Update xsens root_link imu configuration file in order to publish correctly with iCubGazeboV2_7

[martinaxgloria]

This PR fixes #245

The updates introduced with #231 don't affect the xsens on the root link. This causes errors when iCubGazeboV2_7 model is loaded on gazebo:

[ERROR] |yarp.os.YarpPluginSettings| Cannot find "inertial" plugin (not built in, and no .ini file found for it)Check that YARP_DATA_DIRS leads to at least one directory with plugins/inertial.ini or share/yarp/plugins/inertial.ini in it
[ERROR] |yarp.dev.PolyDriver|inertial| Could not find device <inertial>
[ERROR] GazeboYarpIMU Plugin Load failed: error in opening yarp driver

[traversaro]

Thanks @martinaxgloria ! Are you sure that this PR fixes #245 ? In particular, it is not clear to me how the measure of the IMU is published for the xsens root_link IMU in this case.

[martinaxgloria]

Sorry @traversaro, I mean that with these changes the errors mentioned above disappear. I attach here the log:

• iCubGazeboV2_7.log

[traversaro]

Are you sure that this is not breaking the simulation for models that are not 2.7 ?

[Nicogene]

Yes, nice catch I didn't notice it

[martinaxgloria]

Yes, you're right. I will restore it

[traversaro]

See ef49e19#r1311744863 .

[martinaxgloria]

As a workaround, @Nicogene proposed to do the changes reported in 1730860.
I tried to launch in Gazebo both iCubGazeboV2_5 and V2_7 and it seems to work.

cc @traversaro @Nicogene

[Nicogene]

Until we can use the subdevice clause I think it is a good compromise

[traversaro]

Did you try if this is actually working? I am afraid we are hardcoding inertial in gazebo-yarp-plugins .

[traversaro]

Did you try if this is actually working? I am afraid we are hardcoding inertial in gazebo-yarp-plugins .

Actually, we should be good to go : https://github.com/robotology/gazebo-yarp-plugins/blob/0fd9300b583267c7bff4fb2be7fe82700ddeb613/plugins/imu/src/IMU.cc#L98 , but perhaps we should put this in the WRAPPER group?

[Nicogene]

Did you try if this is actually working? I am afraid we are hardcoding inertial in gazebo-yarp-plugins .

Actually, we should be good to go : robotology/gazebo-yarp-plugins@0fd9300/plugins/imu/src/IMU.cc#L98 , but perhaps we should put this in the WRAPPER group?

Maybe we need to set disableImplicitWrapper?

[martinaxgloria]

Actually, we should be good to go : https://github.com/robotology/gazebo-yarp-plugins/blob/0fd9300b583267c7bff4fb2be7fe82700ddeb613/plugins/imu/src/IMU.cc#L98 , but perhaps we should put this in the WRAPPER group?

Actually, this warning message is printed out but it doesn't cause the yarprobotinterface to close. I attach here the log:

iCubGazeboV2_7.log

And xsens data were published correctly on the port.

[traversaro]

Perfect!

[traversaro]

I opened #247 to track a proper solution.