Lorenzo Rapetti

Migrate publishers from ROS to ROS2

1

As a follow-up of the comment from @traversaro in https://github.com/robotology/human-dynamics-estimation/issues/311#issuecomment-1412718915, I am opening a dedicated issue for this migration.

While addressing https://github.com/robotology/human-dynamics-estimation/issues/311, I noticed that the rviz configuration files we are using, and of the [publisher](https://github.com/robotology/human-dynamics-estimation/tree/feature/rviz2/publishers) implemented are currently not used, maintained and documented. Hence, I would proceed with...

Could not load extension icon 'icon16.png'

16

I am trying to install the package from the Chrome Web Store, and I am getting the following error: ``` Package is invalid. Details: 'Could not load extension icon 'icon16.png'.'....

Inertial port is not opened when using two robots via Gazebo world

2

@lrapetti commented on [Thu Mar 14 2019](https://github.com/robotology/icub-gazebo-wholebody/issues/27) I found out that when using two `icub` models in a single world (such as explained in [`two_icubs_standup_world`](https://github.com/robotology/icub-gazebo-wholebody/tree/devel/worlds/two_icubs_standup_world)), in the second model (`iCub_0`)...

forcetorque wrong prefix when using Gazebo world

3

As observed in https://github.com/robotology/gazebo-yarp-plugins/issues/436, the `forcetorque` sensor ports are opened with the sensor name instead of the robot name prefix when using a Gazebo world and with the `gazebo_icub_robotname.ini` commented...

Different behaviour of the devices when using Gazebo worlds and using multiple models

12

I have been working with `Gazebo` `worlds` such as those in https://github.com/robotology/icub-gazebo-wholebody/tree/devel/worlds, and I have notice some unexpected behaviour, and some inconsistency with the models loaded from the `Gazebo` interface....

External wrench missing port prefix

1

When the `gazebo_icub_robotname.ini` is commented out, as described in order to use multiple robots (https://github.com/robotology/icub-gazebo-wholebody/blob/devel/worlds/two_icubs_standup_world/README.md), the `applyExternalWrench/rpc:i` port is open without the prefix: - with `gazebo_icub_robotname.ini`: ``` /icubSim/applyExternalWrench/rpc:i ``` -...

iCubGenova09 hip pitch limits differ from robot configuration

11

Currently the `hip_pitch` upper joint limits in the iCubGenova09 model are set to [115 degrees](https://github.com/robotology/icub-models/blob/ab11b8cb8799b85a8805be95e3d66e7c6c7585ff/iCub/robots/iCubGenova09/model.urdf#L51) (2.007128639793479 rad). This value looks to be much different from the actual limits in [robots...

Misalignment between soles frames and feet collisions (iCubGazeboV2_5)

19

Putting the robot on the ground on a dynamical simulator, I would expect the soles frames to be in contact with the ground (coordinate z equal to zero). However, this...

[ergoCubSN000] Robot not starting from yarpmanager

30

### Device name 🤖 ergoCubSN000 ### Request/Failure description When starting the robot from the `yarpmanager` we are getting the error: ``` [h, o, s, t, T, r, a, n, s,...