Closed jgvictores closed 2 years ago
The ISixAxisForceTorqueSensors
interface has been implemented at https://github.com/roboticslab-uc3m/yarp-devices/commit/2475bb1f25c45f9b19b0ea27daf4d01bdb81a726 while still preserving IAnalogSensor
(mapping calls between implementations to avoid code duplication). The device can be still instantiated as an analogServer
's subdevice (as usual, via yarpdev --device Jr3
), but now it can be also wrapped by the new MAS in this way:
yarpdev --device multipleanalogsensorsserver --subdevice Jr3 --name /jr3 --period 20
I guess we need to wait for YARP devs to learn whether they decide to keep or nuke analogServer
.
Note that IAnalogSensors
is still used in our examples: exampleJr3.cpp, exampleRemoteJr3.cpp, exampleRemoteJr3.py.
The new ftCompensation app uses this MAS implementation of Jr3: https://github.com/roboticslab-uc3m/kinematics-dynamics/issues/191.
Our local C++/Python examples have been migrated to using the new MAS interface: https://github.com/roboticslab-uc3m/yarp-devices/commit/de914de92fd227d9675b03a132b15e769bf26bbf. Keep in mind there is no calibration (set-to-zero) method, therefore either restart the device or apply an offset programatically to achieve that.
See http://www.yarp.it/group__dev__iface__multiple__analog.html and robotology/yarp#1526 .
Note: Issue involves updating