rmfo_svc.setForceMomentOffsetParam cannot set 'moment_offset'

[longjie]

I've tried rmfo_svc.setForceMomentOffsetParam to cancel the sensor offset value as follows:

In [5]: (result, p) = robot.rmfo_svc.getForceMomentOffsetParam('lhsensor')

In [6]: p
Out[6]: OpenHRP.AbsoluteForceSensorService.forcemomentOffsetParam(force_offset=[0.0, 0.0, 0.0], moment_offset=[0.0, 0.0, 0.0], link_offset_centroid=[0.0, 0.0, 0.0], link_offset_mass=0.0)

In [7]: p.force_offset=[1,2,3]

In [8]: p.moment_offset=[0,0,0]

In [9]: robot.rmfo_svc.setForceMomentOffsetParam('lhsensor', p)
Out[9]: True

In [10]: (result, p) = robot.rmfo_svc.getForceMomentOffsetParam('lhsensor')

In [11]: p
Out[11]: OpenHRP.AbsoluteForceSensorService.forcemomentOffsetParam(force_offset=[1.0, 2.0, 3.0], moment_offset=[1.0, 2.0, 3.0], link_offset_centroid=[0.0, 0.0, 0.0], link_offset_mass=0.0)

and it seems the 'moment_offset' member is set always same as the 'force_offset' value.

[longjie]

Sorry, this issue is only occurs in the forked branch. The newer version and original start-jsk repo has no problem.

The reason of this issue was:

https://github.com/tork-a/hrpsys-base/blob/315.1.8/dynpick_qnx/rtc/AbsoluteForceSensor/AbsoluteForceSensor.cpp#L247

and will be fixed locally.