Merge branch 'master' into remove-controlboardwrapper2

robotology · Nov 14, 2023 · f9ec21d · f9ec21d
2 parents d3cb4c2 + c8ba459
commit f9ec21d
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Showing 11 changed files with 44 additions and 35 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -10,6 +10,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - Naming convention from `wrapper`\ `server` to `nws`\ `nwc` (https://github.com/robotology/human-dynamics-estimation/pull/367).
 - HumanLogger device to be compatible with the `robot-log-visualizer` (https://github.com/robotology/human-dynamics-estimation/pull/372).
 - `controlboardwrapper2` is replaced by `controlBoard_nws_yarp` (https://github.com/robotology/human-dynamics-estimation/pull/378).
+- Updated applications and modules that use the transform server (https://github.com/robotology/human-dynamics-estimation/pull/377)
 
 ### Added
 - Added files for ergoCub teleoperation without using iFeel (https://github.com/robotology/human-dynamics-estimation/pull/374)

diff --git a/conf/xml/RobotStateProvider_ergoCub_openxr.xml b/conf/xml/RobotStateProvider_ergoCub_openxr.xml
@@ -2,10 +2,11 @@
 <!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
 <robot name="ergoCub-Retargeting" 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">

diff --git a/conf/xml/RobotStateProvider_ergoCub_openxr_ifeel.xml b/conf/xml/RobotStateProvider_ergoCub_openxr_ifeel.xml
@@ -2,10 +2,11 @@
 <!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
 <robot name="ergoCub-Retargeting" 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">

diff --git a/conf/xml/RobotStateProvider_ergoCub_openxr_joystick.xml b/conf/xml/RobotStateProvider_ergoCub_openxr_joystick.xml
@@ -2,10 +2,11 @@
 <!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
 <robot name="ergoCub-Retargeting" 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">

diff --git a/conf/xml/RobotStateProvider_ergoCub_openxr_joystick_trackers.xml b/conf/xml/RobotStateProvider_ergoCub_openxr_joystick_trackers.xml
@@ -2,10 +2,11 @@
 <!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
 <robot name="ergoCub-Retargeting" 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">

diff --git a/conf/xml/RobotStateProvider_iCub3_openxr.xml b/conf/xml/RobotStateProvider_iCub3_openxr.xml
@@ -2,10 +2,11 @@
 <!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
 <robot name="iCub-Retargeting" 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">

diff --git a/conf/xml/RobotStateProvider_iCub3_openxr_ifeel.xml b/conf/xml/RobotStateProvider_iCub3_openxr_ifeel.xml
@@ -2,10 +2,11 @@
 <!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
 <robot name="iCub-Retargeting" 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">

diff --git a/conf/xml/transformServer_to_iwear.xml b/conf/xml/transformServer_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">

diff --git a/publishers/HumanRobotPosePublisher/HumanRobotPosePublisher.cpp b/publishers/HumanRobotPosePublisher/HumanRobotPosePublisher.cpp
@@ -283,9 +283,10 @@ bool HumanRobotPosePublisher::open(yarp::os::Searchable& config)
     // =========================
 
     yarp::os::Property options;
-    options.put("device", "transformClient");
-    options.put("local", "/" + DeviceName + "/transformClient");
-    options.put("remote", "/transformServer");
+    options.put("device", "frameTransformClient");
+    options.put("filexml_option",  "ftc_yarp_only.xml");
+    options.put("ft_client_prefix", "/" + DeviceName + "/transformClient");
+    options.put("local_rpc", "/" + DeviceName + "/transformClient/local_rpc");
 
     if (!pImpl->transformClientDevice.open(options)) {
         yError() << LogPrefix << "Failed to open the transformClient device";

diff --git a/publishers/HumanStatePublisher/HumanStatePublisher.cpp b/publishers/HumanStatePublisher/HumanStatePublisher.cpp
@@ -261,15 +261,14 @@ bool HumanStatePublisher::open(yarp::os::Searchable& config)
     // OPEN THE TRANSFORM CLIENT
     // =========================
 
+    std::string tfPrefix = hasPortPrefix ? "/" + portPrefix + "/" : "/";
+    tfPrefix += DeviceName;
+
     yarp::os::Property options;
-    options.put("device", "transformClient");
-    if (hasPortPrefix) {
-        options.put("local", "/" + portPrefix + "/" + DeviceName + "/transformClient");
-    }
-    else {
-        options.put("local", "/" + DeviceName + "/transformClient");
-    }
-    options.put("remote", "/transformServer");
+    options.put("device", "frameTransformClient");
+    options.put("filexml_option",  "ftc_yarp_only.xml");
+    options.put("ft_client_prefix", tfPrefix + "/transformClient");
+    options.put("local_rpc", tfPrefix + "/transformClient/local_rpc");
 
     if (!pImpl->transformClientDevice.open(options)) {
         yError() << LogPrefix << "Failed to open the transformClient device";

diff --git a/publishers/XsensTFPublisher/XsensTFPublisher.cpp b/publishers/XsensTFPublisher/XsensTFPublisher.cpp
@@ -109,9 +109,10 @@ bool XsensTFPublisher::open(yarp::os::Searchable& config)
     // =========================
 
     yarp::os::Property options;
-    options.put("device", "transformClient");
-    options.put("local", "/" + DeviceName + "/transformClient");
-    options.put("remote", "/transformServer");
+    options.put("device", "frameTransformClient");
+    options.put("filexml_option",  "ftc_yarp_only.xml");
+    options.put("ft_client_prefix", "/" + DeviceName + "/transformClient");
+    options.put("local_rpc", "/" + DeviceName + "/transformClient/local_rpc");
 
     if (!pImpl->xsensTfResources.transformClientDevice.open(options)) {
         yError() << LogPrefix << "Failed to open the transformClient device";