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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,2 @@ | ||
| yarp_install(FILES applications/streamingSharedControl.xml | ||
| DESTINATION ${AMOR-YARP-DEVICES_APPLICATIONS_INSTALL_DIR}/streamingDeviceController) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,79 @@ | ||
| <application> | ||
| <name>haarDetection2D shared control app</name> | ||
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||
| <module> | ||
| <name>opencv_grabber</name> | ||
| <parameters>--name /frameGrabber2D --camera 1</parameters> | ||
| <node>localhost</node> | ||
| <deployer>yarpdev</deployer> | ||
| </module> | ||
|
|
||
| <module> | ||
| <name>haarDetection2D</name> | ||
| <parameters>--xmlCascade haarcascade_cocacola_can.xml</parameters> | ||
| <node>localhost</node> | ||
| </module> | ||
|
|
||
| <module> | ||
| <name>haarDetection2D</name> | ||
| <parameters>--xmlCascade haarcascade_frontalface_alt.xml</parameters> | ||
| <node>localhost</node> | ||
| </module> | ||
|
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||
| <module> | ||
| <name>yarpview</name> | ||
| <parameters>--name /haarDetection2D/yarpview/img:i --compact</parameters> | ||
| <node>localhost</node> | ||
| </module> | ||
|
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||
| <module> | ||
| <name>amorSim</name> | ||
| <node>localhost</node> | ||
| </module> | ||
|
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||
| <module> | ||
| <name>AmorCartesianControl</name> | ||
| <parameters>--name /amor/CartesianControl --kinematics /usr/local/share/amor/contexts/kinematics/armKinematics.ini</parameters> | ||
| <node>localhost</node> | ||
| <deployer>yarpdev</deployer> | ||
| </module> | ||
|
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||
| <module> | ||
| <name>BasicCartesianControl</name> | ||
| <parameters>--name /amorSim/CartesianControl --from /usr/local/share/amor/contexts/kinematics/armKinematics.ini --local /BasicCartesianControl/amorSim --remote /amorRobot/amorManipulator</parameters> | ||
| <node>localhost</node> | ||
| <deployer>yarpdev</deployer> | ||
| </module> | ||
|
|
||
| <module> | ||
| <name>SpaceNavigator</name> | ||
| <parameters>--period 5 --name /spacenavigator --channels 8</parameters> | ||
| <node>localhost</node> | ||
| <deployer>yarpdev</deployer> | ||
| </module> | ||
|
|
||
| <module> | ||
| <name>streamingDeviceController</name> | ||
| <parameters>--streamingDevice SpaceNavigator --remoteCartesian /amor/CartesianControl --SpaceNavigator::remote /spacenavigator</parameters> | ||
| </module> | ||
|
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||
| <module> | ||
| <name>streamingDeviceController</name> | ||
| <parameters>--streamingDevice SpaceNavigator --remoteCartesian /amorSim/CartesianControl --SpaceNavigator::remote /spacenavigator</parameters> | ||
| </module> | ||
|
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||
| <module> | ||
| <name>streamingDeviceController</name> | ||
| <parameters>--streamingDevice SpaceNavigator --remoteCartesian /amor/CartesianControl --SpaceNavigator::remote /spacenavigator --remoteCentroid /haarDetection2D/state:o --centroidPermTime 1.0</parameters> | ||
| </module> | ||
|
|
||
| <module> | ||
| <name>streamingDeviceController</name> | ||
| <parameters>--streamingDevice SpaceNavigator --remoteCartesian /amorSim/CartesianControl --SpaceNavigator::remote /spacenavigator --remoteCentroid /haarDetection2D/state:o --centroidPermTime 1.0</parameters> | ||
| </module> | ||
|
|
||
| <connection> | ||
| <from>/haarDetection2D/img:o</from> | ||
| <to>/haarDetection2D/yarpview/img:i</to> | ||
| </connection> | ||
| </application> |