Merge pull request #72 from robotology/devel

Merge devel in master
robotology-legacy · Dec 13, 2019 · 1161b1d · 1161b1d
2 parents bbc5dd8 + 837f87f
commit 1161b1d
Showing 1 changed file with 9 additions and 2 deletions.
diff --git a/icub/conf/gazebo_icub_inertial.ini b/icub/conf/gazebo_icub_inertial.ini
@@ -1,7 +1,14 @@
 [include "gazebo_icub_robotname.ini"]
 
+[WRAPPER]
+device multipleanalogsensorsserver
+name /${gazeboYarpPluginsRobotName}/head/inertials
+period 10
+
+[ADDITIONAL_WRAPPER]
+device inertial
 name /${gazeboYarpPluginsRobotName}/inertial
 period 0.01
 
-device inertial
-subdevice gazebo_imu
+[IMU_DRIVER]
+device gazebo_imu