Share connection to the robot among tools

robotology / idyntree-yarp-tools

Tools based on the iDynTree library that depend on YARP.

GNU Lesser General Public License v2.1

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Closed S-Dafarra closed 1 year ago

S-Dafarra commented 1 year ago

THis PR unifies the methods to connect to the robot, allowing also the yarprobotstatepublisher to connect to the robot via control boards.

S-Dafarra commented 1 year ago

Thanks @traversaro, merging.

S-Dafarra commented 1 year ago

By the way, @GiulioRomualdi this was the PR I mentioned the other day. Now by launching

yarprobotstatepublisher --connectToControlBoards

it publishes on the transform server all the frames of the robot after connecting via control boards.