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robotology / gz-sim-yarp-plugins

YARP plugins for Modern Gazebo (gz-sim).
BSD 3-Clause "New" or "Revised" License
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Run ForceTorque and RobotInterface by specifying ForceTorque plugin as part of <sensor> sdf tag #11

Open lucapa17 opened 1 year ago

lucapa17 commented 1 year ago

In robotinterface/step5 I would like to put the ForceTorque plugin in the sdf inside the sensor, as we did in forcetorque, instead of putting it at the beginning of the model. In this way the starting _entity would be the sensor itself and I think it would be better. But if I try to do it, I have an error because the first plugin to be executed is the GazeboYarpRobotInterface, so I have the following error:

[ERROR] Target device forcetorque_plugin_device (network = ... ) does not exist.
[ERROR] Cannot run attach action on device forcetorque_nws_yarp

It happens also putting the GazeboYarpRobotInterface plugin at the end of the model, as you did in https://github.com/robotology/gazebo-yarp-plugins/blob/master/tutorial/model/forcetorque/model.sdf

Originally posted by @lucapa17 in https://github.com/robotology/study-gazebo-garden-yarp-plugins/issues/10#issuecomment-1615848639

traversaro commented 1 year ago

@lucapa17 just as a general comment, it is tipically a good idea to use as title of the issue either with the problem that you want to solve or the action that you want to perform, to give a better idea to whoever is reading the issue. In this case "Run ForceTorque and RobotInterface by specifying ForceTorque plugin as part of <sensor> sdf tag" may be a more descriptive title for the issue.