DCM_WALKING_COORDINATOR_+_RETARGETING.xml

<!-- Copyright (C) 2018 Fondazione Istituto Italiano di Tecnologia (IIT) -->
<!-- All Rights Reserved. -->
<!-- Author: Giulio Romualdi <giulio.romualdi@iit.it> -->

<application>

  <name>DCM walking coordinator + retargeting</name>
  <description>2D-DCM walking application.</description>
  <version>1.0</version>
  <authors>
    <author email="giulio.romualdi@iit.it">Giulio Romualdi</author>
    <author email="yue.hu@iit.it">Yue Hu</author>
  </authors>

<!-- Devices -->

	<module>
		<name>yarpdev</name>
    <parameters> --from camera/ServerGrabberDualDragon.ini --split true</parameters>
		<node>icub-head</node>
	</module>

	<module>
		<name>camCalibWithPose</name>
		<parameters>--context cameraCalibration --from icubEyes.ini --group CAMERA_CALIBRATION_LEFT --name /icub/camcalib/left --useIMU</parameters>  
		<node>icub30</node>
	</module>

	<module>
		<name>camCalibWithPose</name>
		<parameters>--context cameraCalibration --from icubEyes.ini --group CAMERA_CALIBRATION_RIGHT --name /icub/camcalib/right --useIMU</parameters> 
		<node>icub30</node>
	</module>

	<module>
		<name>yarpdev</name>
	  <parameters>--device transformServer --ROS::enable_ros_publisher 0 --ROS::enable_ros_subscriber 0</parameters>
		<node>icub-virtualizer</node>
	</module>

	<module>
		<name>yarpdev</name>
	  <parameters> --device JoypadControlServer --use_separate_ports 1 --period 10 --name /joypadDevice/Oculus --subdevice ovrheadset --sticks 0  --tfDevice transformClient --tfLocal /oculustf --tfRemote /transformServer --tf_left_hand_frame loculus --tf_right_hand_frame roculus --tf_root_frame oculusworld --stick_as_axis true --gui_elements 0</parameters>
		<node>icub-virtualizer</node>
	</module>


<!-- Modules -->
  <module>
    <name>WalkingModule</name>
    <node>icub-head</node>
  </module>

<!--  <module>
    <name>WalkingLogger</name>
    <node>icub30</node>
  </module> -->

  <module>
    <name>VirtualizerModule</name>
    <node>icub-virtualizer</node>
    <parameters> --context virtualizerRetargeting </parameters>
  </module>

  <module>
    <name>OculusRetargetingModule</name>
    <node>icub-virtualizer</node>
    <dependencies>
        <port timeout="5">/joypadDevice/Oculus/buttons:o</port>
    </dependencies> 
  </module>

<!-- Connections -->
  <!-- Hand retargeting  -->
  <connection>
    <from>/oculusRetargeting/leftHandPose:o</from>
    <to>/walking-coordinator/leftHandDesiredPose:i</to>
  </connection>

  <connection>
    <from>/oculusRetargeting/rightHandPose:o</from>
    <to>/walking-coordinator/rightHandDesiredPose:i</to>
  </connection>

  <!-- Virtualizer and Oculus -->
  <connection>
    <from>/walking-coordinator/torsoYaw:o</from>
    <to>/virtualizer/robotOrientation:i</to>
  </connection>

  <connection>
    <from>/virtualizer/rpc:o</from>
    <to>/walking-coordinator/rpc</to>
  </connection>

  <connection>
    <from>/virtualizer/playerOrientation:o</from>
    <to>/oculusRetargeting/playerOrientation:i</to>
  </connection>

  <connection>
    <from>/joypadDevice/Oculus/buttons:o</from>
    <to>/oculusRetargeting/joypadOculus:i</to>
  </connection>

  <connection>
    <from>/oculus/headpose/orientation:o</from>
    <to>/oculusRetargeting/oculusOrientation:i</to>
  </connection>

<!--  <connection>
    <from>/walking-coordinator/logger/data:o</from>
    <to>/walking-coordinator/data:i</to>
  </connection>

  <connection>
    <from>/walking-coordinator/logger/rpc:o</from>
    <to>/logger/rpc:i</to>
  </connection> -->

	<!-- Camera-->
	<connection>
		<from>/icub/cam/left</from>
		<to>/icub/camcalib/left/in</to>
		<protocol>mjpeg</protocol>
	</connection>
	<connection>
		<from>/icub/cam/right</from>
		<to>/icub/camcalib/right/in</to>
		<protocol>mjpeg</protocol>
	</connection>
	<connection>
		<from>/icub/head/state:o</from>
		<to>/icub/camcalib/left/head_encs/in</to>
		<protocol>udp</protocol>
	</connection>
	<connection>
		<from>/icub/head/state:o</from>
		<to>/icub/camcalib/right/head_encs/in</to>
		<protocol>udp</protocol>
	</connection>
	<connection>
		<from>/icub/inertial</from>
		<to>/icub/camcalib/left/imu/in</to>
		<protocol>udp</protocol>
	</connection>
	<connection>
		<from>/icub/inertial</from>
		<to>/icub/camcalib/right/imu/in</to>
		<protocol>udp</protocol>
	</connection>

	<connection>
		<from>/icub/camcalib/left/out</from>
		<to>/oculus/display/left:i</to>
		<protocol>mjpeg</protocol>
	</connection>

	<connection>
		<from>/icub/camcalib/right/out</from>
		<to>/oculus/display/right:i</to>
		<protocol>mjpeg</protocol>
	</connection> 

</application>