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Harmonize ergocub FT sensor names with the one used in ergocub URDF #561

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merged 1 commit into from
Sep 4, 2023
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Harmonize ergocub FT sensor names with the one used in ergocub URDF #561

merged 1 commit into from
Sep 4, 2023

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traversaro
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@traversaro traversaro commented Sep 1, 2023 •
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The PR icub-tech-iit/ergocub-software#158 (that was released in ergocub-software v0.3.4) change the FT sensor names:

  • ergocub-software <= 0.3.3 names : l_arm_ft_sensor, r_arm_ft_sensor, l_leg_ft_sensor, l_foot_front_ft_sensor, l_foot_rear_ft_sensor, r_leg_ft_sensor, r_foot_front_ft_sensor, r_foot_rear_ft_sensor
  • ergocub-software >= 0.3.4 names : l_arm_ft, r_arm_ft, l_leg_ft, l_foot_front_ft, l_foot_rear_ft, r_leg_ft, r_foot_front_ft, r_foot_rear_ft

However, the wbd configuration files for the real robot were not updated accordingly. This PR should fix this.

Fix icub-tech-iit/ergocub-software#165 .
Related to robotology/icub-models-generator#242 .
Implements Option 1 (O1) as described in robotology/icub-models-generator#240 (comment) .

@traversaro traversaro mentioned this pull request Sep 1, 2023
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@isorrentino
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@traversaro If you agree, I would test it on the robot before approving it.

@traversaro
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@traversaro If you agree, I would test it on the robot before approving it.

Sure!

@traversaro
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CI is failing with:

[ERROR] |yarp.device.multipleanalogsensorsremapper| Impossible to find sensor name l_leg_ft_sensor , exiting.
[ERROR] |yarp.device.multipleanalogsensorsremapper|     Names of available sensors are:
[ERROR] |yarp.device.multipleanalogsensorsremapper|     *  l_foot_front_ft
[ERROR] |yarp.device.multipleanalogsensorsremapper|     *  l_foot_rear_ft
[ERROR] |yarp.device.multipleanalogsensorsremapper|     *  l_leg_ft

We need to change also the remappers.

@traversaro
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CI is failing with:

[ERROR] |yarp.device.multipleanalogsensorsremapper| Impossible to find sensor name l_leg_ft_sensor , exiting.
[ERROR] |yarp.device.multipleanalogsensorsremapper|     Names of available sensors are:
[ERROR] |yarp.device.multipleanalogsensorsremapper|     *  l_foot_front_ft
[ERROR] |yarp.device.multipleanalogsensorsremapper|     *  l_foot_rear_ft
[ERROR] |yarp.device.multipleanalogsensorsremapper|     *  l_leg_ft

We need to change also the remappers.

This should be fixed by 4eb4461 .

@pattacini
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Awaiting tests before merging then.
cc @isorrentino

@Nicogene Nicogene linked an issue Sep 1, 2023 that may be closed by this pull request
[ergoCubSN000] Different ft sensor names between URDF file and yarprobotinterface configuration files icub-tech-iit/ergocub-software#165
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@traversaro traversaro mentioned this pull request Sep 1, 2023
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@pattacini pattacini closed this Sep 1, 2023
@pattacini pattacini deleted the fixwbdergocub branch September 1, 2023 15:53
@pattacini pattacini restored the fixwbdergocub branch September 1, 2023 15:55
@pattacini pattacini reopened this Sep 1, 2023
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Compare branch squashed and rebased on devel.

isorrentino
isorrentino approved these changes Sep 4, 2023
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Hi @traversaro @pattacini, today I tested the changes and the robot started without any error. Feel free to merge the PR.

@pattacini pattacini merged commit c5118b5 into devel Sep 4, 2023
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@pattacini pattacini deleted the fixwbdergocub branch September 4, 2023 11:30
MSECode pushed a commit to valegagge/robots-configuration that referenced this pull request Apr 11, 2024
@traversaro @valegagge
Harmonize ergocub FT sensor names with the one used in ergocub URDF (r…
6bcc715 
…obotology#561)
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@pattacini pattacini pattacini approved these changes

@Nicogene Nicogene Nicogene approved these changes

@isorrentino isorrentino isorrentino approved these changes

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[ergoCubSN000] Different ft sensor names between URDF file and yarprobotinterface configuration files
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@traversaro @isorrentino @pattacini @Nicogene