Merge pull request #192 from robotology/devel

Merge devel in master
robotology · Mar 8, 2023 · 30c6f54 · 30c6f54
2 parents 97b5662 + e443fa2
commit 30c6f54
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -57,14 +57,11 @@ endmacro()
 file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/iCub DESTINATION ${CMAKE_CURRENT_BINARY_DIR})
 
 # Copy the iCub_manual folder in the build tree
-SUBDIRLIST(subdirs ${CMAKE_CURRENT_SOURCE_DIR}/iCub_manual)
-foreach(subdir ${subdirs})
-  file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/iCub_manual/${subdir}/ DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/iCub/${subdir})
+file(GLOB file_and_directories_mantained_manually RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}/iCub_manual ${CMAKE_CURRENT_SOURCE_DIR}/iCub_manual/*)
+foreach(file_and_directories_mantained_manually ${file_and_directories_mantained_manually})
+  file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/iCub_manual/${file_and_directories_mantained_manually}/ DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/iCub/${file_and_directories_mantained_manually})
 endforeach()
 
-# Copy the ros folder
-file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/ros DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/iCub)
-
 # Add the model.config just for a limited number of models that are known
 # to work in Gazebo, unless the ICUB_MODELS_INSTALL_ALL_GAZEBO_MODELS option
 # is enabled
@@ -80,7 +77,7 @@ list(APPEND GAZEBO_SUPPORTED_MODELS "iCubGazeboV2_5")
 list(APPEND GAZEBO_SUPPORTED_MODELS "iCubGazeboV2_5_plus")
 list(APPEND GAZEBO_SUPPORTED_MODELS "iCubGazeboV3")
 
-# Note: these models don't need further configuration apart from 
+# Note: these models don't need further configuration apart from
 # model version in model.config. Only one configuration is generated for
 # these models, and no helper models (fixed, no_hans, and so on) are
 # generated.
@@ -182,7 +179,7 @@ install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/iCub DESTINATION share)
 # so that iCub packages if found by ROS2
 # See https://github.com/robotology/icub-models/issues/177
 file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/iCub_empty_file "")
-install(FILES ${CMAKE_CURRENT_BINARY_DIR}/iCub_empty_file 
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/iCub_empty_file
         DESTINATION share/ament_index/resource_index/packages
         RENAME iCub)
 

diff --git a/iCub/conf/FT/gazebo_icub_left_arm_ft.ini b/iCub/conf/FT/gazebo_icub_left_arm_ft.ini
@@ -1,7 +1,2 @@
-[include "../gazebo_icub_robotname.ini"]
-
-name /${gazeboYarpPluginsRobotName}/left_arm/analog:o
-period 10
-
-device analogServer
-
+disableImplicitNetworkWrapper
+yarpDeviceName icub_left_arm_ft
diff --git a/iCub/conf/FT/gazebo_icub_left_foot_ft.ini b/iCub/conf/FT/gazebo_icub_left_foot_ft.ini
@@ -1,7 +1,2 @@
-[include "../gazebo_icub_robotname.ini"]
-
-name /${gazeboYarpPluginsRobotName}/left_foot/analog:o
-period 10
-
-device analogServer
-
+disableImplicitNetworkWrapper
+yarpDeviceName icub_left_foot_ft
diff --git a/iCub/conf/FT/gazebo_icub_left_leg_ft.ini b/iCub/conf/FT/gazebo_icub_left_leg_ft.ini
@@ -1,7 +1,2 @@
-[include "../gazebo_icub_robotname.ini"]
-
-name /${gazeboYarpPluginsRobotName}/left_leg/analog:o
-period 10
-
-device analogServer
-
+disableImplicitNetworkWrapper
+yarpDeviceName icub_left_leg_ft
diff --git a/iCub/conf/FT/gazebo_icub_right_arm_ft.ini b/iCub/conf/FT/gazebo_icub_right_arm_ft.ini
@@ -1,7 +1,2 @@
-[include "../gazebo_icub_robotname.ini"]
-
-name /${gazeboYarpPluginsRobotName}/right_arm/analog:o
-period 10
-
-device analogServer
-
+disableImplicitNetworkWrapper
+yarpDeviceName icub_right_arm_ft
diff --git a/iCub/conf/FT/gazebo_icub_right_foot_ft.ini b/iCub/conf/FT/gazebo_icub_right_foot_ft.ini
@@ -1,6 +1,2 @@
-[include "../gazebo_icub_robotname.ini"]
-
-name /${gazeboYarpPluginsRobotName}/right_foot/analog:o
-period 10
-
-device analogServer
+disableImplicitNetworkWrapper
+yarpDeviceName icub_right_foot_ft
diff --git a/iCub/conf/FT/gazebo_icub_right_leg_ft.ini b/iCub/conf/FT/gazebo_icub_right_leg_ft.ini
@@ -1,6 +1,3 @@
-[include "../gazebo_icub_robotname.ini"]
+disableImplicitNetworkWrapper
+yarpDeviceName icub_right_leg_ft
 
-name /${gazeboYarpPluginsRobotName}/right_leg/analog:o
-period 10
-
-device analogServer
diff --git a/iCub/conf/gazebo_icub_head_without_eyes.ini b/iCub/conf/gazebo_icub_head_without_eyes.ini
@@ -1,36 +1,13 @@
-[include "gazebo_icub_robotname.ini"]
+disableImplicitNetworkWrapper
+yarpDeviceName head_hardware_device
 
-[WRAPPER]
-# name of the wrapper device to be instatiated by the factory
-device controlboardwrapper2
-# rate of output streaming from ports in ms
-period 10
-# output port name (a leading '/' will be added by code)
-name /${gazeboYarpPluginsRobotName}/head
-# Total number of joints
-joints 3
-# list of MotorControl device to use
-networks ( head )
-# for each network specify the joint map
-head 0 2 0 2
-# Verbose output (on if present, off if commented out)
-#verbose
-
-[TRAJECTORY_GENERATION]
-trajectory_type minimum_jerk
-
-# Specify configuration of MotorControl devices
-[head]
-# name of the device to be instatiated by the factory
-device gazebo_controlboard
-#jointNames list
 jointNames neck_pitch neck_roll neck_yaw
-name head
 
-min_stiffness 0.0    0.0    0.0   
+min_stiffness 0.0    0.0    0.0
 max_stiffness 1000.0 1000.0 1000.0
-min_damping   0.0    0.0    0.0   
-max_damping   100.0  100.0  100.0 
+min_damping   0.0    0.0    0.0
+max_damping   100.0  100.0  100.0
+
 
 #PIDs:
 # this information is used to set the PID values in simulation for GAZEBO, we need only the first three values
@@ -40,12 +17,12 @@ controlLaw    joint_pid_gazebo_v1
 kp            1.745 1.745 1.745
 kd            0.122 0.122 0.122
 ki            0.003 0.003 0.003
-maxInt        9999  9999  9999 
-maxOutput     9999  9999  9999 
-shift         0.0   0.0   0.0  
-ko            0.0   0.0   0.0  
-stictionUp    0.0   0.0   0.0  
-stictionDwn   0.0   0.0   0.0  
+maxInt        9999  9999  9999
+maxOutput     9999  9999  9999
+shift         0.0   0.0   0.0
+ko            0.0   0.0   0.0
+stictionUp    0.0   0.0   0.0
+stictionDwn   0.0   0.0   0.0
 
 [VELOCITY_CONTROL]
 velocityControlImplementationType integrator_and_position_pid

diff --git a/iCub/conf/gazebo_icub_inertial.ini b/iCub/conf/gazebo_icub_inertial.ini
@@ -1,14 +1,2 @@
-[include "gazebo_icub_robotname.ini"]
-
-[WRAPPER]
-device multipleanalogsensorsserver
-name /${gazeboYarpPluginsRobotName}/head/inertials
-period 10
-
-[ADDITIONAL_WRAPPER]
-device inertial
-name /${gazeboYarpPluginsRobotName}/inertial
-period 0.01
-
-[IMU_DRIVER]
-device gazebo_imu
+disableImplicitNetworkWrapper
+yarpDeviceName head_inertial_hardware_device
diff --git a/iCub/conf/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini b/iCub/conf/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini
@@ -1,38 +1,16 @@
-[include "gazebo_icub_robotname.ini"]
+disableImplicitNetworkWrapper
+yarpDeviceName left_arm_hardware_device
 
-[WRAPPER]
-# name of the wrapper device to be instatiated by the factory
-device controlboardwrapper2
-# rate of output streaming from ports in ms
-period 10
-# output port name
-name /${gazeboYarpPluginsRobotName}/left_arm
-# Total number of joints
-joints 7
-# list of MotorControl device to use
-networks ( left_arm_no_hand )
-# for each network specify the joint map
-left_arm_no_hand 0 6 0 6
-
-# Verbose output (on if present, off if commented out)
-#verbose
-
-[TRAJECTORY_GENERATION]
-trajectory_type minimum_jerk
-
-# Specify configuration of MotorControl devices
-[left_arm_no_hand]
-# name of the device to be instatiated by the factory
-device gazebo_controlboard
-#jointNames list
 jointNames l_shoulder_pitch l_shoulder_roll l_shoulder_yaw l_elbow l_wrist_prosup l_wrist_pitch l_wrist_yaw
-name left_arm_no_hand
 
 min_stiffness 0.0    0.0    0.0    0.0    0.0    0.0    0.0
 max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0
 min_damping   0.0    0.0    0.0    0.0    0.0    0.0    0.0
 max_damping   100.0  100.0  100.0  100.0  100.0  100.0  100.0
 
+[TRAJECTORY_GENERATION]
+trajectory_type minimum_jerk
+
 #PIDs:
 # this information is used to set the PID values in simulation for GAZEBO, we need only the first three values
 [POSITION_CONTROL]

diff --git a/iCub/conf/gazebo_icub_left_leg.ini b/iCub/conf/gazebo_icub_left_leg.ini
@@ -1,37 +1,16 @@
-[include "gazebo_icub_robotname.ini"]
+disableImplicitNetworkWrapper
+yarpDeviceName left_leg_hardware_device
 
-[WRAPPER]
-# name of the wrapper device to be instatiated by the factory
-device controlboardwrapper2
-# rate of output streaming from ports in ms
-period 10
-# output port name (a leading '/' will be added by code)
-name /${gazeboYarpPluginsRobotName}/left_leg
-# Total number of joints
-joints 6
-# list of MotorControl device to use
-networks ( left_leg )
-# for each network specify the joint map
-left_leg 0 5 0 5
-# Verbose output (on if present, off if commented out)
-#verbose
-
-[TRAJECTORY_GENERATION]
-trajectory_type minimum_jerk
-
-# Specify configuration of MotorControl devices
-[left_leg]
-# name of the device to be instatiated by the factory
-device gazebo_controlboard
-#jointNames list
 jointNames l_hip_pitch l_hip_roll l_hip_yaw l_knee l_ankle_pitch l_ankle_roll
-name left_leg
 
 min_stiffness 0.0    0.0    0.0    0.0    0.0    0.0
 max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0
 min_damping   0.0    0.0    0.0    0.0    0.0    0.0
 max_damping   100.0  100.0  100.0  100.0  100.0  100.0
 
+[TRAJECTORY_GENERATION]
+trajectory_type minimum_jerk
+
 #PIDs:
 # this information is used to set the PID values in simulation for GAZEBO, we need only the first three values
 [POSITION_CONTROL]

diff --git a/iCub/conf/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini b/iCub/conf/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini
@@ -1,30 +1,6 @@
-[include "gazebo_icub_robotname.ini"]
+disableImplicitNetworkWrapper
+yarpDeviceName right_arm_hardware_device
 
-[WRAPPER]
-# name of the wrapper device to be instatiated by the factory
-device controlboardwrapper2
-# rate of output streaming from ports in ms
-period 10
-# output port name (a leading '/' will be added by code)
-name /${gazeboYarpPluginsRobotName}/right_arm
-# Total number of joints
-joints 7
-# list of MotorControl device to use
-networks ( right_arm_no_hand )
-# for each network specify the joint map
-right_arm_no_hand 0 6 0 6
-
-# Verbose output (on if present, off if commented out)
-#verbose
-
-[TRAJECTORY_GENERATION]
-trajectory_type minimum_jerk
-
-# Specify configuration of MotorControl devices
-[right_arm_no_hand]
-# name of the device to be instatiated by the factory
-device gazebo_controlboard
-#jointNames list
 jointNames r_shoulder_pitch r_shoulder_roll r_shoulder_yaw r_elbow r_wrist_prosup r_wrist_pitch r_wrist_yaw
 name right_arm_no_hand
 
@@ -33,6 +9,9 @@ max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0
 min_damping   0.0    0.0    0.0    0.0    0.0    0.0    0.0
 max_damping   100.0  100.0  100.0  100.0  100.0  100.0  100.0
 
+[TRAJECTORY_GENERATION]
+trajectory_type minimum_jerk
+
 #PIDs:
 # this information is used to set the PID values in simulation for GAZEBO, we need only the first three values
 [POSITION_CONTROL]

diff --git a/iCub/conf/gazebo_icub_right_leg.ini b/iCub/conf/gazebo_icub_right_leg.ini
@@ -1,37 +1,16 @@
-[include "gazebo_icub_robotname.ini"]
+disableImplicitNetworkWrapper
+yarpDeviceName right_leg_hardware_device
 
-[WRAPPER]
-# name of the wrapper device to be instatiated by the factory
-device controlboardwrapper2
-# rate of output streaming from ports in ms
-period 10
-# output port name (a leading '/' will be added by code)
-name /${gazeboYarpPluginsRobotName}/right_leg
-# Total number of joints
-joints 6
-# list of MotorControl device to use
-networks ( right_leg )
-# for each network specify the joint map
-right_leg 0 5 0 5
-# Verbose output (on if present, off if commented out)
-#verbose
-
-[TRAJECTORY_GENERATION]
-trajectory_type minimum_jerk
-
-# Specify configuration of MotorControl devices
-[right_leg]
-# name of the device to be instatiated by the factory
-device gazebo_controlboard
-#jointNames list
 jointNames r_hip_pitch r_hip_roll r_hip_yaw r_knee r_ankle_pitch r_ankle_roll
-name right_leg
 
 min_stiffness 0.0    0.0    0.0    0.0    0.0    0.0
 max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0
 min_damping   0.0    0.0    0.0    0.0    0.0    0.0
 max_damping   100.0  100.0  100.0  100.0  100.0  100.0
 
+[TRAJECTORY_GENERATION]
+trajectory_type minimum_jerk
+
 #PIDs:
 # this information is used to set the PID values in simulation for GAZEBO, we need only the first three values
 [POSITION_CONTROL]

diff --git a/iCub/conf/gazebo_icub_torso.ini b/iCub/conf/gazebo_icub_torso.ini
@@ -1,32 +1,10 @@
-[include "gazebo_icub_robotname.ini"]
-
-[WRAPPER]
-# name of the wrapper device to be instatiated by the factory
-device controlboardwrapper2
-# rate of output streaming from ports in ms
-period 10
-# output port name (a leading '/' will be added by code)
-name /${gazeboYarpPluginsRobotName}/torso
-# Total number of joints
-joints 3
-# list of MotorControl device to use
-networks ( torso )
-# for each network specify the joint map
-torso 0 2 0 2
-# Verbose output (on if present, off if commented out)
-#verbose
+disableImplicitNetworkWrapper
+yarpDeviceName torso_hardware_device
+jointNames torso_yaw torso_roll torso_pitch
 
 [TRAJECTORY_GENERATION]
 trajectory_type minimum_jerk
 
-# Specify configuration of MotorControl devices
-[torso]
-# name of the device to be instatiated by the factory
-device gazebo_controlboard
-#jointNames list
-jointNames torso_yaw torso_roll torso_pitch
-name torso
-
 min_stiffness 0.0    0.0    0.0
 max_stiffness 1000.0 1000.0 1000.0
 min_damping   0.0    0.0    0.0