From 96e1193cc24b8e23aa6118f3f6eeaa5491648fc5 Mon Sep 17 00:00:00 2001
From: iCub <icub@iit.it>
Date: Tue, 25 Jul 2023 12:47:50 +0200
Subject: [PATCH] Added OpenXRJoypad application

Removed the dependencies from the RobotStateProvider to allow starting even when not using iFeel
---
 app/scripts/OpenXRJoypad.xml            | 34 +++++++++++++++++++++++++
 app/scripts/ergoCub-Teleoperation-3.xml |  4 ---
 2 files changed, 34 insertions(+), 4 deletions(-)
 create mode 100644 app/scripts/OpenXRJoypad.xml

diff --git a/app/scripts/OpenXRJoypad.xml b/app/scripts/OpenXRJoypad.xml
new file mode 100644
index 00000000..acc6a1ac
--- /dev/null
+++ b/app/scripts/OpenXRJoypad.xml
@@ -0,0 +1,34 @@
+<!-- Copyright (C) 2023 Fondazione Istituto Italiano di Tecnologia (IIT) -->
+<!-- All Rights Reserved. -->
+
+
+<application>
+
+  <name>OpenXRJoypad</name>
+  <description>Application to run the OpenXRJoypad module.</description>
+  <version>1.0</version>
+  <authors>
+    <author email="stefano.dafarra@iit.it">Stefano Dafarra</author>
+  </authors>
+
+   <!-- Modules -->
+   <module>
+     <name>OpenXRJoypadModule</name>
+     <parameters></parameters>
+     <node>localhost</node>
+   </module>
+   
+  <!-- Connections -->
+  <connection>
+    <from>/openXRJoypad/walkingRpc</from>
+    <to>/walking-coordinator/rpc</to>
+    <protocol>fast_tcp</protocol>
+  </connection>
+  
+  <connection>
+    <from>/openXRJoypad/walkingGoal</from>
+    <to>/walking-coordinator/goal:i</to>
+    <protocol>fast_tcp</protocol>
+  </connection>
+
+</application>
diff --git a/app/scripts/ergoCub-Teleoperation-3.xml b/app/scripts/ergoCub-Teleoperation-3.xml
index 1a3973dc..73dd58e4 100644
--- a/app/scripts/ergoCub-Teleoperation-3.xml
+++ b/app/scripts/ergoCub-Teleoperation-3.xml
@@ -27,10 +27,6 @@
     <description>Run IK HDE Device</description>
     <node>localhost</node>
     <tag>RobotStateProvider</tag>
-    <dependencies>
-      <port timeout="10.0">/transformServer/transforms:o</port>
-      <port timeout="15.0">/iFeelSuit/WearableData/data:o</port>
-    </dependencies>
   </module>
 
   <module>