search

robotology / whole-body-estimators

YARP devices that implement estimators for humanoid robots.
24 stars 12 forks source link

Change FT sensors names for compatibility with icub-models >= 2.0.0 and robots-configuration >= 2.5.0 #171

Closed traversaro closed 10 months ago

traversaro commented 10 months ago

Fix https://github.com/robotology/icub-models-generator/issues/242 .

icub-models 2.0.0 changed the name of the FT sensors in the URDF from being named <identifier>_ft_sensor (like l_arm_ft_sensor, l_leg_ft_sensor, ...) to <identifier>_ft (like l_arm_ft, l_leg_ft, ...). However, the yarprobotinterface configuration files continued to refer to the sensors as <identifier>_ft_sensor, creating errors for software that was trying to match sensors find in URDF and sensors as exposed by the YARP's multipleanalogsensorsserver device.

This PR changes all the instances of iCub configuration files to <identifier>_ft, restoring compatibility with icub-models 2.0.0, robots-configuration releases >= 2.5.0 and ergocub-software >= 0.3.4, see https://github.com/robotology/robots-configuration/pull/562 .

Note that the name of the joint to which the sensor is attached remained <identifier>_ft_sensor, both before and after icub-models 2.0.0 release.

traversaro commented 10 months ago

@HosameldinMohamed do you have any opinion on this change?

traversaro commented 10 months ago

It was easier to open a new PR, see https://github.com/robotology/whole-body-estimators/pull/172 .