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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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Enable a robot to have multiple controlboard devices #89

Closed xela-95 closed 3 months ago

xela-95 commented 4 months ago

As per the issue title, we need that multiple controlboards can be assigned to a single robot (and of course we should allow the simulation of multiple robots at the same time).

xela-95 commented 4 months ago

The idea is to use as key of a Control board the following:

controlBoardDeviceKey = robotScopedName / yarpDeviceName

This assumes that both the robotScopedName and yarpDeviceName are unique keys. AFAIK the robotScopedName given by https://gazebosim.org/api/sim/8/namespacegz_1_1sim.html#a095997dc60149cb3a6cce4e8ca7d9acf it is, while for yarpDeviceName that is a responsibility of who chooses it in the controlboard yarp configuration file.

CC @traversaro