Update iframetransform_to_iwear.xml to use new TF device (#202)

* Update iframetransform_to_iwear.xml to use new TF device * Update CHANGELOG.md
robotology · Nov 14, 2023 · 3f2e20a · 3f2e20a
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -6,6 +6,9 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## [Unreleased]
 
+### Changed
+- Update iframetransform_to_iwear.xml to use new TF device (https://github.com/robotology/wearables/pull/202)
+
 ### Added
 - CMake: Permit to explictly specify Python installation directory by setting the `WEARABLES_PYTHON_INSTALL_DIR` CMake variable (https://github.com/robotology/wearables/pull/197).
 

diff --git a/devices/IFrameTransformToIWear/conf/iframetransform_to_iwear.xml b/devices/IFrameTransformToIWear/conf/iframetransform_to_iwear.xml
@@ -2,10 +2,11 @@
 <!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
 <robot name="IFrameTransformToIWear" build=0 portprefix="">
 
-<device type="transformClient" name="TransformClient">
+<device type="frameTransformClient" name="TransformClient">
  <param name="period">0.01</param>
- <param name="local">/tf</param>
- <param name="remote">/transformServer</param>
+ <param name="filexml_option">ftc_yarp_only.xml</param>
+ <param name="ft_client_prefix">/IFrameTransformToIWear/tf</param>
+ <param name="local_rpc">/IFrameTransformToIWear/tf/local_rpc</param>
 </device>
 
 <device type="iframetransform_to_iwear" name="IFrameTransformToIWear">