ergoCubSN00*: Fix name of waist_imu_0 sensor in real robots and imuFr…

…ameName in wbd files (#614)
robotology · Feb 14, 2024 · fceb15a · fceb15a
1 parent 47994d3
commit fceb15a
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Showing 5 changed files with 11 additions and 9 deletions.
diff --git a/ergoCubSN000/estimators/wholebodydynamics.xml b/ergoCubSN000/estimators/wholebodydynamics.xml
@@ -22,8 +22,8 @@
         <param name="publishNetExternalWrenches">true</param>
 	<!--<param name="assume_fixed">root_link</param>-->
 	<group name="HW_USE_MAS_IMU">
-	    <param name="accelerometer">sensor_imu_xsensmt</param>
-	    <param name="gyroscope">sensor_imu_xsensmt</param>
+	    <param name="accelerometer">waist_imu_0</param>
+	    <param name="gyroscope">waist_imu_0</param>
 	</group>
 
         <group name="multipleAnalogSensorsNames">

diff --git a/ergoCubSN000/estimators/wholebodydynamics_no_right_forearm.xml b/ergoCubSN000/estimators/wholebodydynamics_no_right_forearm.xml
@@ -22,8 +22,8 @@
         <param name="publishNetExternalWrenches">true</param>
 	<!--<param name="assume_fixed">root_link</param>-->
 	<group name="HW_USE_MAS_IMU">
-	    <param name="accelerometer">sensor_imu_xsensmt</param>
-	    <param name="gyroscope">sensor_imu_xsensmt</param>
+	    <param name="accelerometer">waist_imu_0</param>
+	    <param name="gyroscope">waist_imu_0</param>
 	</group>
 
         <group name="multipleAnalogSensorsNames">

diff --git a/ergoCubSN000/hardware/inertials/waist-inertial.xml b/ergoCubSN000/hardware/inertials/waist-inertial.xml
@@ -7,4 +7,5 @@
     <param name="xsensmt_gyro_period">0.005</param>
     <param name="xsensmt_acc_period">0.005</param>
     <param name="xsensmt_mag_period">0.01</param>
-  </device>
+    <param name="sensor_name">waist_imu_0</param>
+  </device>
diff --git a/ergoCubSN001/estimators/wholebodydynamics.xml b/ergoCubSN001/estimators/wholebodydynamics.xml
@@ -7,7 +7,7 @@
   <param name="modelFile">model.urdf</param>
   <param name="fixedFrameGravity">(0,0,-9.81)</param>
   <param name="defaultContactFrames">(l_hand_palm,r_hand_palm,root_link,l_foot_front,l_foot_rear,r_foot_front,r_foot_rear,l_upper_leg,r_upper_leg)</param>
-  <param name="imuFrameName">head_imu_0</param>
+  <param name="imuFrameName">waist_imu_0</param>
   <param name="publishOnROS">true</param>
   <param name="forceTorqueEstimateConfidence">2</param>
   <param name="useJointVelocity">true</param>
@@ -22,8 +22,8 @@
   <param name="publishNetExternalWrenches">true</param>
   <!--<param name="assume_fixed">root_link</param>-->
   <group name="HW_USE_MAS_IMU">
-    <param name="accelerometer">sensor_imu_xsensmt</param>
-    <param name="gyroscope">sensor_imu_xsensmt</param>
+    <param name="accelerometer">waist_imu_0</param>
+    <param name="gyroscope">waist_imu_0</param>
   </group>
 
   <group name="multipleAnalogSensorsNames">

diff --git a/ergoCubSN001/hardware/inertials/waist-inertial.xml b/ergoCubSN001/hardware/inertials/waist-inertial.xml
@@ -7,4 +7,5 @@
     <param name="xsensmt_gyro_period">0.005</param>
     <param name="xsensmt_acc_period">0.005</param>
     <param name="xsensmt_mag_period">0.01</param>
-  </device>
+    <param name="sensor_name">waist_imu_0</param>
+  </device>