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robotology / whole-body-estimators

YARP devices that implement estimators for humanoid robots.
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Fix the wholeBodyDynamics device when spawning from an interface launched from the urdf #129

Closed Nicogene closed 2 years ago

Nicogene commented 2 years ago

It fixes #126

With @ilaria-carlini @GrmanRodriguez we fixed the wholeBodyDynamics device when spawning from an interface launched from the urdf.

We did it by adding the flag disableSensorReadCheckAtStartup, if set to true skip the read from the sensors at startup. We tested and it worked smoothly. For doing it we had to regenerate the idls, but we noticed that it changed also unrelated sources(mainly copyright changes), let us know if we have to remove them from the PR or we can commit them.

Please review code.

Nicogene commented 2 years ago

I have to squash some commits before merging

traversaro commented 2 years ago

fyi @prashanthr05 @HosameldinMohamed, if you like I can handle this PR if you are busy with othe things!

Nicogene commented 2 years ago

I cleaned up the history, now it is ready to be merged

HosameldinMohamed commented 2 years ago

Merged, thanks all!

traversaro commented 2 years ago

Thanks @HosameldinMohamed !