iCubGazeboV2_7: xsens root_link IMU not published correctly

[martinaxgloria]

The model iCubGazeboV2_7 returns some errors when the model is imported into Gazebo. I attach here the log:

• iCubGazeboV2_7.log

This error doesn't cause the yarprobotinterface close, so it is not blocking, but it is something to be investigated due to the fact that, for example, with iCubGazeboV2_5 I didn't retrieve any error.

• iCubGazeboV2_5.log

For the sake of completeness, I'm using the last distro v2023.05.02

cc @traversaro @pattacini

[pattacini]

For completeness, I've also tested iCubGazeboV2_6 and it seems running as good as iCubGazeboV2_5:

• iCubGazeboV2_6.log

[traversaro]

Thanks for reporting the error! The problem seems that the change in #231 did not updated the files for the xsens imu in the torso, see https://github.com/robotology/icub-models-generator/blob/master/simmechanics/data/icub2_5/conf/gazebo_icub_xsens_inertial.ini . The problem is that after the migration to the use of gazebo_yarp_robotinterface, having an additional IMU in the robot means that we should in theory have a completly different set of xml files just for icub 2.7 .

I renamed the issue to describe more in detail the actual problem