embObjIMU: add sensorName param

[Nicogene]

sensorName is optional, if defined it is used as return of get<type>SensorName and for now also get<type>FrameName, (we should in the future also add frameName as done #822 ) otherwise id is used.

It fixes #852

cc @traversaro @marcoaccame @pattacini

[Nicogene]

Successfully tested on iCubGenova11 ready for the review

[pattacini]

Fine with me but it'd better that @marcoaccame reviews the PR as well.

[traversaro]

For people reviewing the PR, I suggest to look at it with whitespace changes hidden (see https://github.com/robotology/icub-main/pull/853/files?diff=unified&w=1).

[traversaro]

Ok for me, I wonder if we need also to update the template config files: https://github.com/robotology/robots-configuration/tree/master/iCubTemplates/iCubTemplateV6_0 as they are the only place in which all this configuration are documented.

[marcoaccame]

Ok for me, I wonder if we need also to update the template config files: https://github.com/robotology/robots-configuration/tree/master/iCubTemplates/iCubTemplateV6_0 as they are the only place in which all this configuration are documented.

I am looking at it.

I have seen that the description of the xml file is not exhaustive enough, so I am preparing a new description which takes into account all the possibilities of the device.

[marcoaccame]

Hi @Nicogene, the PR is fine by me.

[marcoaccame]

Ok for me, I wonder if we need also to update the template config files: https://github.com/robotology/robots-configuration/tree/master/iCubTemplates/iCubTemplateV6_0 as they are the only place in which all this configuration are documented.

I am looking at it.

I have seen that the description of the xml file is not exhaustive enough, so I am preparing a new description which takes into account all the possibilities of the device.

I will address the improvement of the relevant files in the following PR:

• head-inertial: add sensorName parameter robots-configuration#422

[pattacini]

Hi @marcoaccame

The PR has been already merged