search

robotology / robots-configuration

Contains robots configuration files
BSD 3-Clause "New" or "Revised" License
14 stars 69 forks source link

IMU sensors - Include alljoints-inertials_wrapper/remapper in YRI xml files #640

Closed martinaxgloria closed 4 months ago

martinaxgloria commented 4 months ago

As pointed out by @traversaro here, the files that expose via multipleanalogsensorsremapper the orientation measurements of the available IMUs are now included in the XML used by the yarprobotinterface

This PR will complete https://github.com/robotology/robots-configuration/issues/636

martinaxgloria commented 4 months ago

Probably I'm missing some configuration files, I'll take a look into

martinaxgloria commented 4 months ago

As expected, the CI was falling due to some missing configuration files. Moreover, I noticed that the dry-run checks only the XML that the YRI uses by default, that is the one under yarprobotinterface.ini. Since for the other XML there's no CI check (for example, for ergocub_wbd.xml or for ergocub_all_ros2.xml, but also some iCubs have more than one YRI launch file), what about adding the alljoints-inertials_wrapper/remapper only in the main yarprobotinterface XML file? Or are there other files that are used and that could be worth manually maintaining them?

cc @traversaro @Nicogene @pattacini

traversaro commented 4 months ago

Ok, I think I did not get your question.

martinaxgloria commented 4 months ago

Aligned with @traversaro t2t, we decided to expose IMU measurements only in the yri default xml for the iCubs, while for ergoCubSN001 and ergoCubSN002 in all ergocub_*.xml.

cc @Nicogene @pattacini