Merge pull request #5 from ami-iit/fix_model_name_conflict

Fix naming conflict with component_ironcub

CHANGELOG.md

@@ -0,0 +1,25 @@
+# Changelog
+
+All notable changes to this project will be documented in this file.
+
+The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
+and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
+
+## [Unreleased Major]
+
+#### Added
+
+#### Changed
+
+- changed models folder name to avoid conflicts with component - by @gabrielenava https://github.com/ami-iit/ironcub_mk1_software/pull/5
+
+#### Removed
+
+#### Fixed
+
+- fix naming after rename of the repo - by @FabioBergonti https://github.com/ami-iit/ironcub_mk1_software/pull/4
+- fix simulated IMU config files for Gazebo - by @gabrielenava https://github.com/ami-iit/ironcub_mk1_software/pull/5
+
+## [[v1.0](https://github.com/ami-iit/ironcub_mk1_software/releases/tag/v1.0)] - 2022-02-20
+
+- first release of iRonCub Software.

CMakeLists.txt

@@ -46,12 +46,12 @@ file(TO_NATIVE_PATH "${PROJECT_SOURCE_DIR}" IRONCUB_SOURCE_DIR)
 # Set paths for using the iRonCub models in Gazebo
 set(SETUP_PATH_GAZEBO_MODELS "
 ${EXPORT_VAR} GAZEBO_MODEL_PATH=${VARIABLE_START}GAZEBO_MODEL_PATH${VARIABLE_END}${PATH_LIST_SEPARATOR}${VARIABLE_START}IRONCUB_SOFTWARE_SOURCE_DIR${VARIABLE_END}${PATH_SEPARATOR}models${PATH_SEPARATOR}
-${EXPORT_VAR} GAZEBO_MODEL_PATH=${VARIABLE_START}GAZEBO_MODEL_PATH${VARIABLE_END}${PATH_LIST_SEPARATOR}${VARIABLE_START}IRONCUB_SOFTWARE_SOURCE_DIR${VARIABLE_END}${PATH_SEPARATOR}models${PATH_SEPARATOR}iRonCub-Mk1${PATH_SEPARATOR}iRonCub${PATH_SEPARATOR}robots
-${EXPORT_VAR} GAZEBO_MODEL_PATH=${VARIABLE_START}GAZEBO_MODEL_PATH${VARIABLE_END}${PATH_LIST_SEPARATOR}${VARIABLE_START}IRONCUB_SOFTWARE_SOURCE_DIR${VARIABLE_END}${PATH_SEPARATOR}models${PATH_SEPARATOR}iRonCub-Mk1_1${PATH_SEPARATOR}iRonCub${PATH_SEPARATOR}robots
+${EXPORT_VAR} GAZEBO_MODEL_PATH=${VARIABLE_START}GAZEBO_MODEL_PATH${VARIABLE_END}${PATH_LIST_SEPARATOR}${VARIABLE_START}IRONCUB_SOFTWARE_SOURCE_DIR${VARIABLE_END}${PATH_SEPARATOR}models${PATH_SEPARATOR}iRonCub-Mk1_v1${PATH_SEPARATOR}iRonCub${PATH_SEPARATOR}robots
+${EXPORT_VAR} GAZEBO_MODEL_PATH=${VARIABLE_START}GAZEBO_MODEL_PATH${VARIABLE_END}${PATH_LIST_SEPARATOR}${VARIABLE_START}IRONCUB_SOFTWARE_SOURCE_DIR${VARIABLE_END}${PATH_SEPARATOR}models${PATH_SEPARATOR}iRonCub-Mk1_1_v1${PATH_SEPARATOR}iRonCub${PATH_SEPARATOR}robots
 ${EXPORT_VAR} GAZEBO_RESOURCE_PATH=${VARIABLE_START}GAZEBO_RESOURCE_PATH${VARIABLE_END}${PATH_LIST_SEPARATOR}${VARIABLE_START}IRONCUB_SOFTWARE_SOURCE_DIR${VARIABLE_END}${PATH_SEPARATOR}models${PATH_SEPARATOR}worlds${PATH_SEPARATOR}iRonCub-Mk1_world
 ${EXPORT_VAR} GAZEBO_RESOURCE_PATH=${VARIABLE_START}GAZEBO_RESOURCE_PATH${VARIABLE_END}${PATH_LIST_SEPARATOR}${VARIABLE_START}IRONCUB_SOFTWARE_SOURCE_DIR${VARIABLE_END}${PATH_SEPARATOR}models${PATH_SEPARATOR}worlds${PATH_SEPARATOR}iRonCub-Mk1_1_world
-${EXPORT_VAR} YARP_DATA_DIRS=${VARIABLE_START}YARP_DATA_DIRS${VARIABLE_END}${PATH_LIST_SEPARATOR}${VARIABLE_START}IRONCUB_SOFTWARE_SOURCE_DIR${VARIABLE_END}${PATH_SEPARATOR}models${PATH_SEPARATOR}iRonCub-Mk1${PATH_SEPARATOR}iRonCub${PATH_SEPARATOR}
-${EXPORT_VAR} YARP_DATA_DIRS=${VARIABLE_START}YARP_DATA_DIRS${VARIABLE_END}${PATH_LIST_SEPARATOR}${VARIABLE_START}IRONCUB_SOFTWARE_SOURCE_DIR${VARIABLE_END}${PATH_SEPARATOR}models${PATH_SEPARATOR}iRonCub-Mk1_1${PATH_SEPARATOR}iRonCub${PATH_SEPARATOR}")
+${EXPORT_VAR} YARP_DATA_DIRS=${VARIABLE_START}YARP_DATA_DIRS${VARIABLE_END}${PATH_LIST_SEPARATOR}${VARIABLE_START}IRONCUB_SOFTWARE_SOURCE_DIR${VARIABLE_END}${PATH_SEPARATOR}models${PATH_SEPARATOR}iRonCub-Mk1_v1${PATH_SEPARATOR}iRonCub${PATH_SEPARATOR}
+${EXPORT_VAR} YARP_DATA_DIRS=${VARIABLE_START}YARP_DATA_DIRS${VARIABLE_END}${PATH_LIST_SEPARATOR}${VARIABLE_START}IRONCUB_SOFTWARE_SOURCE_DIR${VARIABLE_END}${PATH_SEPARATOR}models${PATH_SEPARATOR}iRonCub-Mk1_1_v1${PATH_SEPARATOR}iRonCub${PATH_SEPARATOR}")
 
 # Add jets-plugin to Gazebo plugin path
 set(SETUP_PATH_GAZEBO_PLUGINS "${EXPORT_VAR} GAZEBO_PLUGIN_PATH=${VARIABLE_START}GAZEBO_PLUGIN_PATH${VARIABLE_END}${PATH_LIST_SEPARATOR}${VARIABLE_START}IRONCUB_SOFTWARE_INSTALL_PREFIX${VARIABLE_END}${PATH_SEPARATOR}${PLUGIN_FOLDER_NAME}")

models/CMakeLists.txt

@@ -1,6 +1,6 @@
 # Copyright: (C) 2018 iCub Facility - Fondazione Istituto Italiano di Tecnologia
 # Authors: Luca Fiorio
 
-add_subdirectory(iRonCub-Mk1)
-add_subdirectory(iRonCub-Mk1_1)
+add_subdirectory(iRonCub-Mk1_v1)
+add_subdirectory(iRonCub-Mk1_1_v1)
 

models/README.md

@@ -18,8 +18,8 @@ You should add these lines in your `.bashrc` (**warning**! not needed if you sou
 ``` bash
 export IRONCUB_SOFTWARE_SOURCE_DIR=[path where this repository is stored]
 export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:${IRONCUB_SOFTWARE_SOURCE_DIR}/models/
-export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:${IRONCUB_SOFTWARE_SOURCE_DIR}/models/iRonCub-Mk1/iRonCub/robots
-export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:${IRONCUB_SOFTWARE_SOURCE_DIR}/models/iRonCub-Mk1_1/iRonCub/robots
+export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:${IRONCUB_SOFTWARE_SOURCE_DIR}/models/iRonCub-Mk1_v1/iRonCub/robots
+export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:${IRONCUB_SOFTWARE_SOURCE_DIR}/models/iRonCub-Mk1_1_v1/iRonCub/robots
 ```
 
 #### How to use models in Gazebo (on Windows)
@@ -29,8 +29,8 @@ You should add these lines in your custom `.bat` file to be called from terminal
 ``` cmd
 set IRONCUB_SOFTWARE_SOURCE_DIR=[path where this repository is stored]
 set GAZEBO_MODEL_PATH=%GAZEBO_MODEL_PATH%;%IRONCUB_SOFTWARE_SOURCE_DIR%\models\
-set GAZEBO_MODEL_PATH=%GAZEBO_MODEL_PATH%;%IRONCUB_SOFTWARE_SOURCE_DIR%\models\iRonCub-Mk1\iRonCub\robots
-set GAZEBO_MODEL_PATH=%GAZEBO_MODEL_PATH%;%IRONCUB_SOFTWARE_SOURCE_DIR%\models\iRonCub-Mk1_1\iRonCub\robots
+set GAZEBO_MODEL_PATH=%GAZEBO_MODEL_PATH%;%IRONCUB_SOFTWARE_SOURCE_DIR%\models\iRonCub-Mk1_v1\iRonCub\robots
+set GAZEBO_MODEL_PATH=%GAZEBO_MODEL_PATH%;%IRONCUB_SOFTWARE_SOURCE_DIR%\models\iRonCub-Mk1_1_v1\iRonCub\robots
 ```
 
 #### How to use the .urdf model with WBToolbox and Simulink (on Linux)
@@ -39,8 +39,8 @@ You should add these lines in your `.bashrc` (**warning**! not needed if you sou
 
 ``` bash
 export IRONCUB_SOFTWARE_SOURCE_DIR=[path where this repository is stored]
-export YARP_DATA_DIRS=${YARP_DATA_DIRS}:${IRONCUB_SOFTWARE_SOURCE_DIR}/models/iRonCub-Mk1/iRonCub/
-export YARP_DATA_DIRS=${YARP_DATA_DIRS}:${IRONCUB_SOFTWARE_SOURCE_DIR}/models/iRonCub-Mk1_1/iRonCub/
+export YARP_DATA_DIRS=${YARP_DATA_DIRS}:${IRONCUB_SOFTWARE_SOURCE_DIR}/models/iRonCub-Mk1_v1/iRonCub/
+export YARP_DATA_DIRS=${YARP_DATA_DIRS}:${IRONCUB_SOFTWARE_SOURCE_DIR}/models/iRonCub-Mk1_1_v1/iRonCub/
 ```
 
 Set the `YARP_ROBOT_NAME` variable as the name of the folder where the `model.urdf` is stored.
@@ -52,8 +52,8 @@ You should add these lines in your custom `.bat` file to be called from terminal
 
 ``` cmd
 set IRONCUB_SOFTWARE_SOURCE_DIR=[path where this repository is stored]
-set YARP_DATA_DIRS=%YARP_DATA_DIRS%;%IRONCUB_SOFTWARE_SOURCE_DIR%\models\iRonCub-Mk1\iRonCub\
-set YARP_DATA_DIRS=%YARP_DATA_DIRS%;%IRONCUB_SOFTWARE_SOURCE_DIR%\models\iRonCub-Mk1_1\iRonCub\
+set YARP_DATA_DIRS=%YARP_DATA_DIRS%;%IRONCUB_SOFTWARE_SOURCE_DIR%\models\iRonCub-Mk1_v1\iRonCub\
+set YARP_DATA_DIRS=%YARP_DATA_DIRS%;%IRONCUB_SOFTWARE_SOURCE_DIR%\models\iRonCub-Mk1_1_v1\iRonCub\
 ```
 
 Set the `YARP_ROBOT_NAME` variable as the name of the folder where the `model.urdf` is stored.
@@ -80,4 +80,4 @@ You can use the following command:
 ``` bash
 yarprobotinterface --config launch-wholebodydynamics-iRonCub.xml
 ```
-(**warning:** by default the FT sensors offsets are set to zero by ```<param name="startWithZeroFTSensorOffsets">true</param>``` [here](./iRonCub-Mk1/iRonCub/robots/iRonCub-Mk1_Gazebo_v1/estimators/wholebodydynamics-external-iRonCub.xml#L18) for `iRonCub-Mk1_Gazebo_v1` model and [here](./iRonCub-Mk1_1/iRonCub/robots/iRonCub-Mk1_1_Gazebo_v1/estimators/wholebodydynamics-external-iRonCub.xml#L18) for `iRonCub-Mk1_1_Gazebo_v1` model).
+(**warning:** by default the FT sensors offsets are set to zero by ```<param name="startWithZeroFTSensorOffsets">true</param>``` [here](./iRonCub-Mk1_v1/iRonCub/robots/iRonCub-Mk1_Gazebo_v1/estimators/wholebodydynamics-external-iRonCub.xml#L18) for `iRonCub-Mk1_Gazebo_v1` model and [here](./iRonCub-Mk1_1_v1/iRonCub/robots/iRonCub-Mk1_1_Gazebo_v1/estimators/wholebodydynamics-external-iRonCub.xml#L18) for `iRonCub-Mk1_1_Gazebo_v1` model).

models/iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_inertial.ini

@@ -0,0 +1,6 @@
+[include "gazebo_icub_robotname.ini"]
+name /${gazeboYarpPluginsRobotName}/head/inertials
+period 10
+device multipleanalogsensorsserver
+subdevice gazebo_imu
+

models/iRonCub-Mk1/iRonCub/conf/gazebo_icub_xsens_inertial.ini → models/iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_xsens_inertial.ini

@@ -1,7 +1,6 @@
 [include "gazebo_icub_robotname.ini"]
-
 name /${gazeboYarpPluginsRobotName}/xsens_inertial
-period 0.0025
-
-device inertial
+period 10
+device multipleanalogsensorsserver
 subdevice gazebo_imu
+