Change FT sensors names for compatibility with icub-models >= 2.0.0 and robots-configuration >= 2.5.0 (take two) #172
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…nd robots-configuration >= 2.5.0
HosameldinMohamed
approved these changes
Sep 4, 2023
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Looks good to me!
I tried to make a quick test with the Gazebo model iCubGenova2_5 but the model publishes sensor as MAS interfaces while the config files here still use analogServer interfaces for FTs.
It's not really related to this PR, so I guess we can merge!
Related issue (wholeBodyDynamics): #169
Good point, thanks! |
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Thanks for updating the changelog! |
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Merged, thanks! |
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Revised version of #171 after reviews from @HosameldinMohamed .
Fix robotology/icub-models-generator#242 .
icub-models 2.0.0 changed the name of the FT sensors in the URDF from being named
<identifier>_ft_sensor(likel_arm_ft_sensor,l_leg_ft_sensor, ...) to<identifier>_ft(likel_arm_ft,l_leg_ft, ...).However, the yarprobotinterface configuration files continued to refer to the sensors as
<identifier>_ft_sensor, creating errors for software that was trying to match sensors find in URDF and sensors as exposed by the YARP's multipleanalogsensorsserver device.This PR changes all the instances of iCub configuration files to
<identifier>_ft, restoring compatibility with icub-models 2.0.0, robots-configuration releases >= 2.5.0 and ergocub-software >= 0.3.4, see robotology/robots-configuration#562 .Note that the name of the joint to which the sensor is attached remained
<identifier>_ft_sensor, both before and after icub-models 2.0.0 release.