Multiple analog sensor ROS publishers

[randaz81]

Added the following new devices: IMURosPublisher , MagfieldRosPublisher , PoseRosPublisher , TemperatureRosPublisher , WrenchRosPublisher

[randaz81]

[WIP] some computations (e.g. deg2rad etc.) still need to be checked!

[traversaro]

Some comments.

Small comment on the naming, feel free to ignore: now the relation between the ROS message type name and the YARP publisher does not follow a clear rule, could it make sense to always name the device as <MessageType>RosPublisher for uniformity, by changing the names of the following devices:

• PoseRosPublisher --> PoseStampedRosPublisher
• WrenchRosPublisher --> WrenchStampedRosPublisher
• MagfieldRosPublisher --> MagneticFieldRosPublisher
• ImuRosPublisher --> IMURosPublisher

[traversaro]

Just to understand, using more then one of these devices in the same yarprobotinterface can trigger robotology/yarp-ros#8 ?

[randaz81]

Just to understand, using more then one of these devices in the same yarprobotinterface can trigger robotology/yarp-ros#8 ?

Generally speaking no, this issue refers to a specific case in which different nodes, belonging to the same process, publish data on the same topic. So, if the user chooses a different topic name for each publisher, everything is safe.

Additionally, issue robotology/yarp-ros#8 is pretty old, many things changed and many parts of the ports/publisher core have been refactored. We need to check if this elusive bug has been fixed or not.

[traversaro]

Just to understand, using more then one of these devices in the same yarprobotinterface can trigger robotology/yarp-ros#8 ?

Generally speaking no, this issue refers to a specific case in which different nodes, belonging to the same process, publish data on the same topic. So, if the user chooses a different topic name for each publisher, everything is safe.

Ok, perfect then.

[randaz81]

Some comments.

Small comment on the naming, feel free to ignore: now the relation between the ROS message type name and the YARP publisher does not follow a clear rule, could it make sense to always name the device as <MessageType>RosPublisher for uniformity, by changing the names of the following devices:

• PoseRosPublisher --> PoseStampedRosPublisher
• WrenchRosPublisher --> WrenchStampedRosPublisher
• MagfieldRosPublisher --> MagneticFieldRosPublisher
• ImuRosPublisher --> IMURosPublisher

Good suggestion!

[randaz81]

@traversaro @drdanz @Nicogene the PR is ready for merge (hopefully)