search

icub-tech-iit / ergocub-gazebo-simulations

Repository containing the models and the simulations for ergoCub
BSD 3-Clause "New" or "Revised" License
4 stars 0 forks source link

Inconsistencies in port/devices used by stickBot and iCub3/regular iCubs #37

Open traversaro opened 2 years ago

traversaro commented 2 years ago

When integrating the work of HSP and AMI, we noticed that stickBot and the real iCub3 open different ports.

In particular, while on iCubGenova09 (i.e. iCub3) the arm FT sensors are exposed only via the deprecated device analogServer (https://github.com/robotology/robots-configuration/blob/master/iCubGenova09/wrappers/FT/left_arm-FT_wrapper.xml), on stickBot they are exposed only via multipleanalogsensorsserver (https://github.com/icub-tech-iit/ergocub-gazebo-simulations/blob/88ea3de9044a95eedf8f9c829eea362c6d598f81/conf_stickBot/FT/gazebo_icub_r_arm_ft_sensor_nws_yarp.xml).

On this specific case the issue can be solved by adding multipleanalogsensorsserver wrappers to the iCubGenova09, as other iCub2 robots have them (see https://github.com/robotology/robots-configuration/blob/e0cdbb3506c657cb4114101db4221407c73b0e7a/iCubValparaiso01/wrappers/FT/left_arm-FT_wrapper_multipleSens.xml). However, I wanted to open the issue also here to make sure that ergocub-gazebo-simulations mantainers are aware of this problem.

traversaro commented 2 years ago

fyi @GrmanRodriguez @AlexAntn @Nicogene @vtikha @SimoneMic @prashanthr05

Nicogene commented 2 years ago

Yes since we had to write the configuration of the stickBot from scratch we preferred to use all the new nws/nwc and drop all the deprecated wrappers, but if needed we can expose also the analogServer