Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Add legs FT IMU frames #111

Closed
wants to merge 3 commits into from
Closed

Add legs FT IMU frames #111

wants to merge 3 commits into from

Conversation

fiorisi
Copy link
Member

@fiorisi fiorisi commented Oct 5, 2018

No description provided.

period 0.01

device inertial
subdevice gazebo_imu
Copy link
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

This IMU are not exposed in this way in the robot, so unless there is any specific reason for having them exported in this way in the Gazebo simulation (some experiments?) I would not exported them at all.

Copy link
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Related gazebo-yarp-plugins issue: robotology/gazebo-yarp-plugins#383 .

Copy link
Collaborator

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

At the moment, since the MAS plugin in Gazebo is still under development, many of us are using the workaround of using the analog sensor interface.

But then since, it's user-specific, we could remove these files until the MAS plugin is integrated.

@GiulioRomualdi
Copy link
Member

@traversaro
Copy link
Member

I do not remember the status of the PR, but if we drop the Gazebo plugins for the FT IMUs for me the PR is good to go (unless the model has been updated in the meanwhile).

@traversaro
Copy link
Member

I guess @fiorisi will not have a lot of time in the coming months, so if someone wants to "adopt" the PR and implement the suggested changes you are more then welcome to do so. @prashanthr05 @nunoguedelha @lia2790

@fiorisi
Copy link
Member Author

fiorisi commented Jul 26, 2019

Thanks @traversaro. It would be nice if someone can please chek the build. Once this is fixed we can merge the PR.

@prashanthr05
Copy link
Collaborator

prashanthr05 commented Jul 29, 2019

I think it would be preferable to add the Gazebo MAS plugins for the IMUs with this PR.

@traversaro
Copy link
Member

We can just remove the "old" IMU conf file and then add the MAS conf files in a different PR, this PR already has a lot of stuff.

@prashanthr05
Copy link
Collaborator

We can just remove the "old" IMU conf file and then add the MAS conf files in a different PR, this PR already has a lot of stuff.

Alright. I shall do it then.

@prashanthr05
Copy link
Collaborator

prashanthr05 commented Jul 29, 2019

Thanks @traversaro. It would be nice if someone can please chek the build. Once this is fixed we can merge the PR.

The build fails because the parser is looking for exportFrameName while we pass exportedFrameName in the yaml file ??

UPDATE https://github.com/robotology/simmechanics-to-urdf/blob/1bd48b2d02b1d155a782f35d96865753c2e49706/simmechanics_to_urdf/firstgen.py#L387

Here it looks for exportFrameInURDF for each sensor and gets the tag exportedFrameName if true.

So in the yaml file, we miss filling the exportFrameInURDF tag, which is apparently a required parameter.

@prashanthr05
Copy link
Collaborator

A new PR to address the review is opened #113

P.S. I didn't know how to push this existing PR, so I created a new one. Sorry for inducing this discontinuity.

@traversaro
Copy link
Member

@prashanthr05 no problem, let's continue the discussion in the new PR.

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Labels
None yet
Projects
None yet
Development

Successfully merging this pull request may close these issues.

4 participants