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PeterBowmanPeterBowman
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Import streamingSharedControl.xml
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‎CMakeLists.txt

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@@ -60,7 +60,7 @@ enable_testing()
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add_subdirectory(libraries)
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#add_subdirectory(programs)
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#add_subdirectory(tests)
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#add_subdirectory(share)
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add_subdirectory(share)
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add_subdirectory(doc)
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#add_subdirectory(examples/cpp)
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‎share/CMakeLists.txt

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yarp_install(FILES applications/streamingSharedControl.xml
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DESTINATION ${AMOR-YARP-DEVICES_APPLICATIONS_INSTALL_DIR}/streamingDeviceController)

‎share/applications/streamingSharedControl.xml

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<application>
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<name>haarDetection2D shared control app</name>
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<module>
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<name>opencv_grabber</name>
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<parameters>--name /frameGrabber2D --camera 1</parameters>
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<node>localhost</node>
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<deployer>yarpdev</deployer>
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</module>
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<module>
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<name>haarDetection2D</name>
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<parameters>--xmlCascade haarcascade_cocacola_can.xml</parameters>
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<node>localhost</node>
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</module>
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<module>
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<name>haarDetection2D</name>
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<parameters>--xmlCascade haarcascade_frontalface_alt.xml</parameters>
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<node>localhost</node>
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</module>
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<module>
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<name>yarpview</name>
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<parameters>--name /haarDetection2D/yarpview/img:i --compact</parameters>
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<node>localhost</node>
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</module>
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<module>
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<name>amorSim</name>
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<node>localhost</node>
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</module>
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<module>
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<name>AmorCartesianControl</name>
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<parameters>--name /amor/CartesianControl --kinematics /usr/local/share/amor/contexts/kinematics/armKinematics.ini</parameters>
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<node>localhost</node>
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<deployer>yarpdev</deployer>
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</module>
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<module>
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<name>BasicCartesianControl</name>
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<parameters>--name /amorSim/CartesianControl --from /usr/local/share/amor/contexts/kinematics/armKinematics.ini --local /BasicCartesianControl/amorSim --remote /amorRobot/amorManipulator</parameters>
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<node>localhost</node>
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<deployer>yarpdev</deployer>
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</module>
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<module>
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<name>SpaceNavigator</name>
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<parameters>--period 5 --name /spacenavigator --channels 8</parameters>
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<node>localhost</node>
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<deployer>yarpdev</deployer>
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</module>
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<module>
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<name>streamingDeviceController</name>
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<parameters>--streamingDevice SpaceNavigator --remoteCartesian /amor/CartesianControl --SpaceNavigator::remote /spacenavigator</parameters>
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</module>
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<module>
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<name>streamingDeviceController</name>
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<parameters>--streamingDevice SpaceNavigator --remoteCartesian /amorSim/CartesianControl --SpaceNavigator::remote /spacenavigator</parameters>
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</module>
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<module>
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<name>streamingDeviceController</name>
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<parameters>--streamingDevice SpaceNavigator --remoteCartesian /amor/CartesianControl --SpaceNavigator::remote /spacenavigator --remoteCentroid /haarDetection2D/state:o --centroidPermTime 1.0</parameters>
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</module>
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<module>
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<name>streamingDeviceController</name>
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<parameters>--streamingDevice SpaceNavigator --remoteCartesian /amorSim/CartesianControl --SpaceNavigator::remote /spacenavigator --remoteCentroid /haarDetection2D/state:o --centroidPermTime 1.0</parameters>
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</module>
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<connection>
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<from>/haarDetection2D/img:o</from>
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<to>/haarDetection2D/yarpview/img:i</to>
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</connection>
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</application>

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