H265"/>
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<RealsenseCamera id="right_hand_cam4" serial="243122075614" w="1280" h="720" fps="30" mode="video" stream_mode="rgbd" align_mode="color" codec="H265"/>
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</Camera>
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<DexHand>
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<RH56DFTP id="left_hand" default_force="500" default_speed="500" ip_address="192.168.1.223" port="6000"/>
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<RH56DFTP id="right_hand" default_force="500" default_speed="500" ip_address="192.168.1.223" port="6000"/>
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</DexHand>
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<Robot>
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<Robot id="" urdfPath="">
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<ControllerManager>
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<ComponentGroup id="leftArm" CanGroupID="LeftArmCAN">
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<JointPositionCtrl defaultSpeed="" defaultAcc=""/>
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<CartesianController baseLine="" eeLink="" defaultSpeed="" defaultAcc=""/>
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</ComponentGroup>
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<ComponentGroup id="rightArm" CanGroupID="RightArmCAN">
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<JointPositionCtrl/>
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</ComponentGroup>
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<ComponentGroup id="WholeBody" CanGroupID="LeftArmCAN,RightArmCAN,NeckCAN,WaistCAN">
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<JointPositionCtrl/>
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</ComponentGroup>
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</ControllerManager>
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</Robot>
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</Robot>
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<BioHead>
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</BioHead >
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<Microphone>
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<!-- <ffmpegMicPhone id="mic1" alsa="hw:0" channels="2" sampleRate="44100" volume="80"/>-->
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<ffmpegMicPhone id="mic2" alsa="hw:1" channels="1" sampleRate="44100" volume="80"/>
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</Microphone>
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<Speaker>
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<ffmpegSpeaker id="spk1" alas="hw:0,0" channels="2" sampleRate="44100" softResample="1" latency="50000" volume="80"/>
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</Speaker>
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</Devices>
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<HighLevelController>
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<BioHeadExpre headId="bio_head" />
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<CartesianWBC urdf="" />
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<ScreenTouch robotID="" DexhandID="" />
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</HighLevelController>
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</DeviceManager>
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<MonitorManager>
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<DiskMonitor id="file_monitor" freq="1">
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<!-- <Folder fileDir="/home/share/assets/audio" maxVolume="1000"/>-->
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<!-- <Folder fileDir="/home/share/assets/image" maxVolume="1000"/>-->
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<!-- <Folder fileDir="/home/share/assets/video" maxVolume="1000"/>-->
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<!-- <Folder fileDir="../log" maxVolume="1000"/>-->
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</DiskMonitor>
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<JointMonitor id="robot_joint_monitor" freq="200">
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<RobotJoint robotID="left_arm" motorID="0" maxTemp="80" maxCurrent="5" maxVel="2"/>
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<RobotJoint robotID="left_arm" motorID="1" maxTemp="80" maxCurrent="5" maxVel="2"/>
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<RobotJoint robotID="left_arm" motorID="2" maxTemp="80" maxCurrent="5" maxVel="2"/>
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<RobotJoint robotID="left_arm" motorID="3" maxTemp="80" maxCurrent="5" maxVel="2"/>
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<RobotJoint robotID="left_arm" motorID="4" maxTemp="80" maxCurrent="5" maxVel="2"/>
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<RobotJoint robotID="left_arm" motorID="6" maxTemp="80" maxCurrent="5" maxVel="2"/>
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<RobotJoint robotID="left_arm" motorID="7" maxTemp="80" maxCurrent="5" maxVel="2"/>
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<RobotJoint robotID="right_arm" motorID="0" maxTemp="80" maxCurrent="5" maxVel="2"/>
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<RobotJoint robotID="right_arm" motorID="1" maxTemp="80" maxCurrent="5" maxVel="2"/>
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<RobotJoint robotID="right_arm" motorID="2" maxTemp="80" maxCurrent="5" maxVel="2"/>
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<RobotJoint robotID="right_arm" motorID="3" maxTemp="80" maxCurrent="5" maxVel="2"/>
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<RobotJoint robotID="right_arm" motorID="4" maxTemp="80" maxCurrent="5" maxVel="2"/>
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<RobotJoint robotID="right_arm" motorID="6" maxTemp="80" maxCurrent="5" maxVel="2"/>
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<RobotJoint robotID="right_arm" motorID="7" maxTemp="80" maxCurrent="5" maxVel="2"/>
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</JointMonitor>
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</MonitorManager>
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<Server>
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<gRPCServer port="50052"/>
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</Server>
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</CMVR-ES> |