IMU sensors: alignment real ergoCub/iCub w/ simulated one about robots-configuration

[traversaro]

fyi @robotology/iit-ami-scrum-masters when implemented this may affect configuration files on our side.

[martinaxgloria]

As discussed in a private chat with @Nicogene, we decided to add the sensorName tag in all the FT IMUs XML files and the chosen names must be coherent with the simulated ones.

• For the ergoCub side, since:

  • icub-tech-iit/ergocub-software#217
  • icub-tech-iit/ergocub-software#232

  the sensorName tag should be <part>_ft_imu (for example, l_arm_ft_imu) to make it different from the FT ones without the suffix _imu:

  robots-configuration/ergoCubSN001/hardware/FT/left_arm-eb2-j0_1-strain.xml

  Lines 33 to 37 in 3ca4cb2

  	<group name="SENSORS">
  	<param name="id"> l_arm_ft </param>
  	<param name="board"> strain2 </param>
  	<param name="location"> CAN2:13 </param>
  	</group>

• For the iCub side, instead, with:

  • robotology/icub-models-generator#259
  • robotology/icub-models-generator#264

  there were added the alljoints-inertials also for iCub models, but the name used is the same as the FT ones, i.e. <part>_ft. According to the nice-to-have, it could be useful/nice/coherent using the same convention used for ergoCub and fix the simulated models with a PR on icub-models-generator.

cc @Nicogene @pattacini @traversaro

[traversaro]

Great! Do you think it could make sense to document this convention of the sensor names somewhere in the docs? We can just write down that its implementation is still work in progress, but at least to have a reference for the future.

[traversaro]

For each sensor belonging to a robot part there's a table with a column named Sensor Name. What about using this? Or we can add an extra column in these tables

I think that "sensor name" in the table is a bit misleading, as what is indicating is the prefix of the port that publish information about the reference sensors, not the sensor name, so I totally agree in using that column.

[martinaxgloria]

cc @mfussi66 since he added this information to the documentation.

[martinaxgloria]

For the time being, I opened this PR:

• #637

to set a starting point for the real robots. The simulated ones will be modified taking this PR as a reference

[Nicogene]

Since

* [ IMU sensors: add sensorName tag in FT IMU xml  #637](https://github.com/robotology/robots-configuration/pull/637)

has been merged, could we close this issue? I'll proceed to update iCub and ergoCub models according to that PR.

cc @Nicogene @pattacini

Let's close it when also the models PR will be merged

I'll revive this PR:

https://github.com/icub-tech-iit/ergocub-software/pull/232

and open a new one on icub-models-generator

Put it ready for review and rebase it, it may be that you will face some conficts, once resolved please let me know when generating the V1_1 models

[martinaxgloria]

There are those pages in the doc for the sensors:

• https://icub-tech-iit.github.io/documentation/robot_sensors/ergocub_sensors/
• https://icub-tech-iit.github.io/documentation/robot_sensors/icub2.7_sensors/

For each sensor belonging to a robot part there's a table with a column named Sensor Name. What about using this? Or we can add an extra column in these tables

cc @traversaro @Nicogene @pattacini

[martinaxgloria]

Since

• #637

has been merged, could we close this issue? I'll proceed to update iCub and ergoCub models according to that PR.

cc @Nicogene @pattacini

[martinaxgloria]

I'll revive this PR:

• icub-tech-iit/ergocub-software#232

and open a new one on icub-models-generator