Update WBD launch files (#173)

* update WBD config files * update changelog * remove icubheidelberg01 files * update CMakeLists file
robotology · Sep 10, 2023 · 9e797c5 · 9e797c5
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -9,6 +9,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Changed
 - Change FT sensors names for compatibility with icub-models >= 2.0.0 and robots-configuration >= 2.5.0 (https://github.com/robotology/whole-body-estimators/pull/172).
+- Update WBD launch files (https://github.com/robotology/whole-body-estimators/pull/173).
 
 ### Fixed
 

diff --git a/devices/wholeBodyDynamics/app/CMakeLists.txt b/devices/wholeBodyDynamics/app/CMakeLists.txt
@@ -74,14 +74,6 @@ foreach(YARP_ROBOT_NAME ${ICUBS_CAN_SIX_FTS})
                            NO_ROBOT)
 endforeach()
 
-#
-# iCubHeidelberg01 is one of a kind (a iCub with only legs and torso) and so it has specific configuration files
-#
-install_wbd_robots_files(YARP_ROBOT_NAME iCubHeidelberg01
-                         EXTERNAL_WBD_CONF wholebodydynamics-icubheidelberg01-external.xml
-                         EXTERNAL_YRI_CONF launch-wholebodydynamics-icubheidelberg01.xml
-                         ROBOT_WBD_CONF    wholebodydynamics-icubheidelberg01-robot.xml)
-
 #
 # In the Gazebo simulation no yarprobotinterface is explicitly instantiated, so we install only the remote version
 #

diff --git a/devices/wholeBodyDynamics/app/launch-wholebodydynamics-icub-four-fts.xml b/devices/wholeBodyDynamics/app/launch-wholebodydynamics-icub-four-fts.xml
@@ -93,32 +93,32 @@
     -->
 
     <!-- imu -->
-    <device name="inertial" type="genericSensorClient">
-        <param name="remote"> /icub/inertial </param>
+    <device name="head-inertial-client" type="multipleanalogsensorsclient">
+        <param name="remote"> /icub/head/inertials </param>
         <param name="local"> /wholeBodyDynamics/imu </param>
     </device>
 
     <!-- six axis force torque sensors -->
-    <device name="left_upper_arm_strain" type="analogsensorclient">
-        <param name="remote"> /icub/left_arm/analog:o </param>
+    <device name="left_arm_client" type="multipleanalogsensorsclient">
+        <param name="remote"> /icub/left_arm/FT </param>
         <param name="local"> /wholeBodyDynamics/l_arm_ft </param>
     </device>
 
-    <device name="right_upper_arm_strain" type="analogsensorclient">
-        <param name="remote"> /icub/right_arm/analog:o </param>
+    <device name="right_arm_client" type="multipleanalogsensorsclient">
+        <param name="remote"> /icub/right_arm/FT </param>
         <param name="local"> /wholeBodyDynamics/r_arm_ft </param>
     </device>
 
-    <device name="left_upper_leg_strain" type="analogsensorclient">
-        <param name="remote"> /icub/left_leg/analog:o </param>
+    <device name="left_leg_client" type="multipleanalogsensorsclient">
+        <param name="remote"> /icub/left_leg/FT </param>
         <param name="local"> /wholeBodyDynamics/l_leg_ft </param>
     </device>
 
-    <device name="right_upper_leg_strain" type="analogsensorclient">
-        <param name="remote"> /icub/right_leg/analog:o </param>
+    <device name="right_leg_client" type="multipleanalogsensorsclient">
+        <param name="remote"> /icub/right_leg/FT </param>
         <param name="local"> /wholeBodyDynamics/r_leg_ft </param>
     </device>
 
     <!-- estimators -->
-    <xi:include href="estimators/wholebodydynamics-external.xml" />
+    <xi:include href="./wholebodydynamics-icub-external-and-can-four-fts.xml" />
 </robot>
diff --git a/devices/wholeBodyDynamics/app/launch-wholebodydynamics-icub-six-fts-sim.xml b/devices/wholeBodyDynamics/app/launch-wholebodydynamics-icub-six-fts-sim.xml
@@ -57,42 +57,32 @@
     -->
 
     <!-- imu -->
-    <device name="inertial" type="genericSensorClient">
-        <param name="remote"> /icubSim/inertial </param>
+    <device name="head-inertial-client" type="multipleanalogsensorsclient">
+        <param name="remote"> /icubSim/head/inertials </param>
         <param name="local"> /wholeBodyDynamics/imu </param>
     </device>
 
     <!-- six axis force torque sensors -->
-    <device name="left_upper_arm_strain" type="analogsensorclient">
-        <param name="remote"> /icubSim/left_arm/analog:o </param>
+    <device name="left_arm_client" type="multipleanalogsensorsclient">
+        <param name="remote"> /icubSim/left_arm/FT </param>
         <param name="local"> /wholeBodyDynamics/l_arm_ft </param>
     </device>
 
-    <device name="right_upper_arm_strain" type="analogsensorclient">
-        <param name="remote"> /icubSim/right_arm/analog:o </param>
+    <device name="right_arm_client" type="multipleanalogsensorsclient">
+        <param name="remote"> /icubSim/right_arm/FT </param>
         <param name="local"> /wholeBodyDynamics/r_arm_ft </param>
     </device>
 
-    <device name="left_upper_leg_strain" type="analogsensorclient">
-        <param name="remote"> /icubSim/left_leg/analog:o </param>
+    <device name="left_leg_client" type="multipleanalogsensorsclient">
+        <param name="remote"> /icubSim/left_leg/FT </param>
         <param name="local"> /wholeBodyDynamics/l_leg_ft </param>
     </device>
 
-    <device name="right_upper_leg_strain" type="analogsensorclient">
-        <param name="remote"> /icubSim/right_leg/analog:o </param>
+    <device name="right_leg_client" type="multipleanalogsensorsclient">
+        <param name="remote"> /icubSim/right_leg/FT </param>
         <param name="local"> /wholeBodyDynamics/r_leg_ft </param>
     </device>
 
-    <device name="left_lower_leg_strain" type="analogsensorclient">
-        <param name="remote"> /icubSim/left_foot/analog:o </param>
-        <param name="local"> /wholeBodyDynamics/l_foot_ft </param>
-    </device>
-
-    <device name="right_lower_leg_strain" type="analogsensorclient">
-        <param name="remote"> /icubSim/right_foot/analog:o </param>
-        <param name="local"> /wholeBodyDynamics/r_foot_ft </param>
-    </device>
-
     <!-- estimators -->
-    <xi:include href="estimators/wholebodydynamics-external.xml" />
+    <xi:include href="./wholebodydynamics-icub-external-six-fts-sim.xml" />
 </robot>
diff --git a/devices/wholeBodyDynamics/app/launch-wholebodydynamics-icub-six-fts.xml b/devices/wholeBodyDynamics/app/launch-wholebodydynamics-icub-six-fts.xml
@@ -93,42 +93,42 @@
     -->
 
     <!-- imu -->
-    <device name="inertial" type="genericSensorClient">
-        <param name="remote"> /icub/inertial </param>
+    <device name="head-inertial-client" type="multipleanalogsensorsclient">
+        <param name="remote"> /icub/head/inertials </param>
         <param name="local"> /wholeBodyDynamics/imu </param>
     </device>
 
     <!-- six axis force torque sensors -->
-    <device name="left_upper_arm_strain" type="analogsensorclient">
-        <param name="remote"> /icub/left_arm/analog:o </param>
+    <device name="left_arm_client" type="multipleanalogsensorsclient">
+        <param name="remote"> /icub/left_arm/FT </param>
         <param name="local"> /wholeBodyDynamics/l_arm_ft </param>
     </device>
 
-    <device name="right_upper_arm_strain" type="analogsensorclient">
-        <param name="remote"> /icub/right_arm/analog:o </param>
+    <device name="right_arm_client" type="multipleanalogsensorsclient">
+        <param name="remote"> /icub/right_arm/FT </param>
         <param name="local"> /wholeBodyDynamics/r_arm_ft </param>
     </device>
 
-    <device name="left_upper_leg_strain" type="analogsensorclient">
-        <param name="remote"> /icub/left_leg/analog:o </param>
+    <device name="left_leg_client" type="multipleanalogsensorsclient">
+        <param name="remote"> /icub/left_leg/FT </param>
         <param name="local"> /wholeBodyDynamics/l_leg_ft </param>
     </device>
 
-    <device name="right_upper_leg_strain" type="analogsensorclient">
-        <param name="remote"> /icub/right_leg/analog:o </param>
+    <device name="right_leg_client" type="multipleanalogsensorsclient">
+        <param name="remote"> /icub/right_leg/FT </param>
         <param name="local"> /wholeBodyDynamics/r_leg_ft </param>
     </device>
 
-    <device name="left_lower_leg_strain" type="analogsensorclient">
-        <param name="remote"> /icub/left_foot/analog:o </param>
+    <device name="left_foot_client" type="multipleanalogsensorsclient">
+        <param name="remote"> /icub/left_foot/FT </param>
         <param name="local"> /wholeBodyDynamics/l_foot_ft </param>
     </device>
 
-    <device name="right_lower_leg_strain" type="analogsensorclient">
-        <param name="remote"> /icub/right_foot/analog:o </param>
+    <device name="right_foot_client" type="multipleanalogsensorsclient">
+        <param name="remote"> /icub/right_foot/FT </param>
         <param name="local"> /wholeBodyDynamics/r_foot_ft </param>
     </device>
 
     <!-- estimators -->
-    <xi:include href="estimators/wholebodydynamics-external.xml" />
+    <xi:include href="./wholebodydynamics-icub-external-and-can-six-fts.xml" />
 </robot>
diff --git a/devices/wholeBodyDynamics/app/launch-wholebodydynamics-icub3-sim.xml b/devices/wholeBodyDynamics/app/launch-wholebodydynamics-icub3-sim.xml
@@ -34,52 +34,32 @@
     </device>
 
     <!-- imu -->
-    <device name="inertial" type="genericSensorClient">
-        <param name="remote"> /icubSim/inertial </param>
+    <device name="head-inertial-client" type="multipleanalogsensorsclient">
+        <param name="remote"> /icubSim/head/inertials </param>
         <param name="local"> /wholeBodyDynamics/imu </param>
     </device>
 
     <!-- six axis force torque sensors -->
-    <device name="left_upper_arm_strain" type="analogsensorclient">
-        <param name="remote"> /icubSim/left_arm/analog:o </param>
+    <device name="left_arm_client" type="multipleanalogsensorsclient">
+        <param name="remote"> /icubSim/left_arm/FT </param>
         <param name="local"> /wholeBodyDynamics/l_arm_ft </param>
     </device>
 
-    <device name="right_upper_arm_strain" type="analogsensorclient">
-        <param name="remote"> /icubSim/right_arm/analog:o </param>
+    <device name="right_arm_client" type="multipleanalogsensorsclient">
+        <param name="remote"> /icubSim/right_arm/FT </param>
         <param name="local"> /wholeBodyDynamics/r_arm_ft </param>
     </device>
 
-    <device name="left_lower_leg_front_strain" type="analogsensorclient">
-        <param name="remote"> /icubSim/left_foot_front/analog:o </param>
-        <param name="local"> /wholeBodyDynamics/l_foot_front_ft </param>
-    </device>
-
-    <device name="left_lower_leg_rear_strain" type="analogsensorclient">
-        <param name="remote"> /icubSim/left_foot_rear/analog:o </param>
-        <param name="local"> /wholeBodyDynamics/l_foot_rear_ft </param>
-    </device>
-
-    <device name="left_upper_leg_strain" type="analogsensorclient">
-        <param name="remote"> /icubSim/left_leg/analog:o </param>
+    <device name="left_leg_client" type="multipleanalogsensorsclient">
+        <param name="remote"> /icubSim/left_leg/FT </param>
         <param name="local"> /wholeBodyDynamics/l_leg_ft </param>
     </device>
 
-    <device name="right_lower_leg_front_strain" type="analogsensorclient">
-        <param name="remote"> /icubSim/right_foot_front/analog:o </param>
-        <param name="local"> /wholeBodyDynamics/r_foot_front_ft </param>
-    </device>
-
-    <device name="right_lower_leg_rear_strain" type="analogsensorclient">
-        <param name="remote"> /icubSim/right_foot_rear/analog:o </param>
-        <param name="local"> /wholeBodyDynamics/r_foot_rear_ft </param>
-    </device>
-
-    <device name="right_upper_leg_strain" type="analogsensorclient">
-        <param name="remote"> /icubSim/right_leg/analog:o </param>
+    <device name="right_leg_client" type="multipleanalogsensorsclient">
+        <param name="remote"> /icubSim/right_leg/FT </param>
         <param name="local"> /wholeBodyDynamics/r_leg_ft </param>
     </device>
 
     <!-- estimators -->
-    <xi:include href="estimators/wholebodydynamics-external.xml" />
+    <xi:include href="./wholebodydynamics-icub3-external-sim.xml" />
 </robot>
diff --git a/devices/wholeBodyDynamics/app/launch-wholebodydynamics-icubheidelberg01.xml b/devices/wholeBodyDynamics/app/launch-wholebodydynamics-icubheidelberg01.xml
diff --git a/devices/wholeBodyDynamics/app/wholebodydynamics-icub-eth-six-fts.xml b/devices/wholeBodyDynamics/app/wholebodydynamics-icub-eth-six-fts.xml
@@ -12,7 +12,7 @@
         <param name="modelFile">model.urdf</param>
         <param name="fixedFrameGravity">(0,0,-9.81)</param>
         <param name="defaultContactFrames">(l_hand,r_hand,root_link,l_sole,r_sole,l_lower_leg,r_lower_leg,l_elbow_1,r_elbow_1)</param>
-        <param name="imuFrameName">imu_frame</param>
+        <param name="imuFrameName">head_imu_0</param>
         <param name="useJointVelocity">true</param>
         <param name="useJointAcceleration">true</param>
         <param name="imuFilterCutoffInHz">3.0</param>
@@ -93,6 +93,15 @@
             <param name="/wholeBodyDynamics/right_leg/cartesianEndEffectorWrench:o">(r_foot,r_sole,root_link)</param>
         </group>
 
+        <group name="HW_USE_MAS_IMU">
+            <param name="accelerometer">rfeimu_acc</param>
+            <param name="gyroscope">rfeimu_gyro</param>
+        </group>
+
+         <group name="multipleAnalogSensorsNames">
+            <param name="SixAxisForceTorqueSensorsNames">("l_arm_ft", "r_arm_ft", "l_leg_ft", "r_leg_ft", "l_foot_ft", "r_foot_ft")</param>
+        </group>
+
         <action phase="startup" level="15" type="attach">
             <paramlist name="networks">
                 <!-- motorcontrol and virtual torque sensors -->
@@ -107,14 +116,12 @@
                 <elem name="left_upper_arm">left_upper_arm_mc</elem>
                 <elem name="head">head_mc</elem>
                 <!-- imu -->
-                <elem name="imu">inertial</elem>
+                <elem name="imu">head-inertial-client</elem>
                 <!-- ft -->
-                <elem name="l_arm_ft">left_upper_arm_strain</elem>
-                <elem name="r_arm_ft">right_upper_arm_strain</elem>
-                <elem name="l_leg_ft">left_upper_leg_strain</elem>
-                <elem name="r_leg_ft">right_upper_leg_strain</elem>
-                <elem name="l_foot_ft">left_lower_leg_strain</elem>
-                <elem name="r_foot_ft">right_lower_leg_strain</elem>
+                <elem name="l_arm_ft">left_arm_client</elem>
+                <elem name="r_arm_ft">right_arm_client</elem>
+                <elem name="l_leg_ft">left_leg_client</elem>
+                <elem name="r_leg_ft">right_leg_client</elem>
             </paramlist>
         </action>