Comments (8)
Today @traversaro and I discovered that after #482 all the robots that use embObjStrain
have the publishing of the FT broken because embObjStrain
has not been ported to IMultipleAnalogSensorsInterfaces
(see https://github.com/robotology/icub-main/blob/001b897fb29aaa1cb58ff713361fc68b2f97e1ca/src/libraries/icubmod/embObjStrain/embObjStrain.h#L52-L55)
Same thing for the robots that uses canBusAnalogSensor
(see https://github.com/robotology/icub-main/blob/001b897fb29aaa1cb58ff713361fc68b2f97e1ca/src/libraries/icubmod/canBusAnalogSensor/CanBusAnalogSensor.h#L42)
This is not caught by the CI because right now multipleanalogsensorsserver
does not fail if the device attached does not implement any interface (see https://github.com/robotology/yarp/blob/872679fa605b95163da4a64e61c161ab9df3d485/src/devices/multipleanalogsensorsserver/MultipleAnalogSensorsServer.cpp#L403-L413)
In this sense, we can add that if all view fail we throw an error but this will not solve the problem will only make the ci fail for the robots we broke.
We spoke w/ @marcoaccame and we checked that right now both embObjFTSensor
and embObjMultipleFTSensor
(the ones compatible w/ MAS pipeline) does not support right now strain
board.
We would need a change embobjFTSensor
in icub-main
for ignoring the temperature/imu sensor when using strain
, on fw side we do not need anything. In this way, we could throw away embObjStrain
since it is used only w/ analogServer
.
Moreover, we need to migrate the xml files of strain to the "new" device.
The last resort is to roll back the robot that is now broken to analogServer
but it would be a pity.
from robots-configuration.
Thanks for the summary 👍🏻
We will be discussing this the next Tue at the board meeting.
from robots-configuration.
The PR #505 has been merged, I will then proceed to apply those changes to all the robots.
from robots-configuration.
PR: #517
I will test it on iCubGenova11
tomorrow. I am not sure it will be cover all the cases, I hope the dry-run will help in this sense
from robots-configuration.
Putting on hold since we need to takle this: robotology/icub-main#873
from robots-configuration.
Putting on hold since we need to takle this: robotology/icub-main#873
Done!
from robots-configuration.
We can finally close this issue, we will track the work on the simulators on a different one.
from robots-configuration.
I am not sure it will be cover all the cases, I hope the dry-run will help in this sense
🤞🏻
from robots-configuration.
Related Issues (20)
- ergoCubSN000: expose BMS on YARP network via `battery_nws_yarp` HOT 1
- CI failing on `ergoCubSN000` and `iCubGenova09` with the latest `yarp-3.8` HOT 11
- Missing example for `embObjMultipleFTsensors` device in `iCubTemplates/iCubTemplateV6_0/hardware/FT`
- Split robots between `maintained` and `unmaintained` and refactor CI dry-run accordingly HOT 3
- [ergoCubSN000] Gear ratio values of right and left shoulder roll joints do not match HOT 3
- Update maintained robots to the use of `multipleanalogsensorsserver` for `embObjMAIS` device HOT 3
- Check and validate ergoCub wrist-mk2.x gear ratios HOT 13
- Wrong eyes joint names for iCubGenova11 HOT 4
- Replace `embObjInertial` w/ `embObjIMU` – Stint 2 HOT 11
- Port all the robots' configuration to the TemperatureSensorType parameter HOT 2
- Register iCub `iCubManchester01` and update robotology-superbuild HOT 16
- CI for tests `dry-run_R!SN00?_dev` HOT 1
- Add alljoints-inertials_wrapper/remapper
- IMU sensors: alignment real ergoCub/iCub w/ simulated one HOT 10
- Cleanup ergocub configuration files using `enable_by` and `disable_by` yarprobotinterface tags HOT 6
- [ergoCubSN00*] Missing elbow and wrist joints from axesNames used in WBD HOT 5
- Remove ergocub xml leftovers
- Enable tags not working for ros2 HOT 11
- wholeBodyDynamics configuration files for ergoCubSN00* not setting the estimateJointVelocityAcceleration option? HOT 1
- id_x_hand_mais used as sensor name in both left and right MAIS HOT 1
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from robots-configuration.