Harmonize ergocub FT sensor names with the one used in ergocub URDF

robotology / robots-configuration

Contains robots configuration files

BSD 3-Clause "New" or "Revised" License

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Harmonize ergocub FT sensor names with the one used in ergocub URDF #561

Closed traversaro closed 1 year ago

traversaro commented 1 year ago

The PR https://github.com/icub-tech-iit/ergocub-software/pull/158 (that was released in ergocub-software v0.3.4) change the FT sensor names:

ergocub-software <= 0.3.3 names : l_arm_ft_sensor, r_arm_ft_sensor, l_leg_ft_sensor, l_foot_front_ft_sensor, l_foot_rear_ft_sensor, r_leg_ft_sensor, r_foot_front_ft_sensor, r_foot_rear_ft_sensor
ergocub-software >= 0.3.4 names : l_arm_ft, r_arm_ft, l_leg_ft, l_foot_front_ft, l_foot_rear_ft, r_leg_ft, r_foot_front_ft, r_foot_rear_ft

However, the wbd configuration files for the real robot were not updated accordingly. This PR should fix this.

Fix https://github.com/icub-tech-iit/ergocub-software/issues/165 . Related to https://github.com/robotology/icub-models-generator/issues/242 . Implements Option 1 (O1) as described in https://github.com/robotology/icub-models-generator/pull/240#issuecomment-1604172317 .

isorrentino commented 1 year ago

@traversaro If you agree, I would test it on the robot before approving it.

traversaro commented 1 year ago

@traversaro If you agree, I would test it on the robot before approving it.

Sure!

traversaro commented 1 year ago

CI is failing with:

[ERROR] |yarp.device.multipleanalogsensorsremapper| Impossible to find sensor name l_leg_ft_sensor , exiting.
[ERROR] |yarp.device.multipleanalogsensorsremapper|     Names of available sensors are:
[ERROR] |yarp.device.multipleanalogsensorsremapper|     *  l_foot_front_ft
[ERROR] |yarp.device.multipleanalogsensorsremapper|     *  l_foot_rear_ft
[ERROR] |yarp.device.multipleanalogsensorsremapper|     *  l_leg_ft

We need to change also the remappers.

traversaro commented 1 year ago

CI is failing with:

[ERROR] |yarp.device.multipleanalogsensorsremapper| Impossible to find sensor name l_leg_ft_sensor , exiting.
[ERROR] |yarp.device.multipleanalogsensorsremapper|     Names of available sensors are:
[ERROR] |yarp.device.multipleanalogsensorsremapper|     *  l_foot_front_ft
[ERROR] |yarp.device.multipleanalogsensorsremapper|     *  l_foot_rear_ft
[ERROR] |yarp.device.multipleanalogsensorsremapper|     *  l_leg_ft

We need to change also the remappers.

This should be fixed by https://github.com/robotology/robots-configuration/pull/561/commits/4eb44616d83333b7f39ea825efc565776cc6342e .

pattacini commented 1 year ago

Awaiting tests before merging then. cc @isorrentino

pattacini commented 1 year ago

Compare branch squashed and rebased on devel.