Remove joint sensors plugin

[traversaro]

See https://github.com/robotology/gazebo-yarp-plugins/issues/198#issuecomment-155785047 .

@arocchi @liesrock @EnricoMingo Apparently the joint sensor plugin is still used by the coman model (see https://github.com/EnricoMingo/iit-coman-ros-pkg/blob/master/coman_urdf/urdf/gazebo/yarp_control.gazebo.xacro). I guess that before removing the sensor from GYP, we should remove it from the models.

[arocchi]

Yes, let us figure this out, shouldn't be too complicated, maybe @liesrock @barbalberto can help. So, now we can have velocity/torque without the need for joint sensors?

[traversaro]

Yes, they are part of the stateExt:o port published by the controlboardwrapper itself.

[traversaro]

Hi @liesrock , do you think this plugin can be removed by the models or they are still used?

[liesrock]

Hi @traversaro, I think the sensor plugin can be removed since we have this information on the stateExt:o port. I already removed them in this commit https://github.com/EnricoMingo/iit-coman-ros-pkg/commit/8baafd9b25bacdab255b33f9a2ba12be838c2271 , as soon as @EnricoMingo give me the ok i will merge the modification on master.

[traversaro]

@liesrock Thanks a lot!

[EnricoMingo]

Merged! I close the issue then.

[traversaro]

Apparently, the plugin is still referenced in a few files in ADVRHumanoids/iit-bigman-ros-pkg https://github.com/ADVRHumanoids/iit-bigman-ros-pkg/search?utf8=%E2%9C%93&q=libgazebo_yarp_jointsensors.so&type= and in robotology/OpenSoT https://github.com/robotology/OpenSoT/search?utf8=%E2%9C%93&q=libgazebo_yarp_jointsensors.so&type= . I guess this are leftovers fies, am I correct @liesrock @EnricoMingo ?

I also noticed that the plugin is referenced in https://github.com/Greattc/schunk_description/blob/496e970a898da0b6c0704db89b31e5cd8aa97b9f/urdf/lwa/lwa.gazebo.xacro , a repo maintained by @Greattc , but I guess that again that repo is not maintained as well.

[liesrock]

@enricomingo can answer from our side

[traversaro]

Any news @liesrock @EnricoMingo ?

[EnricoMingo]

Does something change in the model urdf as well as the .ini files???

2016-11-08 14:52 GMT+01:00 Silvio Traversaro notifications@github.com:

@liesrock https://github.com/liesrock Thanks a lot!

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/robotology/gazebo-yarp-plugins/issues/213#issuecomment-259141335, or mute the thread https://github.com/notifications/unsubscribe-auth/AFQayhFbizSnPDqhpiTb2jBHHfHlK2Cqks5q8H6KgaJpZM4GhahP .

-- PhD Mingo Hoffman Enrico Istituto Italiano di Tecnologia, Genova

[traversaro]

Unless you use the libgazebo_yarp_jointsensors.so in one of your models you don't need to change anything.

[EnricoMingo]

Actually, in bigman we use it for the joint feedback of velocity and torque. Is everything now in controlboard?

2018-01-08 11:37 GMT+01:00 Silvio Traversaro notifications@github.com:

Unless you use the libgazebo_yarp_jointsensors.so in one of your models you don't need to change anything.

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/robotology/gazebo-yarp-plugins/issues/213#issuecomment-355932068, or mute the thread https://github.com/notifications/unsubscribe-auth/AFQayrlycgWO3Tz5x3QTScaYwlScZDT8ks5tIe_ugaJpZM4GhahP .

-- PhD Mingo Hoffman Enrico Istituto Italiano di Tecnologia, Genova

[traversaro]

Yes, all those information is now published by the ControlBoardWrapper in the stateExt:o port. All this information is read by the RemoteControlBoard on the client side using the usual getEncoderVelocities and getTorques methods.

[EnricoMingo]

Ok which means that I can remove the libgazebo_yarp_jointsensors.so from the bigman model. I am going to di it right now.

2018-01-08 11:51 GMT+01:00 Silvio Traversaro notifications@github.com:

Yes, all those information is now published by the ControlBoardWrapper in the stateExt:o port. All this information is read by the RemoteControlBoard on the client side using the usual getEncoderVelocities and getTorques methods.

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/robotology/gazebo-yarp-plugins/issues/213#issuecomment-355934856, or mute the thread https://github.com/notifications/unsubscribe-auth/AFQaygA8KGy4v4plRSixfVrA7Y1rV8l1ks5tIfMWgaJpZM4GhahP .

-- PhD Mingo Hoffman Enrico Istituto Italiano di Tecnologia, Genova

[EnricoMingo]

The related ini files can also be removed?

2018-01-08 11:58 GMT+01:00 Enrico Mingo enricomingo@gmail.com:

Ok which means that I can remove the libgazebo_yarp_jointsensors.so from the bigman model. I am going to di it right now.

2018-01-08 11:51 GMT+01:00 Silvio Traversaro notifications@github.com:

Yes, all those information is now published by the ControlBoardWrapper in the stateExt:o port. All this information is read by the RemoteControlBoard on the client side using the usual getEncoderVelocities and getTorques methods.

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/robotology/gazebo-yarp-plugins/issues/213#issuecomment-355934856, or mute the thread https://github.com/notifications/unsubscribe-auth/AFQaygA8KGy4v4plRSixfVrA7Y1rV8l1ks5tIfMWgaJpZM4GhahP .

-- PhD Mingo Hoffman Enrico Istituto Italiano di Tecnologia, Genova

-- PhD Mingo Hoffman Enrico Istituto Italiano di Tecnologia, Genova

[traversaro]

Yes!

[EnricoMingo]

Ok thanks!

2018-01-08 12:56 GMT+01:00 Silvio Traversaro notifications@github.com:

Yes!

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/robotology/gazebo-yarp-plugins/issues/213#issuecomment-355947748, or mute the thread https://github.com/notifications/unsubscribe-auth/AFQayqUqaQJFha9MfJ4Q1cZB7H_nrGdlks5tIgJwgaJpZM4GhahP .

-- PhD Mingo Hoffman Enrico Istituto Italiano di Tecnologia, Genova

[traversaro]

Fixed in https://github.com/robotology/gazebo-yarp-plugins/pull/574 .