icub2_5: Add alljoints-inertials_wrapper/remapper

[martinaxgloria]

So far, if you want to use the IMU test in icub-tests to test multiple sensors at once, the robot must expose in its yarprobotinterface configuration file a multipleanalogsensorsserver that publishes the orientation measurements for all of available sensors, with a prefix that matches exactly the port parameter of the test (the default one is ${portprefix}/alljoints/inertials).

For this reason, it would be nice to have those files upstream also for iCubV2_* simulated models

cc @Nicogene @pattacini

[traversaro]

I totally agree, it would be convenient to have alljoints parts for all type of sensors, also because they can provide a performance benefit for whole-body control applications (fyi @robotology/iit-ami-scrum-masters). Anyhow, I am a bit concerned with simulated models functionality diverging w.r.t. to real robots. Can you at least open an issue in robots-configuration to track adding the same devices to the real robots?

[martinaxgloria]

Can you at least open an issue in robots-configuration to track adding the same devices to the real robots?

Sure, I opened an issue:

• Add alljoints-inertials_wrapper/remapper  robots-configuration#628

Maybe it's useful to open a twin issue in ergocub-software

cc @Nicogene

[Nicogene]

Maybe it's useful to open a twin issue in ergocub-software

If you change the xml of the real erogcub yes 👍🏻

[traversaro]

Thanks!