Migrate iCub2_5 models to use gazebo_yarp_robotinterface plugin #231
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Thanks a lot @Nicogene ! |
traversaro
approved these changes
Dec 27, 2022
pattacini
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Mar 16, 2023
`/icubSim/inertial` has been deprecated in robotology/icub-models-generator#231. At any rate, `iKinGazeCtrl` doesn't use the inertial sensor in simulation mode.
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Similarly to #222, this PR port
iCubGazeboV2_5to the usage of theyarprobotinterfaceplugin (except for the MTB and xsens in the waist since it is added conditionally to the urdf)Moreover, it adds ROS2 nws XML files.(Not included in icub.xml)
The XML and most of ini are identical to the ones of icub3, maybe at some point we should think to merge them?(cc @traversaro)
This should solve the compatibility with YARP 3.8 (see robotology/icub-models#171)