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Ensure that enable_tags and disable_tags options can be passed in a world SDF file to the gazebo_yarp_robotinterface of an included model #672
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Implemeting the |
In
getRobotFromFile overload with just one argument to the one that takes in input a Serchable, and that Searchable could be a Bottle or Property generated by the string passed in yarpRobotInterfaceConfigurationParameters .
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This was referenced Jan 10, 2024
This was referenced Apr 16, 2024
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In ergocub, there is sometimes the need to include some devices in the
gazebo_yarp_robotinterface
that can be enabled or disabled by the specific user. The main use cases is to be able to add some devices that are not enabled by default due to their specific run dependencies, but in some cases users want to run.Specific instances of this need are:
yarprobotinterface
manually instead of when spawning the robot in simulation icub-tech-iit/ergocub-software#193)In both cases (especially in the ROS2 case) we would strictly like to avoid adding a ROS2 runtime dependency on Gazebo Classic simulations of ergocub-software.
To achieve this, a possible idea is to use
enable_tags
anddisable_tags
options of yarprobotinterface (see https://www.yarp.it/latest/group__yarprobotinterface.html and https:/robotology/robots-configuration/blob/08f2a6ecc3c9d4cc2dad6b4524775b9f8f97e9a2/R1SN001/CER.xml#L10) to mark the wbd and ROS2 devices in thegazebo_yarp_robotinterface
configuration. For example, could be marked withenabled_by="enable_wholebodydynamics"
andenabled_by="enable_ros2"
. In this way, this devices would be disabled by default, and to enable this the devices the users would need to passenable_tags (enable_wholebodydynamics enable_ros2)
to the gazebo_yarp_robotinterface configuration file. However, we do not want users to modify the configuration specified in the files shipped with ergocub-software, as this is not reproducible.Instead, users should specify this information in the world file of their experiment and use
gazebo_yarp_configurationoverride
, for example:The main problem is that at the moment the
gazebo_yarp_robotinterface
does not support anyyarpRobotInterfaceConfigurationParameters
tag, but just ayarpRobotInterfaceConfigurationFile
tag to specify the .xml file to load. So, to solve this release we should:yarpRobotInterfaceConfigurationParameters
argument to specifyenable_tags
anddisable_tags
parameters forgazebo_yarp_robotinterface
gazebo_yarp_robotinterface
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