From 4d712630caac50f62f00ef449f4fea71b723f284 Mon Sep 17 00:00:00 2001
From: Martina Gloria <martina.gloria@iit.it>
Date: Tue, 26 Mar 2024 14:28:48 +0100
Subject: [PATCH] Fix attach and detach levels of realsense nws

---
 ergoCubSN000/sensors/realsense.xml | 5 ++---
 ergoCubSN001/sensors/realsense.xml | 5 ++---
 ergoCubSN002/sensors/realsense.xml | 5 ++---
 3 files changed, 6 insertions(+), 9 deletions(-)

diff --git a/ergoCubSN000/sensors/realsense.xml b/ergoCubSN000/sensors/realsense.xml
index a9eb7cb34c..200e8d0b0e 100644
--- a/ergoCubSN000/sensors/realsense.xml
+++ b/ergoCubSN000/sensors/realsense.xml
@@ -25,13 +25,12 @@
   <device xmlns:xi="http://www.w3.org/2001/XInclude" name="RGBDWrapperyarp" type="rgbdSensor_nws_yarp">
     <param name="period"> 0.03 </param>
     <param name="name">    /depthCamera </param>
-    <action phase="startup" level="5" type="attach">
+    <action phase="startup" level="10" type="attach">
       <paramlist name="networks">
         <elem name="subdevicergbd"> realsenseD450 </elem>
       </paramlist>
     </action>
-    <action phase="shutdown" level="5" type="detach" />
+    <action phase="shutdown" level="15" type="detach" />
   </device>
 
 </devices>
-
diff --git a/ergoCubSN001/sensors/realsense.xml b/ergoCubSN001/sensors/realsense.xml
index 2acc0c6b9c..6d40c682e9 100644
--- a/ergoCubSN001/sensors/realsense.xml
+++ b/ergoCubSN001/sensors/realsense.xml
@@ -23,13 +23,12 @@
   <device xmlns:xi="http://www.w3.org/2001/XInclude" name="RGBDWrapperyarp" type="rgbdSensor_nws_yarp">
     <param name="period"> 0.03 </param>
     <param name="name">    /depthCamera </param>
-    <action phase="startup" level="5" type="attach">
+    <action phase="startup" level="10" type="attach">
       <paramlist name="networks">
         <elem name="subdevicergbd"> realsenseD450 </elem>
       </paramlist>
     </action>
-    <action phase="shutdown" level="5" type="detach" />
+    <action phase="shutdown" level="15" type="detach" />
   </device>
 
 </devices>
-
diff --git a/ergoCubSN002/sensors/realsense.xml b/ergoCubSN002/sensors/realsense.xml
index 2acc0c6b9c..6d40c682e9 100644
--- a/ergoCubSN002/sensors/realsense.xml
+++ b/ergoCubSN002/sensors/realsense.xml
@@ -23,13 +23,12 @@
   <device xmlns:xi="http://www.w3.org/2001/XInclude" name="RGBDWrapperyarp" type="rgbdSensor_nws_yarp">
     <param name="period"> 0.03 </param>
     <param name="name">    /depthCamera </param>
-    <action phase="startup" level="5" type="attach">
+    <action phase="startup" level="10" type="attach">
       <paramlist name="networks">
         <elem name="subdevicergbd"> realsenseD450 </elem>
       </paramlist>
     </action>
-    <action phase="shutdown" level="5" type="detach" />
+    <action phase="shutdown" level="15" type="detach" />
   </device>
 
 </devices>
-