Rename alljoints-inertials port to avoid using portprefix #669
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Nicogene
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Jul 18, 2024
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cc @S-Dafarra |
pattacini
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Jul 18, 2024
iCubShenzhen01/wrappers/inertials/alljoints-inertials_wrapper.xml
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pattacini
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Thanks heaps @pattacini! |
fils99
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Sep 25, 2024
…#669) Co-authored-by: Ugo Pattacini <ugo.pattacini@iit.it>
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With:
I added the possibility of reading the Euler angles streamed by the IMUs wrapped up in a single port. I named the port as
/${portprefix}/alljoints/inertialsfollowing what I've done and tested in simulation. Unfortunately, while working on the real robot, I found that theportprefixis not always defined in the configuration files and, if defined, is not alwaysicuborergocub. For example, onergoCubSN000, that port is named/ergoCubSN000/alljoints/inertials.This PR introduces the fix to have all the port names. I also made the change for the iCubs that expose those measurements.