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FT: replace analogServer (deprecated) with multipleanalogsensorsserver
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It fixes #470
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@Nicogene @pattacini
Nicogene authored and pattacini committed Apr 19, 2023
1 parent 56117b2 commit 91b5002
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Showing 384 changed files with 835 additions and 2,473 deletions.
8 changes: 4 additions & 4 deletions experimentalSetups/FTsensor/FT_wrapper.xml
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="FT1_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="FT1_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /FT_sensor_1/analog:o </param>
<param name="name"> /FT_sensor_1/ </param>

<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="FirstStrain"> FT_sensor_1 </elem>
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<param name ="frame_id"> /FT_sensor_1_frame </param>
<param name ="ROS_msgType"> geometry_msgs/WrenchStamped </param>
</group>

<action phase="shutdown" level="5" type="detach" />
</device>

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6 changes: 3 additions & 3 deletions experimentalSetups/iCubGenova02-VelCtrl/wrappers/FT/left_arm-FT_wrapper.xml
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-FT_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-FT_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/left_arm/analog:o </param>
<param name="name"> /icub/left_arm </param>

<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding body_part-ebX-jA_B-strain.xml file -->
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6 changes: 3 additions & 3 deletions experimentalSetups/iCubGenova02-VelCtrl/wrappers/FT/left_foot-FT_wrapper.xml
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_foot-FT_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_foot-FT_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/left_foot/analog:o </param>
<param name="name"> /icub/left_foot </param>

<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding body_part-ebX-jA_B-strain.xml file -->
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6 changes: 3 additions & 3 deletions experimentalSetups/iCubGenova02-VelCtrl/wrappers/FT/left_leg-FT_wrapper.xml
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-FT_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-FT_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/left_leg/analog:o </param>
<param name="name"> /icub/left_leg </param>

<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding body_part-ebX-jA_B-strain.xml file -->
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6 changes: 3 additions & 3 deletions experimentalSetups/iCubGenova02-VelCtrl/wrappers/FT/right_arm-FT_wrapper.xml
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-FT_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-FT_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/right_arm/analog:o </param>
<param name="name"> /icub/right_arm </param>

<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding body_part-ebX-jA_B-strain.xml file -->
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6 changes: 3 additions & 3 deletions experimentalSetups/iCubGenova02-VelCtrl/wrappers/FT/right_foot-FT_wrapper.xml
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_foot-FT_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_foot-FT_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/right_foot/analog:o </param>
<param name="name"> /icub/right_foot </param>

<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding body_part-ebX-jA_B-strain.xml file -->
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6 changes: 3 additions & 3 deletions experimentalSetups/iCubGenova02-VelCtrl/wrappers/FT/right_leg-FT_wrapper.xml
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-FT_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-FT_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/right_leg/analog:o </param>
<param name="name"> /icub/right_leg </param>

<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding body_part-ebX-jA_B-strain.xml file -->
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6 changes: 3 additions & 3 deletions experimentalSetups/iCubGenovaV3-VelCtrl/wrappers/FT/left_arm-FT_wrapper.xml
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-FT_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-FT_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/left_arm/analog:o </param>
<param name="name"> /icub/left_arm </param>

<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding body_part-ebX-jA_B-strain.xml file -->
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6 changes: 3 additions & 3 deletions experimentalSetups/iCubGenovaV3-VelCtrl/wrappers/FT/left_foot-FT_wrapper.xml
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_foot-FT_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_foot-FT_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/left_foot/analog:o </param>
<param name="name"> /icub/left_foot </param>

<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding body_part-ebX-jA_B-strain.xml file -->
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6 changes: 3 additions & 3 deletions experimentalSetups/iCubGenovaV3-VelCtrl/wrappers/FT/left_leg-FT_wrapper.xml
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-FT_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-FT_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/left_leg/analog:o </param>
<param name="name"> /icub/left_leg </param>

<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding body_part-ebX-jA_B-strain.xml file -->
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6 changes: 3 additions & 3 deletions experimentalSetups/iCubGenovaV3-VelCtrl/wrappers/FT/right_arm-FT_wrapper.xml
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-FT_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-FT_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/right_arm/analog:o </param>
<param name="name"> /icub/right_arm </param>

<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding body_part-ebX-jA_B-strain.xml file -->
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6 changes: 3 additions & 3 deletions experimentalSetups/iCubGenovaV3-VelCtrl/wrappers/FT/right_foot-FT_wrapper.xml
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_foot-FT_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_foot-FT_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/right_foot/analog:o </param>
<param name="name"> /icub/right_foot </param>

<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding body_part-ebX-jA_B-strain.xml file -->
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6 changes: 3 additions & 3 deletions experimentalSetups/iCubGenovaV3-VelCtrl/wrappers/FT/right_leg-FT_wrapper.xml
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-FT_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-FT_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/right_leg/analog:o </param>
<param name="name"> /icub/right_leg </param>

<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding body_part-ebX-jA_B-strain.xml file -->
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6 changes: 3 additions & 3 deletions experimentalSetups/iCubGenovaV3/wrappers/FT/left_arm-FT_wrapper.xml
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-FT_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-FT_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/left_arm/analog:o </param>
<param name="name"> /icub/left_arm </param>

<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding body_part-ebX-jA_B-strain.xml file -->
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6 changes: 3 additions & 3 deletions experimentalSetups/iCubGenovaV3/wrappers/FT/left_foot-FT_wrapper.xml
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_foot-FT_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_foot-FT_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/left_foot/analog:o </param>
<param name="name"> /icub/left_foot </param>

<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding body_part-ebX-jA_B-strain.xml file -->
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6 changes: 3 additions & 3 deletions experimentalSetups/iCubGenovaV3/wrappers/FT/left_leg-FT_wrapper.xml
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-FT_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-FT_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/left_leg/analog:o </param>
<param name="name"> /icub/left_leg </param>

<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding body_part-ebX-jA_B-strain.xml file -->
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6 changes: 3 additions & 3 deletions experimentalSetups/iCubGenovaV3/wrappers/FT/right_arm-FT_wrapper.xml
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-FT_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-FT_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/right_arm/analog:o </param>
<param name="name"> /icub/right_arm </param>

<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding body_part-ebX-jA_B-strain.xml file -->
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6 changes: 3 additions & 3 deletions experimentalSetups/iCubGenovaV3/wrappers/FT/right_foot-FT_wrapper.xml
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_foot-FT_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_foot-FT_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/right_foot/analog:o </param>
<param name="name"> /icub/right_foot </param>

<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding body_part-ebX-jA_B-strain.xml file -->
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6 changes: 3 additions & 3 deletions experimentalSetups/iCubGenovaV3/wrappers/FT/right_leg-FT_wrapper.xml
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-FT_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-FT_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/right_leg/analog:o </param>
<param name="name"> /icub/right_leg </param>

<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding body_part-ebX-jA_B-strain.xml file -->
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18 changes: 0 additions & 18 deletions experimentalSetups/singleETHboard/wrappers/FT/left_arm-FT_wrapper.xml
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6 changes: 3 additions & 3 deletions experimentalSetups/single_ftsensor_can/wrappers/FT/left_arm_FT_wrapper.xml
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_as_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_as_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/left_arm/analog:o </param>
<param name="name"> /icub/left_arm </param>

<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="FirstStrain"> left_arm_strain </elem>
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6 changes: 3 additions & 3 deletions experimentalSetups/single_joint_BLL_FT/wrappers/FT/left_leg_FT_wrapper.xml
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@@ -1,9 +1,9 @@
<?xml version="1.0" encoding="UTF-8" ?>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg_as_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg_as_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/left_leg/analog:o </param>
<param name="name"> /icub/left_leg </param>

<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="FirstStrain"> left_leg_strain </elem>
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6 changes: 3 additions & 3 deletions iCubAberystwyth01/wrappers/FT/left_arm_FT_wrapper.xml
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@@ -1,9 +1,9 @@
<?xml version="1.0" encoding="UTF-8" ?>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_as_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_as_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/left_arm/analog:o </param>
<param name="name"> /icub/left_arm </param>

<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="FirstStrain"> left_arm_strain </elem>
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6 changes: 3 additions & 3 deletions iCubAberystwyth01/wrappers/FT/left_foot_FT_wrapper.xml
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@@ -1,9 +1,9 @@
<?xml version="1.0" encoding="UTF-8" ?>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_foot_as_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_foot_as_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/left_foot/analog:o </param>
<param name="name"> /icub/left_foot </param>

<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="FirstStrain"> left_foot_strain </elem>
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6 changes: 3 additions & 3 deletions iCubAberystwyth01/wrappers/FT/left_leg_FT_wrapper.xml
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<?xml version="1.0" encoding="UTF-8" ?>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg_as_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg_as_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/left_leg/analog:o </param>
<param name="name"> /icub/left_leg </param>

<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="FirstStrain"> left_leg_strain </elem>
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6 changes: 3 additions & 3 deletions iCubAberystwyth01/wrappers/FT/right_arm_FT_wrapper.xml
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@@ -1,9 +1,9 @@
<?xml version="1.0" encoding="UTF-8" ?>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm_as_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm_as_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/right_arm/analog:o </param>
<param name="name"> /icub/right_arm </param>

<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="FirstStrain"> right_arm_strain </elem>
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