Closed Nicogene closed 5 months ago
fyi @robotology/iit-ami-scrum-masters when implemented this may affect configuration files on our side.
As discussed in a private chat with @Nicogene, we decided to add the sensorName
tag in all the FT IMUs XML files and the chosen names must be coherent with the simulated ones.
For the ergoCub side, since:
the sensorName tag should be <part>_ft_imu
(for example, l_arm_ft_imu
) to make it different from the FT ones without the suffix _imu
:
For the iCub side, instead, with:
there were added the alljoints-inertials
also for iCub models, but the name used is the same as the FT ones, i.e. <part>_ft
. According to the nice-to-have, it could be useful/nice/coherent using the same convention used for ergoCub and fix the simulated models with a PR on icub-models-generator.
cc @Nicogene @pattacini @traversaro
Great! Do you think it could make sense to document this convention of the sensor names somewhere in the docs? We can just write down that its implementation is still work in progress, but at least to have a reference for the future.
There are those pages in the doc for the sensors:
For each sensor belonging to a robot part there's a table with a column named Sensor Name
. What about using this? Or we can add an extra column in these tables
cc @traversaro @Nicogene @pattacini
For each sensor belonging to a robot part there's a table with a column named
Sensor Name
. What about using this? Or we can add an extra column in these tables
I think that "sensor name" in the table is a bit misleading, as what is indicating is the prefix of the port that publish information about the reference sensors, not the sensor name, so I totally agree in using that column.
cc @mfussi66 since he added this information to the documentation.
For the time being, I opened this PR:
to set a starting point for the real robots. The simulated ones will be modified taking this PR as a reference
Since
has been merged, could we close this issue? I'll proceed to update iCub and ergoCub models according to that PR.
cc @Nicogene @pattacini
I'll revive this PR:
and open a new one on icub-models-generator
Since
* [ IMU sensors: add sensorName tag in FT IMU xml #637](https://github.com/robotology/robots-configuration/pull/637)
has been merged, could we close this issue? I'll proceed to update iCub and ergoCub models according to that PR.
cc @Nicogene @pattacini
Let's close it when also the models PR will be merged
I'll revive this PR:
https://github.com/icub-tech-iit/ergocub-software/pull/232
and open a new one on icub-models-generator
Put it ready for review and rebase it, it may be that you will face some conficts, once resolved please let me know when generating the V1_1 models
This PR:
Added the remapper for the imus that uses
sensorName
s that are not coherent with the actual sensor names of the exposed imu except foriCubGenova11
.embObjIMU
exposes as sensor name theid
ifsensorName
is not specified, andsensorName
is present in only theiCubGenova11
imus xml.Moreover, I noticed that on urdf side, iCub and ergoCub use different names for the imus:
Mandatory
sensorName
must be added in all FT imu xml.Nice to have
Nicer to have
This activity can be done in more steps, the mandatory points are the one more urgent, but they depend on if we want to "cleanup" the sensor name situation
cc @pattacini