We added another model containg two F/T sensors (c68833efd2ad867652e3bdb1e33cc09d9393a8df).
If we run the model model2sensors.sdf , the output of the command yarp name list is:
registration name /forcetorque1/measures:o ip 172.27.5.40 port 10002 type tcp
registration name /forcetorque1/rpc:o ip 172.27.5.40 port 10003 type tcp
registration name /forcetorque2/measures:o ip 172.27.5.40 port 10004 type tcp
registration name /forcetorque2/rpc:o ip 172.27.5.40 port 10005 type tcp
registration name /root ip 172.27.5.40 port 10000 type tcp
registration name fallback ip 224.2.1.1 port 10000 type mcast
We can see the measures of the two sensors with the command:
We added another model containg two F/T sensors (c68833efd2ad867652e3bdb1e33cc09d9393a8df).
If we run the model
model2sensors.sdf
, the output of the commandyarp name list
is:We can see the measures of the two sensors with the command:
yarp read /read /forcetorque1/measures:o
yarp read /read /forcetorque2/measures:o
Considering our model, the values are correct.