Migrate ergoCub FT to have one NWS for each part

[traversaro]

Fix part of #485 by using the convention discussed in icub-tech-iit/documentation#271 . For consistency and for having a remapper for each part with FTs, I could also have introduced right_arm-FT_remapper.xml and left_arm-FT_remapper.xml files, but I avoided to do that for keeping the PR as simple as possible.

One thing that I had to modify, otherwise the new devices could have problem, were the attach and detach level, for which I followed #377 as it seems the only documented convention available.

I am not sure if I modified all the root .xml files that included the strain configuration files, but I am not sure if we can delete the one that are not necessary? In this way mantainance of these files is easier.

[traversaro]

fyi @GiulioRomualdi @mebbaid @lrapetti @S-Dafarra

[traversaro]

I converted this to draft as we still need to test on the robot.

[pattacini]

CI failed with these logs:

• dry-run_log_ergoCubSN000_xml.txt
• dry-run_log_ergoCubSN000_dev.txt

[traversaro]

CI failed with these logs:

* [dry-run_log_ergoCubSN000_xml.txt](https://github.com/robotology/robots-configuration/files/11442385/dry-run_log_ergoCubSN000_xml.txt)

* [dry-run_log_ergoCubSN000_dev.txt](https://github.com/robotology/robots-configuration/files/11442387/dry-run_log_ergoCubSN000_dev.txt)

Hopefully fixed by 22a8345 . It is great to have this CI!

[pattacini]

Something to look into:

[ERROR] |yarp.device.multipleanalogsensorsremapper| Impossible to find sensor name l_leg_ft_sensor , exiting.
[ERROR] |yarp.device.multipleanalogsensorsremapper|     Names of available sensors are:
[ERROR] Device left_leg-FT_remapper cannot execute attach
[ERROR] Cannot run attach action on device left_leg-FT_remapper
[ERROR] |yarp.device.multipleanalogsensorsremapper| Impossible to find sensor name r_leg_ft_sensor , exiting.
[ERROR] |yarp.device.multipleanalogsensorsremapper|     Names of available sensors are:
[ERROR] Device right_leg-FT_remapper cannot execute attach
[ERROR] Cannot run attach action on device right_leg-FT_remapper
[ERROR] embObjMultipleFTsensors: BOARD left_leg-eb8-j0_3 (IP 10.0.1.8)   getTemperatureSensorMeasure() fails data for index: 0  not found
[ERROR] ParametricCalibratorEth:  Torso_Calibrator : number of joints of device to calibrate ( 2 ) does not match the number of joints in calibrator config file ( 3 )
[ERROR] Right_Arm_Calibrator cannot perform 'check hardware fault' operation because joint number 9 is out of range [].
[ERROR] Left_Arm_Calibrator cannot perform 'check hardware fault' operation because joint number 9 is out of range [].

The log: dry-run_log_ergoCubSN000_dev.txt.

[traversaro]

That:

[ERROR] |yarp.device.multipleanalogsensorsremapper|     Names of available sensors are:

is suspect, basically it seems that is not seeing any sensor, see https://github.com/robotology/yarp/blob/de3581c48059e9b6df4ed82e03b577938065d9e8/src/devices/multipleanalogsensorsremapper/MultipleAnalogSensorsRemapper.cpp#L203 .

[traversaro]

This PR and the CI revealed three bugs that will be fixed by the following PRs:

• Fix segmentation fault bug in multipleanalogsensorsserver YARP device yarp#2967
• multipleanalogsensorsserver: Fix segmentation fault for sensors different from gyroscopes yarp#2970
• Fix two bugs in embObjMultipleFTsensors icub-main#871

[pattacini]

Re-running the CI.

[pattacini]

@traversaro, the CI now is successful.
Feel free to put the PR in ready for review if it's working on the robot.

[traversaro]

Feel free to put the PR in ready for review if it's working on the robot.

Just tested on the real robot, it is working fine, @GiulioRomualdi also tested it with the logger. @pattacini

[isorrentino]

Hi @traversaro, would it make sense to do the same for the imus?

[traversaro]

Hi @traversaro, would it make sense to do the same for the imus?

I personally agree and that would help with icub-tech-iit/documentation#271, but probably it is better to organize with @Nicogene on this. I would organize a quick meeting on this with the interested persons.