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robotology / whole-body-estimators

YARP devices that implement estimators for humanoid robots.
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Change FT sensors names for compatibility with icub-models >= 2.0.0 and robots-configuration >= 2.5.0 (take two) #172

Closed traversaro closed 10 months ago

traversaro commented 10 months ago

Revised version of https://github.com/robotology/whole-body-estimators/pull/171 after reviews from @HosameldinMohamed .

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

Looks good to me!

I tried to make a quick test with the Gazebo model iCubGenova2_5 but the model publishes sensor as MAS interfaces while the config files here still use analogServer interfaces for FTs.

It's not really related to this PR, so I guess we can merge!

Related issue: #169

Good point, thanks!

traversaro commented 10 months ago

Thanks for updating the changelog!

HosameldinMohamed commented 10 months ago

Merged, thanks!