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Add the possibility to use multipleanalogsensorsclient and multipleanalogsensorsremapper also in Gazebo #28
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Hi @S-Dafarra, as far as I remember (unfortunately) the plugins in gazebo-yarp-plugins are not ready to simulate more then one IMU exposed in as a single multipleanalogserver device, as it happens on the robot. Recently @Nicogene worked in adding support to the gazebo_yarp_imu device robotology/gazebo-yarp-plugins#443 . To actually support this case there are different possible routes, the fastest at the moment to me seems to create (or modify starting from either the Other most advanced strategies (but that may be trickier to implement) would create a plugin to reuse the existing gazebo_yarp_imu implementation, and then access the pointer of the existing YARP devices to combine them in a @S-Dafarra I am availabe to discuss about this directly if you think someone can commit work on it. |
robotology/gazebo-yarp-plugins#391 has been solved by robotology/gazebo-yarp-plugins#532 , so now it should be possible to relatively easily reuse the same configuration files used in the real robots, at least for the wrappers. |
Recently, on the robot, we started using the
multipleanalogsensorsremapper
: https:/robotology/robots-configuration/tree/master/iCubGenova04/wrappers/inertialsThe corresponding plugin seems also available in
GazeboYarpPlugins
: https:/robotology/gazebo-yarp-plugins/blob/master/plugins/imu/include/gazebo/IMU.hhHow should I modify the
urdf
and the configuration files in order to have a parallel setup also in Gazebo?@prashanthr05 @nunoguedelha @traversaro
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