ergoCubSN00*: Fix name of waist_imu_0 sensor in real robots and imuFrameName in wbd files #614
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pattacini
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Feb 14, 2024
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Apr 11, 2024
…ameName in wbd files (robotology#614)
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Before this PR, there was a discrepancy between:
1.The sensor name of the waist imu as returned by thegetThreeAxisLinearAccelerometerFrameNameandgetThreeAxisGyroscopeFrameNamemethods YARP methods of multipleanalogensors interfaces in Gazeobo-simulated ergoCub robots2.The sensor name of the waist imu as returned by thegetThreeAxisLinearAccelerometerFrameNameandgetThreeAxisGyroscopeFrameNamemethods YARP methods of multipleanalogensors interfaces in real ergoCub robots3.The sensor name of the waist imu used in URDF models, of both real and Gazebo-simulated robotsIn particular, 1 and 3 were using
waist_imu_0, while 2 were usingsensor_imu_xsensmt, i.e. the default sensor name of https://github.com/robotology/yarp-device-xsensmt . I guess 2 was a leftover and/or error, while the real name iswaist_imu_0, so this PR fixes the sensor name used in real robots to be coherent with the one used in the URDF. Furthermore, some wbd configuration file contained the wrongimuFrameName, i.e.head_imu_0, even ifwaist_imu_0was actually used. This PR also fixes this problem.Probably this fixes icub-tech-iit/ergocub-software#221, but I did not actually tested this.