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FT: replace analogServer (deprecated) with multipleanalogsensorsserver #482

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merged 2 commits into from
Apr 20, 2023
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FT: replace analogServer (deprecated) with multipleanalogsensorsserver #482

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6d6e530
FT: replace analogServer (deprecated) with multipleanalogsensorsserver
Nicogene Apr 18, 2023
24570bf
FT: change name from `<robot>/<part>` to `<robot>/<part>/FT`
Nicogene Apr 19, 2023
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8 changes: 4 additions & 4 deletions ergoCubSN000/ergocub_all.xml
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Expand Up @@ -75,17 +75,17 @@
<xi:include href="hardware/FT/right_arm-eb1-j0_1-strain.xml" />
<xi:include href="hardware/FT/left_leg-eb9-j4_5-strain.xml" />
<xi:include href="hardware/FT/right_leg-eb7-j4_5-strain.xml" />
<xi:include href="hardware/FT/left_leg-eb8-j0_3-strain.xml" />
<xi:include href="hardware/FT/right_leg-eb6-j0_3-strain.xml" />
<xi:include href="hardware/FT/left_leg-eb8-j0_3-strain.xml" />
<xi:include href="hardware/FT/right_leg-eb6-j0_3-strain.xml" />


<!-- FT SENSORS - MULTIPLE ANALOG SENSOR SERVERS -->
<xi:include href="wrappers/FT/left_arm-FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" />
<xi:include href="wrappers/FT/left_foot-FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_foot-FT_wrapper.xml" />
<xi:include href="wrappers/FT/left_leg-FT_wrapper_multipleSens.xml" />
<xi:include href="wrappers/FT/right_leg-FT_wrapper_multipleSens.xml" />
<xi:include href="wrappers/FT/left_leg-FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_leg-FT_wrapper.xml" />


<!-- INERTIAL SENSOR -->
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8 changes: 4 additions & 4 deletions ergoCubSN000/ergocub_all_ros2.xml
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Expand Up @@ -78,11 +78,11 @@
<xi:include href="hardware/FT/left_arm-eb2-j0_1-strain.xml" />
<xi:include href="hardware/FT/right_arm-eb1-j0_1-strain.xml" />

<xi:include href="wrappers/FT/left_leg-FT_wrapper_multipleSens.xml" />
<xi:include href="wrappers/FT/right_leg-FT_wrapper_multipleSens.xml" />
<xi:include href="wrappers/FT/left_leg-FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_leg-FT_wrapper.xml" />

<xi:include href="hardware/FT/left_leg-eb8-j0_3-strain.xml" />
<xi:include href="hardware/FT/right_leg-eb6-j0_3-strain.xml" />
<xi:include href="hardware/FT/left_leg-eb8-j0_3-strain.xml" />
<xi:include href="hardware/FT/right_leg-eb6-j0_3-strain.xml" />


<xi:include href="wrappers/FT/left_foot-FT_wrapper.xml" />
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6 changes: 3 additions & 3 deletions ergoCubSN000/ergocub_wbd.xml
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Expand Up @@ -83,8 +83,8 @@
<xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" />
<xi:include href="wrappers/FT/left_foot-FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_foot-FT_wrapper.xml" />
<xi:include href="wrappers/FT/left_leg-FT_wrapper_multipleSens.xml" />
<xi:include href="wrappers/FT/right_leg-FT_wrapper_multipleSens.xml" />
<xi:include href="wrappers/FT/left_leg-FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_leg-FT_wrapper.xml" />

<!-- INERTIAL SENSOR -->
<xi:include href="wrappers/inertials/head-imuFilter_wrapper.xml" />
Expand Down Expand Up @@ -114,6 +114,6 @@

<!-- estimators -->
<xi:include href="estimators/wholebodydynamics.xml" />

</devices>
</robot>
18 changes: 9 additions & 9 deletions ergoCubSN000/ft.xml
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Expand Up @@ -13,23 +13,23 @@


<xi:include href="wrappers/FT/left_arm-FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" />

<xi:include href="hardware/FT/left_arm-eb2-j0_1-strain.xml" />
<xi:include href="hardware/FT/right_arm-eb1-j0_1-strain.xml" />
<xi:include href="hardware/FT/right_arm-eb1-j0_1-strain.xml" />

<xi:include href="wrappers/FT/left_leg-FT_wrapper_multipleSens.xml" />
<xi:include href="wrappers/FT/right_leg-FT_wrapper_multipleSens.xml" />
<xi:include href="wrappers/FT/left_leg-FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_leg-FT_wrapper.xml" />

<xi:include href="hardware/FT/left_leg-eb8-j0_3-strain.xml" />
<xi:include href="hardware/FT/right_leg-eb6-j0_3-strain.xml" />
<xi:include href="hardware/FT/left_leg-eb8-j0_3-strain.xml" />
<xi:include href="hardware/FT/right_leg-eb6-j0_3-strain.xml" />

<xi:include href="wrappers/FT/left_foot-FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_foot-FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_foot-FT_wrapper.xml" />

<xi:include href="hardware/FT/left_leg-eb9-j4_5-strain.xml" />
<xi:include href="hardware/FT/right_leg-eb7-j4_5-strain.xml" />
<xi:include href="hardware/FT/right_leg-eb7-j4_5-strain.xml" />


</devices>
</robot>
2 changes: 1 addition & 1 deletion ergoCubSN000/wrappers/FT/left_arm-FT_wrapper.xml
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Expand Up @@ -4,7 +4,7 @@

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-FT_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 2 </param>
<param name="name"> /ergocub/left_arm </param>
<param name="name"> /ergocub/left_arm/FT </param>

<action phase="startup" level="5" type="attach">
<paramlist name="networks">
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4 changes: 2 additions & 2 deletions ergoCubSN000/wrappers/FT/left_foot-FT_wrapper.xml
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_foot-FT_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 2 </param>
<param name="name"> /ergocub/left_foot_heel_tiptoe </param>
<param name="name"> /ergocub/left_foot_heel_tiptoe/FT </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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2 changes: 1 addition & 1 deletion ...s/FT/left_leg-FT_wrapper_multipleSens.xml → ...SN000/wrappers/FT/left_leg-FT_wrapper.xml
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-FT_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 2 </param>
<param name="name"> /ergocub/left_leg </param>
<param name="name"> /ergocub/left_leg/FT </param>

<action phase="startup" level="5" type="attach">
<paramlist name="networks">
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4 changes: 2 additions & 2 deletions ergoCubSN000/wrappers/FT/right_foot-FT_wrapper.xml
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Expand Up @@ -5,8 +5,8 @@

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_foot-FT_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 2 </param>
<param name="name"> /ergocub/right_foot_heel_tiptoe </param>
<param name="name"> /ergocub/right_foot_heel_tiptoe/FT </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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2 changes: 1 addition & 1 deletion .../FT/right_leg-FT_wrapper_multipleSens.xml → ...N000/wrappers/FT/right_leg-FT_wrapper.xml
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-FT_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 2 </param>
<param name="name"> /ergocub/right_leg </param>
<param name="name"> /ergocub/right_leg/FT </param>

<action phase="startup" level="5" type="attach">
<paramlist name="networks">
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8 changes: 4 additions & 4 deletions experimentalSetups/FTsensor/FT_wrapper.xml
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Expand Up @@ -2,10 +2,10 @@
<!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>
Expand All @@ -19,7 +19,7 @@
<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/FT </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/FT </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/FT </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/FT </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/FT </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/FT </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/FT </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/FT </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/FT </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/FT </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/FT </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/FT </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/FT </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/FT </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/FT </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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