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robotology / icub-models

Official URDF and SDF models of the iCub humanoid robot.
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Disalignment between iCub 2.* models (such as iCubGazeboV2_5) and real iCub 2.* models regarding analogServer devices publishing information on /icub/<...>/analog:o ports #198

Closed traversaro closed 7 months ago

traversaro commented 1 year ago

In https://github.com/robotology/icub-models-generator/pull/231 all the analogServer wrappers that were exposing FT sensors measures /icub/<...>/analog:o ports were removed, and this change was released in icub-models 2.0.0 . See https://github.com/robotology/icub-models-generator/blob/fd2d430a399119f2ded5a15f1c8ea4185b9aca6c/simmechanics/data/icub3/conf/icub.xml#L23 .

In their place, there are multipleanalogsensorsserver drivers that publishes information on a /icub<Sim>/<..>/measures:o ports, among other ports.

However, physical iCub 2.* robots still just have analogServer wrappers to expose FT sensors measures, see: https://github.com/robotology/robots-configuration/blob/b01aa43c2f51f477cf5b3c855a7e51ec46700ffb/iCubGenova11/icub_all.xml#L97 .

So, at the moment there is no way to write the same code that runs for both simulated and real robot, that has always been the main advantage of our simulators based on gazebo-yarp-plugins.

Possible fixes are:

cc @Nicogene @pattacini @gabrielenava

Nicogene commented 1 year ago

Substitute analogServer devices in real robots with multipleanalogsensorsserver devices

I am for this option since @randaz81 will remove AnalogServer in future YARP releases I can open a robots-configuration issue for that, since AnalogServer is still around, this cleanup has not to be included in 2023.02.2, but it is nice to have for future Distro

cc @pattacini

pattacini commented 1 year ago

Agree @Nicogene 👍🏻

Please, open up an issue and put it on our backlog for the next sprint.

traversaro commented 1 year ago

Substitute analogServer devices in real robots with multipleanalogsensorsserver devices

In the end it was decided to do that, see the modifications:

Nicogene commented 1 year ago

This misalignment should be now solved am I right? The visuomanip models have keept out from this refactoring because they don't expose FT sensors (if I am not wrong).

cc @pattacini @martinaxgloria

traversaro commented 1 year ago

The visuomanip models have keept out from this refactoring because they don't expose FT sensors (if I am not wrong).

I think they expose them: https://github.com/robotology/icub-models/blob/b209ab84411c6a64e297a3bc98146a2f576d7984/iCub_manual/robots/iCubGazeboV3_visuomanip/model.urdf#L3142 .

Nicogene commented 1 year ago

The visuomanip models have keept out from this refactoring because they don't expose FT sensors (if I am not wrong).

I think they expose them:

https://github.com/robotology/icub-models/blob/b209ab84411c6a64e297a3bc98146a2f576d7984/iCub_manual/robots/iCubGazeboV3_visuomanip/model.urdf#L3142 .

Good catch, I was looking into the conf_manual folder

xEnVrE commented 1 year ago

The visuomanip models have keept out from this refactoring because they don't expose FT sensors (if I am not wrong).

If I can add on this, the analogServer is also used to publish the "equivalent" hall effect sensors of the fingers encoders in iCubGazeboV2_5_visuomanip:

https://github.com/robotology/icub-models/blob/78b150c0441f09971a3da18fe542e624a779ee9d/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_mais.ini#L7

Since MAIS is obtained using the GYP maissensor plugin, which implements the IAnalogSensor interface if I am not wrong, does it mean that the maissensor plugin needs to be re-written such that it exposes one of the interface compatible with multipleanalogsensorsserver (as recently done on the real robots as well)?

cc @traversaro @Nicogene @pattacini

traversaro commented 1 year ago

I guess, yes, even if probably there is no need to re-write, just to implement some additional methods.

Nicogene commented 1 year ago

@xEnVrE you can take this as reference:

traversaro commented 7 months ago

I think we can close this. The last point mentioned here will be tracked in https://github.com/robotology/icub-models/issues/198#issuecomment-1745421875 , but it is not related to the problem described here.