From 03f04e1581fc99963fc0ca6ea7099afc6201f70b Mon Sep 17 00:00:00 2001
From: Stefano Bernagozzi <stefano.bernagozzi@iit.it>
Date: Thu, 19 May 2022 17:56:59 +0200
Subject: [PATCH] added robotinterface fix for odometry

---
 R1SN003/hardware/odometry/odometry.xml          | 4 ++--
 R1SN003/wrappers/odometry/odometry_nws_ros.xml  | 4 ++--
 R1SN003/wrappers/odometry/odometry_nws_yarp.xml | 4 ++--
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/R1SN003/hardware/odometry/odometry.xml b/R1SN003/hardware/odometry/odometry.xml
index 85c1927e5d..40eb9c86ea 100644
--- a/R1SN003/hardware/odometry/odometry.xml
+++ b/R1SN003/hardware/odometry/odometry.xml
@@ -5,8 +5,8 @@
     <param name="geom_r">   0.16416 </param> <!--//m wheels radius          ((320.0 / 2 / 1000.0)*1.026) -->
     <param name="geom_l">   0.338   </param> <!--//m wheels distance                                     -->
     
-    <action phase="startup" level="20" type="attach">
+    <action phase="startup" level="10" type="attach">
             <param name="device">  cer_mobile_base_mc_remapper </param>
     </action>
-    <action phase="shutdown" level="5" type="detach" />
+    <action phase="shutdown" level="10" type="detach" />
 </device>
diff --git a/R1SN003/wrappers/odometry/odometry_nws_ros.xml b/R1SN003/wrappers/odometry/odometry_nws_ros.xml
index 9d393d1f4f..4524cd0350 100644
--- a/R1SN003/wrappers/odometry/odometry_nws_ros.xml
+++ b/R1SN003/wrappers/odometry/odometry_nws_ros.xml
@@ -7,8 +7,8 @@
     <param name="base_frame">   mobile_base_body_link </param>
     <param name="odom_frame">   odom </param>
     
-    <action phase="startup" level="10" type="attach">
+    <action phase="startup" level="15" type="attach">
             <param name="device">  cer_odometry </param>
     </action>
-    <action phase="shutdown" level="15" type="detach" />
+    <action phase="shutdown" level="5" type="detach" />
 </device>
diff --git a/R1SN003/wrappers/odometry/odometry_nws_yarp.xml b/R1SN003/wrappers/odometry/odometry_nws_yarp.xml
index b40d3d7271..1f3e9d173a 100644
--- a/R1SN003/wrappers/odometry/odometry_nws_yarp.xml
+++ b/R1SN003/wrappers/odometry/odometry_nws_yarp.xml
@@ -6,8 +6,8 @@
     <param name="odometer_port_name">  /cer/odometer </param>
     <param name="velocity_port_name">  /cer/velocity </param>
     
-    <action phase="startup" level="10" type="attach">
+    <action phase="startup" level="15" type="attach">
             <param name="device">  cer_odometry </param>
     </action>
-    <action phase="shutdown" level="15" type="detach" />
+    <action phase="shutdown" level="5" type="detach" />
 </device>