Cleanup yarprobotinterface conf files for ergoCub

[traversaro]

Fix #641 .

The changes in the PR are the one described in #641 (comment) . I actually used the same ergocub.xml for all ergoCub robots, with the following differences:

• Each robot, has a different robot name= attribute.
• In ergoCubSN00, the following lines are commented:

    <!-- BATTERY BAT -->
    <!-- <xi:include href="wrappers/battery/battery_bat.xml" /> -->
    <!-- <xi:include href="hardware/battery/battery_bat.xml" /> -->

I am not sure why this happening, but to avoid regression I left these lines commented also in the new ergocub.xml

• In ergoCubSN001, there was also a <xi:include href="wrappers/motorControl/head-mc-slow_wrapper.xml" /> line that is not in other robots. Is this actually used? For the time being, I did not included that in the PR.

To avoid regressions, this PR does not remove any existing ergocub_***.xml files. Once the new ergocub.xml are tested and working, we can remove the ergocub_***.xml files in a follow up PR.

[pattacini]

Thanks heaps @traversaro 👍🏻

cc @Nicogene @martinaxgloria @davidetome @valegagge @marcoaccame @AntonioConsilvio @MSECode @mfussi66

[pattacini]

In ergoCubSN001, there was also a <xi:include href="wrappers/motorControl/head-mc-slow_wrapper.xml" /> line that is not in other robots. Is this actually used? For the time being, I did not included that in the PR.

Ok! Let's get rid of it and monitor the situation.

To avoid regressions, this PR does not remove any existing ergocub_.xml files. Once the new ergocub.xml are tested and working, we can remove the ergocub_.xml files in a follow up PR.

Agree 👍🏻
I'll open a follow-up issue for the cleanup.

[traversaro]

In ergoCubSN001, there was also a <xi:include href="wrappers/motorControl/head-mc-slow_wrapper.xml" /> line that is not in other robots. Is this actually used? For the time being, I did not included that in the PR.

fyi @S-Dafarra @GiulioRomualdi as it was added in #616

[pattacini]

In ergoCubSN001, there was also a <xi:include href="wrappers/motorControl/head-mc-slow_wrapper.xml" /> line that is not in other robots. Is this actually used? For the time being, I did not included that in the PR.

fyi @S-Dafarra @GiulioRomualdi as it was added in #616

In case it is actually needed, we're required to deal with ergoCubSN002 as well via a new PR.

[S-Dafarra]

In ergoCubSN001, there was also a <xi:include href="wrappers/motorControl/head-mc-slow_wrapper.xml" /> line that is not in other robots. Is this actually used? For the time being, I did not included that in the PR.

fyi @S-Dafarra @GiulioRomualdi as it was added in #616

It is needed to avoid high bandwidth usage when performing remote teleoperation. We have a module on the operator side connecting to that control board only, so we added another wrapper running at low frequency

[pattacini]

It is needed to avoid high bandwidth usage when performing remote teleoperation. We have a module on the operator side connecting to that control board only, so we added another wrapper running at low frequency

Ok then. I'll reinstate #616 and duplicate it for ergoCubSN002.

[pattacini]

Ok then. I'll reinstate #616 and duplicate it for ergoCubSN002.

Done via #647.