study-air-hockey-system.xml

<application>

  <name>Study Air Hockey System</name>

  <module>
      <name>yarplogger</name>
      <parameters>--start</parameters>
      <node>localhost</node>
  </module>

  <module>
      <name>gzserver</name>
      <parameters>-s libgazebo_yarp_clock.so study-air-hockey.sdf</parameters>
      <dependencies>
         <port timeout="20">/yarplogger</port>
      </dependencies>
      <environment>YARP_FORWARD_LOG_ENABLE=1</environment>
      <node>localhost</node>
  </module>

  <module>
      <name>gzclient</name>
      <node>localhost</node>
  </module>

  <module>
      <name>yarprobotinterface</name>
      <parameters>--context gazeboCartesianControl --config no_legs.xml</parameters>
      <dependencies>
          <port timeout="20">/yarplogger</port>
          <port timeout="20">/icubSim/torso/state:o</port>
          <port timeout="20">/icubSim/left_arm/state:o</port>
          <port timeout="20">/icubSim/right_arm/state:o</port>
      </dependencies>
      <environment>YARP_FORWARD_LOG_ENABLE=1;YARP_CLOCK=/clock</environment>
      <ensure>
          <wait>2</wait>
      </ensure>
      <node>localhost</node>
  </module>

  <module>
      <name>iKinCartesianSolver</name>
      <parameters>--context gazeboCartesianControl --part left_arm</parameters>
      <dependencies>
          <port timeout="20">/yarplogger</port>
          <port timeout="20">/icubSim/torso/state:o</port>
          <port timeout="20">/icubSim/left_arm/state:o</port>
      </dependencies>
      <environment>YARP_FORWARD_LOG_ENABLE=1;YARP_CLOCK=/clock</environment>
      <node>localhost</node>  
      <ensure>
          <wait>2</wait>
      </ensure>
  </module>

<module>
    <name>iKinCartesianSolver</name>
    <parameters>--context gazeboCartesianControl --part right_arm</parameters>
    <dependencies>
        <port timeout="20">/yarplogger</port>
        <port timeout="20">/icubSim/torso/state:o</port>
        <port timeout="20">/icubSim/right_arm/state:o</port>
    </dependencies>
    <environment>YARP_FORWARD_LOG_ENABLE=1;YARP_CLOCK=/clock</environment>
    <node>localhost</node>
    <ensure>
        <wait>2</wait>
    </ensure>
</module>

<module>
    <name>iKinGazeCtrl</name>
    <parameters>--context gazeboCartesianControl --from iKinGazeCtrl.ini</parameters>
    <dependencies>
        <port timeout="20">/yarplogger</port>
        <port timeout="20">/icubSim/torso/state:o</port>
        <port timeout="20">/icubSim/head/state:o</port>
        <port timeout="20">/icubSim/inertial</port>
    </dependencies>
    <environment>YARP_FORWARD_LOG_ENABLE=1;YARP_CLOCK=/clock</environment>
    <ensure>
        <wait>2</wait>
    </ensure>
    <node>localhost</node>
</module>

</application>