[R1SN003] Update configuration files after hardware upgrade

[AntonioConsilvio]

What changes:

This PR changes the configuration files following a hardware upgrade of the robot arms and lowerarms.

cc @randaz81 @elandini84 @fbrand-new

[pattacini]

The CI failed.
I need to check it.

[pattacini]

Let's target master anyway.

[pattacini]

Pushed this fix:

• f3e6ddd

[pattacini]

Hi @AntonioConsilvio

The CI is now happy.

At any rate, we still have lots of occurrences of cer. This the result of running grep:

./calibrators/cer_base-calib.xml:                   <param name="target">cer_mobile_base_mc_remapper</param>
./calibrators/cer_base-calib.xml:                   <param name="target">cer_mobile_base_mc_remapper</param>
./calibrators/cer_torso-calib.xml:                  <param name="target">cer_torso_mc_remapper</param>
./calibrators/cer_torso-calib.xml:                  <param name="target">cer_torso_mc_remapper</param>
./calibrators/cer_torso-calib.xml:                  <param name="target">cer_torso_mc_remapper</param>
./calibrators/cer_head-calib.xml:                   <param name="target">cer_head_mc_remapper</param>
./calibrators/cer_head-calib.xml:                   <param name="target">cer_head_mc_remapper</param>
./camera/ServerGrabberDual.ini:name /cer/cam
./hardware/battery/r1battery.xml:    <xi:include href="../electronics/cer_base-ems1-eln.xml" />
./hardware/motorControl/cer_base-ems1-mc.xml:  <device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_mobile_base_mc" type="embObjMotionControl">
./hardware/motorControl/cer_base-ems1-mc.xml:      <xi:include href="../electronics/cer_base-ems1-eln.xml" />
./hardware/motorControl/cer_base-ems1-mc.xml:      <xi:include href="../mechanicals/cer_base-ems1-mec.xml" />
./hardware/motorControl/cer_base-ems1-mc.xml:      <xi:include href="../motorControl/cer_base-ems1-mc-service.xml" />
./hardware/motorControl/cer_torso-ems3-mc.xml: <!-- Initialization file for EMS 15 - CER torso tripod + yaw, 4 dof -->
./hardware/motorControl/cer_torso-ems3-mc.xml:  <device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_torso_mc" type="embObjMotionControl">
./hardware/motorControl/cer_torso-ems3-mc.xml:      <xi:include href="../electronics/cer_torso-ems3-eln.xml" />
./hardware/motorControl/cer_torso-ems3-mc.xml:      <xi:include href="../mechanicals/cer_torso-ems3-mec.xml" />
./hardware/motorControl/cer_torso-ems3-mc.xml:      <xi:include href="../motorControl/cer_torso-ems3-mc-service.xml" />
./hardware/motorControl/cer_torso_equivalent-mc.xml:  <device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_torso_equivalent_mc" type="tripodMotionControl">
./hardware/motorControl/cer_torso_equivalent-mc.xml:          <elem name="FirstSetOfJoints"> cer_torso_mc </elem>
./hardware/motorControl/cer_head-mcp10-mc.xml: <!-- Initialization file for EMS 10 - CER head, 2 dof -->
./hardware/motorControl/cer_head-mcp10-mc.xml:  <device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_head_mc" type="embObjMotionControl">
./hardware/motorControl/cer_head-mcp10-mc.xml:      <xi:include href="../electronics/cer_head-mcp10-eln.xml" />
./hardware/motorControl/cer_head-mcp10-mc.xml:      <xi:include href="../mechanicals/cer_head-mcp10-mec.xml" />
./hardware/motorControl/cer_head-mcp10-mc.xml:      <xi:include href="../motorControl/cer_head-mcp10-mc-service.xml" />
./hardware/odometry/odometry.xml:<device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_odometry" type="cerOdometry">
./hardware/odometry/odometry.xml:            <param name="device">  cer_mobile_base_mc_remapper </param>
./hardware/rpLidar/laserA2_hw.xml:    <device name="cerLaser" type="rpLidar2"> 
./hardware/rpLidar/laserA2_hw.xml:            <param name="name">            cer_laser     </param>           
./hardware/rpLidar/laserA2_hw_back.xml:    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_laser_back_device" type="rpLidar2">  
./hardware/rpLidar/laserA2_hw_back.xml:            <param name="name">            cer_laserBack </param>
./hardware/rpLidar/laserA2_hw_double.xml:    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_double_laser_device" type="cerDoubleLidar">  
./hardware/rpLidar/laserA2_hw_double.xml:            <elem name="L_Front">  cer_laser_front_device </elem>
./hardware/rpLidar/laserA2_hw_double.xml:            <elem name="L_Back">   cer_laser_back_device </elem>
./hardware/rpLidar/laserA2_hw_front.xml:    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_laser_front_device" type="rpLidar2">  
./hardware/rpLidar/laserA2_hw_front.xml:            <param name="name">            cer_laserFront     </param>
./hardware/rpLidar/laserA3_hw_back.xml:    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_laser_back_device" type="rpLidar3">  
./hardware/rpLidar/laserA3_hw_back.xml:            <param name="name">            cer_laserBack </param>
./hardware/rpLidar/laserA3_hw_double.xml:    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_double_laser_device" type="cerDoubleLidar">  
./hardware/rpLidar/laserA3_hw_double.xml:            <elem name="L_Front">  cer_laser_front_device </elem>
./hardware/rpLidar/laserA3_hw_double.xml:            <elem name="L_Back">   cer_laser_back_device </elem>
./hardware/rpLidar/laserA3_hw_front.xml:    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_laser_front_device" type="rpLidar3">  
./hardware/rpLidar/laserA3_hw_front.xml:            <param name="name">            cer_laserFront     </param>
./realsense2.xml:<robot name="cer-realsense-cameras" build="2" portprefix="test" xmlns:xi="http://www.w3.org/2001/XInclude">
./wrappers/VFT/left_arm-VFT_wrapper.xml:        <param name="name"> /cer/joint_vsens/left_arm:i </param>
./wrappers/VFT/right_arm-VFT_wrapper.xml:        <param name="name"> /cer/joint_vsens/right_arm:i </param>
./wrappers/battery/r1battery.xml:      <param name="name">        /cer/battery </param>
./wrappers/battery/r1battery_nws_ros2.xml:      <param name="node_name"> cer_battery_node_ros2 </param>
./wrappers/camera/pointcloudsensor_ros.xml:            <elem name="subdevicergbd"> realsense2dev </elem>
./wrappers/camera/rgbdsensor_ros.xml:            <elem name="subdevicergbd"> realsense2dev </elem>
./wrappers/camera/rgbdsensor_yarp.xml:    <param name="name">    /cer/realsense </param>
./wrappers/camera/rgbdsensor_yarp.xml:            <elem name="subdevicergbd"> realsense2dev </elem> 
./wrappers/motorControl/cer_alljoints_remapper.xml:<device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_all_joints_mc_remapper" type="controlboardremapper">
./wrappers/motorControl/cer_alljoints_remapper.xml:            <elem name="head">            cer_head_mc               </elem>
./wrappers/motorControl/cer_alljoints_remapper.xml:            <elem name="torso">           cer_torso_equivalent_mc   </elem>
./wrappers/motorControl/cer_alljoints_remapper.xml:            <elem name="torso_yaw">       cer_torso_mc              </elem>
./wrappers/motorControl/cer_alljoints_remapper.xml:            <elem name="base">            cer_mobile_base_mc        </elem>
./wrappers/motorControl/cer_alljoints_remapper.xml:            <elem name="right_arm">       cer_right_arm_no_hand_mc_remapper  </elem>
./wrappers/motorControl/cer_alljoints_remapper.xml:            <elem name="right_hand">      cer_right_hand_mc         </elem>
./wrappers/motorControl/cer_alljoints_remapper.xml:            <elem name="left_arm">        cer_left_arm_no_hand_mc_remapper   </elem>
./wrappers/motorControl/cer_alljoints_remapper.xml:            <elem name="left_hand">       cer_left_hand_mc          </elem>
./wrappers/motorControl/cer_alljoints_ros2_wrapper.xml:        <param name="device"> cer_all_joints_mc_remapper </param>
./wrappers/motorControl/cer_alljoints_ros_wrapper.xml:<device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_all_joints_mc_wrapper" type="controlBoard_nws_ros">
./wrappers/motorControl/cer_alljoints_ros_wrapper.xml:    <param name="node_name">   /cer </param>
./wrappers/motorControl/cer_alljoints_ros_wrapper.xml:        <param name="device">  cer_all_joints_mc_remapper </param>
./wrappers/motorControl/cer_base-mc_remapper.xml:<device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_mobile_base_mc_remapper" type="controlboardremapper">
./wrappers/motorControl/cer_base-mc_remapper.xml:            <elem name="FirstSetOfJoints"> cer_mobile_base_mc </elem>
./wrappers/motorControl/cer_base-mc_wrapper.xml:<device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_mobile_base_mc_wrapper" type="controlBoard_nws_yarp">
./wrappers/motorControl/cer_base-mc_wrapper.xml:    <param name="name">   /cer/mobile_base </param>
./wrappers/motorControl/cer_base-mc_wrapper.xml:            <param name="device">  cer_mobile_base_mc_remapper </param>
./wrappers/motorControl/cer_baseonly_ros_wrapper.xml:<device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_all_joints_mc_wrapper" type="controlBoard_nws_ros">
./wrappers/motorControl/cer_baseonly_ros_wrapper.xml:    <param name="ROS_nodeName">   /cer </param>
./wrappers/motorControl/cer_baseonly_ros_wrapper.xml:        <param name="device">  cer_mobile_base_mc_remapper </param>
./wrappers/motorControl/cer_head-mc_remapper.xml:<device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_head_mc_remapper" type="controlboardremapper">
./wrappers/motorControl/cer_head-mc_remapper.xml:            <elem name="FirstSetOfJoints"> cer_head_mc </elem>
./wrappers/motorControl/cer_head-mc_wrapper.xml:<device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_head_mc_wrapper" type="controlBoard_nws_yarp">
./wrappers/motorControl/cer_head-mc_wrapper.xml:    <param name="name">   /cer/head </param>
./wrappers/motorControl/cer_head-mc_wrapper.xml:            <param name="device">  cer_head_mc_remapper </param>
./wrappers/motorControl/cer_torso-mc_remapper.xml:<device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_torso_mc_remapper" type="controlboardremapper">
./wrappers/motorControl/cer_torso-mc_remapper.xml:            <elem name="FirstSetOfJoints">  cer_torso_equivalent_mc </elem>
./wrappers/motorControl/cer_torso-mc_remapper.xml:            <elem name="SecondSetOfJoints"> cer_torso_mc </elem>
./wrappers/motorControl/cer_torso-mc_wrapper.xml:<device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_torso_mc_wrapper" type="controlBoard_nws_yarp">
./wrappers/motorControl/cer_torso-mc_wrapper.xml:    <param name="name">   /cer/torso </param>
./wrappers/motorControl/cer_torso-mc_wrapper.xml:            <param name="device">  cer_torso_mc_remapper </param>
./wrappers/motorControl/cer_torso_tripod-mc_remapper.xml:<device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_torso_tripod_mc_remapper" type="controlboardremapper">
./wrappers/motorControl/cer_torso_tripod-mc_remapper.xml:            <elem name="FirstSetOfJoints"> cer_torso_mc </elem>
./wrappers/motorControl/cer_torso_tripod-mc_wrapper.xml:<device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_torso_tripod_mc_wrapper" type="controlBoard_nws_yarp">
./wrappers/motorControl/cer_torso_tripod-mc_wrapper.xml:    <param name="name">   /cer/torso_tripod </param>
./wrappers/motorControl/cer_torso_tripod-mc_wrapper.xml:            <param name="device">  cer_torso_tripod_mc_remapper </param>
./wrappers/motorControl/left_arm-mc_wrapper.xml:    <param name="name"> /cer/left_arm </param>
./wrappers/motorControl/right_arm-mc_wrapper.xml:    <param name="name"> /cer/right_arm </param>
./wrappers/odometry/odometry_nws_ros.xml:<device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_odometry_nws_ros" type="odometry2D_nws_ros">
./wrappers/odometry/odometry_nws_ros.xml:    <param name="node_name">    /cer_odometry_nws_ros </param>
./wrappers/odometry/odometry_nws_ros.xml:            <param name="device">  cer_odometry </param>
./wrappers/odometry/odometry_nws_ros2.xml:<device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_odometry_nws_ros" type="odometry2D_nws_ros2">
./wrappers/odometry/odometry_nws_ros2.xml:    <param name="node_name">    cer_odometry_nws_ros2 </param>
./wrappers/odometry/odometry_nws_ros2.xml:            <param name="device">  cer_odometry </param>
./wrappers/odometry/odometry_nws_yarp.xml:<device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_odometry_nws_yarp" type="odometry2D_nws_yarp">
./wrappers/odometry/odometry_nws_yarp.xml:    <param name="odometry_port_name">  /cer/odometry </param>
./wrappers/odometry/odometry_nws_yarp.xml:    <param name="odometer_port_name">  /cer/odometer </param>
./wrappers/odometry/odometry_nws_yarp.xml:    <param name="velocity_port_name">  /cer/velocity </param>
./wrappers/odometry/odometry_nws_yarp.xml:            <param name="device">  cer_odometry </param>
./wrappers/rpLidar/laser_back_nws_yarp.xml:  <device xmlns:xi="http://www.w3.org/2001/XInclude" name="cerLaserBackWrapper" type="rangefinder2D_nws_yarp">
./wrappers/rpLidar/laser_back_nws_yarp.xml:      <param name="name">   /cer/laser/back:o       </param>
./wrappers/rpLidar/laser_back_nws_yarp.xml:            <elem name="cer_laser">  cer_laser_back_device </elem>
./wrappers/rpLidar/laser_double_nws_ros.xml:  <device xmlns:xi="http://www.w3.org/2001/XInclude" name="cerDoubleLaserWrapper" type="rangefinder2D_nws_ros">
./wrappers/rpLidar/laser_double_nws_ros.xml:      <param name="name">   /cer/laser:o       </param>
./wrappers/rpLidar/laser_double_nws_ros.xml:            <elem name="cer_laser">  cer_double_laser_device </elem>
./wrappers/rpLidar/laser_double_nws_ros.xml:      <param name ="node_name"> /cer-laser </param>
./wrappers/rpLidar/laser_double_nws_ros2.xml:            <elem name="cer_laser"> cer_double_laser_device  </elem>
./wrappers/rpLidar/laser_double_nws_yarp.xml:  <device xmlns:xi="http://www.w3.org/2001/XInclude" name="cerDoubleLaserWrapper" type="rangefinder2D_nws_yarp">
./wrappers/rpLidar/laser_double_nws_yarp.xml:      <param name="name">   /cer/laser:o       </param>
./wrappers/rpLidar/laser_double_nws_yarp.xml:            <elem name="cer_laser">  cer_double_laser_device </elem>
./wrappers/rpLidar/laser_front_nws_yarp.xml:  <device xmlns:xi="http://www.w3.org/2001/XInclude" name="cerLaserFrontWrapper" type="rangefinder2D_nws_yarp">
./wrappers/rpLidar/laser_front_nws_yarp.xml:      <param name="name">   /cer/laser/front:o       </param>
./wrappers/rpLidar/laser_front_nws_yarp.xml:            <elem name="cer_laser">  cer_laser_front_device </elem>
./wrappers/FT/left_arm-FT_wrapper.xml:        <param name="name">       /cer/left_arm/FT             </param>
./wrappers/FT/right_arm-FT_wrapper.xml:        <param name="name">       /cer/right_arm/FT          </param>
./wrappers/POS/left_hand-pos_wrapper2.xml:    <param name="name">     /cer/left_hand/POS2:o    </param>
./wrappers/POS/left_hand-pos_wrapper4.xml:    <param name="name">     /cer/left_hand/POS4:o    </param>
./wrappers/POS/right_hand-pos_wrapper2.xml:    <param name="name">     /cer/right_hand/POS2:o    </param>
./wrappers/POS/right_hand-pos_wrapper4.xml:    <param name="name">     /cer/right_hand/POS4:o    </param>
./wrappers/inertials/left_arm-imu_wrapper.xml:        <param name="name">     /cer/left_arm/imu   </param>
./wrappers/inertials/left_arm-inertials_wrapper.xml:        <param name="name">     /cer/left_hand/inertialMTB                </param>
./wrappers/inertials/right_arm-imu_wrapper.xml:        <param name="name">     /cer/right_arm/imu  </param>
./wrappers/inertials/right_arm-inertials_wrapper.xml:        <param name="name">     /cer/right_hand/inertialMTB                </param>
./yarplaserscannergui.ini:sens_port        /cer/laser:o
./yarpmotorgui.ini:robot cer
./R1.xml:<robot name="R1SN003" build="1" portprefix="cer" xmlns:xi="http://www.w3.org/2001/XInclude">
./R1.xml:    <xi:include href="hardware/motorControl/cer_base-ems1-mc.xml" disabled_by="disable_base" />
./R1.xml:    <xi:include href="wrappers/motorControl/cer_base-mc_remapper.xml" disabled_by="disable_base" />
./R1.xml:    <xi:include href="wrappers/motorControl/cer_base-mc_wrapper.xml" disabled_by="disable_base" />
./R1.xml:    <xi:include href="hardware/motorControl/cer_torso-ems3-mc.xml" disabled_by="disable_torso" />
./R1.xml:    <xi:include href="wrappers/motorControl/cer_torso_tripod-mc_remapper.xml" disabled_by="disable_torso" />
./R1.xml:    <xi:include href="wrappers/motorControl/cer_torso_tripod-mc_wrapper.xml" disabled_by="disable_torso" />
./R1.xml:    <xi:include href="hardware/motorControl/cer_torso_equivalent-mc.xml" disabled_by="disable_torso" />
./R1.xml:    <xi:include href="wrappers/motorControl/cer_torso-mc_remapper.xml" disabled_by="disable_torso" />
./R1.xml:    <xi:include href="wrappers/motorControl/cer_torso-mc_wrapper.xml" disabled_by="disable_torso" /> 
./R1.xml:    <xi:include href="hardware/motorControl/cer_head-mcp10-mc.xml" disabled_by="disable_head"/>
./R1.xml:    <xi:include href="wrappers/motorControl/cer_head-mc_remapper.xml" disabled_by="disable_head"/>
./R1.xml:    <xi:include href="wrappers/motorControl/cer_head-mc_wrapper.xml" disabled_by="disable_head"/>
./R1.xml:    <xi:include href="calibrators/cer_torso-calib.xml" disabled_by="disable_torso"/> 
./R1.xml:    <xi:include href="calibrators/cer_head-calib.xml" disabled_by="disable_head"/>
./R1.xml:    <xi:include href="calibrators/cer_base-calib.xml" disabled_by="disable_base"/>
./R1.xml:   <!-- <xi:include href="wrappers/motorControl/cer_alljoints_remapper.xml" enabled_by="enable_ros enable_ros2" disabled_by="disable_base disable_head disable_left_arm disable_left_hand disable_right_arm disable_right_hand disable_torso"/>
./R1.xml:    <xi:include href="wrappers/motorControl/cer_alljoints_ros_wrapper.xml" enabled_by="enable_ros" disabled_by="disable_base disable_head disable_left_arm disable_left_hand disable_right_arm disable_right_hand disable_torso"/>
./R1.xml:    <xi:include href="wrappers/motorControl/cer_alljoints_ros2_wrapper.xml" enabled_by="enable_ros2" disabled_by="disable_base disable_head disable_left_arm disable_left_hand disable_right_arm disable_right_hand disable_torso"/> -->
./Upperbody-tmp.xml:<robot name="R1SN003" build="1" portprefix="cer" xmlns:xi="http://www.w3.org/2001/XInclude">

Don't know what the decision is here.
Is this PR meant to be just an increment for what concerns the cleanup?
Shall we go on?

[AntonioConsilvio]

Hi @pattacini, I preferred to have the PR containing the calibrations splitted from the one that does cer cleaning.

That way in case of problems it is easier to trace the source of the problem.

Also, removing 'cer' within the configuration files can be done in a more or less invasive way, and I preferred to talk about it in another PR.

So for me this PR can be merged.