fix attaching both IMU and FTs as MAS network wrappers #167
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traversaro
reviewed
Feb 8, 2023
| @@ -1740,6 +1744,7 @@ bool WholeBodyDynamicsDevice::attachAllFTs(const PolyDriverList& p) | |||
| return false; | |||
| } | |||
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| yDebug() << "Elobaid: remappedMASInterfaces= " << remappedMASInterfaces.ftMultiSensors->getNrOfSixAxisForceTorqueSensors(); | |||
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Probably this can be deleted?
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Ah yes!, done in fca9e18
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For the CI you can see robotology/idyntree-yarp-tools#42 . |
HosameldinMohamed
changed the title
Thanks for the info, I'll do it in a new PR to keep it organized! |
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From recent tests with real robots ( While attaching directly the FT devices |
HosameldinMohamed
changed the title
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This is a part of the investigation we are doing with @mebbaid using
ergoCubGazeboV1icub-tech-iit/ergocub-software#35We couldn't attach both the IMU and the FTs as MAS.
With the previous logic before this PR, the software doesn't distinguish between them. As it seems both devices types implement all the MAS interfaces, including the interfaces
ISixAxisForceTorqueSensorsandIThreeAxisLinearAccelerometers.