Expose yarp::dev::ISixAxisForceTorqueSensors interface in gazebo_yarp_forcetorque plugin #628
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…_forcetorque plugin
traversaro
requested review from
prashanthr05,
HosameldinMohamed and
GiulioRomualdi
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| yarp::dev::MAS_status GazeboYarpForceTorqueDriver::getSixAxisForceTorqueSensorStatus(size_t sens_index) const | ||
| { | ||
| if (sens_index > 1) |
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Hi @traversaro
Just to double-check about this condition.. I checked about sens_index, and in https://www.yarp.it/v3.7/classyarp_1_1dev_1_1ISixAxisForceTorqueSensors.html it says
[in] | sens_index | The index of the specified sensor (should be between 0 and getNrOfSixAxisForceTorqueSensors()-1).
So in our case only 0 is acceptable if I am not mistaken.
Merged
3 tasks
HosameldinMohamed
approved these changes
Jun 20, 2022
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Fix #384 .
This is important to correctly simulate the iCub 3 model, that as of June 2022 exposes the FT sensors only via ports opened by the
multipleanalogsensorsserver.