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Replace usage of analogServer
#358
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cc @traversaro |
For the ROS part, you can use |
I think that specific port is not used, but there is a second |
I have opened #361 to address the replacement of |
I think we can close this issue, am I right? |
Apparently three files are still using that: I would remove the files before closing the issue. If instead the files are still used, then we have a problem. fyi @S-Dafarra @mebbaid |
I think this is similar to what @dariosortino did for the iFeel part. Those wrappers were useful to stream over ROS the values of the shoes I suppose. I doubt they work anyhow, since the ROS group has disappeared from recent versions of the device. |
As far as I know
|
Sorry but about this I don't really know much what's going on currently |
I guess it all boils down to which files you are using in the iFeel-Human demos. If you are not using human-dynamics-estimation/conf/xml/Human.xml Line 197 in 48d0147
|
Checking in our configuration files, it seems that we don't use that anymore |
Perfect, I guess we can delete the |
Those file are actually older, I think they were used for An.Dy demo before I even joined! Concerning |
It would be nice also to correct this https://github.com/robotology/human-dynamics-estimation/blob/master/misc/hde_scheme.png |
@lrapetti do you happen to know where the source of that drawing is? |
@traversaro I've got the .svg of the scheme, I will fix it together with @davidegorbani. |
you can use the updated figure discussed in the handover in https://github.com/ami-iit/element_ergonomy-control/issues/183#issuecomment-1872496045 |
Currently we are using the
analogServer
in order to stream the wrench data fromIHumanWrench
interface (see https://github.com/search?q=repo%3Arobotology%2Fhuman-dynamics-estimation%20analogServer&type=code). However, theanalogServer
corresponds to theanalogWrapper
mentioned in robotology/yarp#2999, which will be soon be deprecated.Indeed we should understand what are the alternatives. One option could be to implement our own message, and wrapper/remapper devices as we are doing for the
IHumanState
andIHumanDynamics
, and removing theIAnalogSensor
interface from the wrench provider (see here). Clearly this will also break theROS
pipeline, which anyway should be soon addressed (see also #335).Another option, would be to understand what is the alternative device.
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