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URRobotControllerRTC.conf
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URRobotControllerRTC.conf
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# -*- sh -*-
#------------------------------------------------------------
# Configuration file for URRobotControllerRTC
#
# This configuration file name should be specified in rtc.conf (or other
# configuration file specified by -f option) by "config_file" property.
#
# Manipulation.URRobotControllerRTC.config_file: URRobotControllerRTC.conf
# or
# Manipulation.URRobotControllerRTC0.config_file: URRobotControllerRTC0.conf
# Manipulation.URRobotControllerRTC1.config_file: URRobotControllerRTC1.conf
# Manipulation.URRobotControllerRTC2.config_file: URRobotControllerRTC2.conf
#
# ------------------------------------------------------------
# An example configuration file for URRobotControllerRTC
#
# See details in the following reference manual
#
#conf.default.ip_address: 172.16.44.162
conf.default.ip_address: 192.168.180.216
# Execution context configuration
# exec_cxt.periodic.type: PeriodicExecutionContext
# exec_cxt.periodic.rate: 1000
#
#
# configuration.active_config: mode0
# Additional configuration-set example named "mode0"
#
# conf.mode0.int_param0: 0
# conf.mode0.int_param1: 1
# conf.mode0.double_param0: 0.99
# conf.mode0.double_param1: -0.99
# conf.mode0.str_param0: default
# conf.mode0.str_param1: default set in conf file
# conf.mode0.vector_param0: 0.0,0.1,0.2,0.3,0.4,0.5,0.6
#
# Other configuration set named "mode1"
#
# conf.mode1.int_param0: 0
# conf.mode1.int_param1: 1
# conf.mode1.double_param0: 0.99
# conf.mode1.double_param1: -0.99
# conf.mode1.str_param0: default
# conf.mode1.str_param1: default set in conf file
# conf.mode1.vector_param0: 0.0,0.1,0.2,0.3,0.4,0.5,0.6
##============================================================
## Component configuration reference
##
##============================================================
## Active configuration-set
##============================================================
##
## Initial active configuration-set. The following "mode0" is a
## configuration-set name. A configuration-set named "mode0" should be
## appear in this configuration file as follows.
##
## configuration.active_config: mode0
##
# conf.mode0.param0: hoge
# conf.mode0.param1: fuga
# conf.mode0.param2: munya
##============================================================
## GUI control option for RTSystemEditor
##============================================================
## Available GUI control options [__widget__]:
##
## - text: text box [default].
## - slider.<step>: Horizontal slider. <step> is step for the slider.
## A range constraints option is required.
## - spin: Spin button. A range constraitns option is required.
## - radio: Radio button. An enumeration constraints is required.
## - checkbox: Checkbox control. An enumeration constraints is
## required. The parameter has to be able to accept a
## comma separated list.
## - orderd_list: Orderd list control. An enumeration constraint is
## required. The parameter has to be able to accept a
## comma separated list. In this control, Enumerated
## elements can appear one or more times in the given list.
##
## Available GUI control constraint options [__constraints__]:
##
## - none: blank
## - direct value: 100 (constant value)
## - range: <, >, <=, >= can be used.
## - enumeration: (enum0, enum1, ...)
## - array: <constraints0>, ,constraints1>, ... for only array value
## - hash: {key0: value0, key1:, value0, ...}
##
# conf.__widget__.ip_address, text
# conf.__widget__.use_realtime_port, radio
# conf.__constraints__.use_realtime_port, (0,1)
# conf.__type__.ip_address: string
# conf.__type__.use_realtime_port: short
##============================================================
## Execution context settings
##============================================================
##
## Periodic type ExecutionContext
##
## Other availabilities in OpenRTM-aist
##
## - ExtTrigExecutionContext: External triggered EC. It is embedded in
## OpenRTM library.
## - OpenHRPExecutionContext: External triggred paralell execution
## EC. It is embedded in OpenRTM
## library. This is usually used with
## OpenHRP3.
## - RTPreemptEC: Real-time execution context for Linux
## RT-preemptive pathed kernel.
## - ArtExecutionContext: Real-time execution context for ARTLinux
## (http://sourceforge.net/projects/art-linux/)
##
# exec_cxt.periodic.type: PeriodicExecutionContext
##
## The execution cycle of ExecutionContext
##
exec_cxt.periodic.rate:10.0