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icub-tech-iit / ergocub-gazebo-simulations

Repository containing the models and the simulations for ergoCub
BSD 3-Clause "New" or "Revised" License
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Inaccurate port naming on `gazebo_icub_<body_part>_ft_sensor_nws_yarp.xml` files #36

Open SimoneMic opened 2 years ago

SimoneMic commented 2 years ago

Hello,

I've noticed that the port names for force sensors are not explicit/self explanatory.

For example: <param name="name"> /icubSim/left_arm </param> I propose to change to /icubSim/left_arm/ft so that it's explicit about the data transmitted.

At the current state I fear that there could be conflict with the controlboard device of the body parts, in regard with the RPC port, that has the same naming.

traversaro commented 2 years ago

Hi @SimoneMic, I think the choice done in stickBot was done in coherence with the rest of the icubs, that use those configuration (see for example https://github.com/robotology/robots-configuration/blob/master/iCubValparaiso01/wrappers/FT/left_arm-FT_wrapper_multipleSens.xml).

At the current state I fear that there could be conflict with the controlboard device of the body parts, in regard with the RPC port, that has the same naming.

Which conflict can occur? Do the two device create the port with the same name? In that case, I would expect this to also happens on real robots.