forcetorque wrong prefix when using Gazebo world

[lrapetti]

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 (this is useful when working with multiple robots: https://github.com/robotology/icub-gazebo-wholebody/blob/devel/worlds/two_icubs_standup_world/README.md): e.g.

• no world + gazebo_icub_robotname.ini

  /icubSim/left_foot/analog:o
  /icubSim/left_foot/analog:o/rpc:i
  

• world + gazebo_icub_robotname.ini

  /icubSim/left_foot/analog:o
  /icubSim/left_foot/analog:o/rpc:i
  

• no world + gazebo_icub_robotname.ini commented

  /iCub/left_foot/analog:o
  /iCub/left_foot/analog:o/rpc:i
  

• world + gazebo_icub_robotname.ini commented

  /l_foot_ft_sensor/left_foot/analog:o
  /l_foot_ft_sensor/left_foot/analog:o/rpc:i
  

This is a problem because:

• in case of multiple robots only one port is opened
• the devices that should attach to those port should use different port name in case a worl is used or not

From my understanding the name is read from the Gazebo _sensor name in https://github.com/robotology/gazebo-yarp-plugins/blob/master/plugins/forcetorque/src/ForceTorque.cc#L75, which would explain why the name of the sensor is used in the case world + gazebo_icub_robotname.ini commented, since it is using l_foot_ft_sensor that is the name of the sensor as defined in the model (see https://github.com/robotology/icub-models/blob/master/iCub/robots/iCubGazeboV2_5/model.urdf#L2437). But it is not clear to me where/why should be used the gazeboYarpPluginsRobotName instead, what is the difference when using the world, and so how to fix it.

[traversaro]

From my understanding the name is read from the Gazebo _sensor name in https://github.com/robotology/gazebo-yarp-plugins/blob/master/plugins/forcetorque/src/ForceTorque.cc#L75, which would explain why the name of the sensor is used in the case world + gazebo_icub_robotname.ini commented, since it is using l_foot_ft_sensor that is the name of the sensor as defined in the model (see https://github.com/robotology/icub-models/blob/master/iCub/robots/iCubGazeboV2_5/model.urdf#L2437). But it is not clear to me where/why should be used the gazeboYarpPluginsRobotName instead, what is the difference when using the world, and so how to fix it.

Do not get confused but all the different quantities called "name". : ) The port in which data of the sensor is published is opened by the wrapper device, that is not aware of being used inside gazebo at all, and is opened in https://github.com/robotology/gazebo-yarp-plugins/blob/master/plugins/forcetorque/src/ForceTorque.cc#L85 . The gazeboYarpPluginsRobotName variable used by those conf files, if not explicitly defined in the .ini file should be obtained in https://github.com/robotology/gazebo-yarp-plugins/blob/06255f1a1b30580b74e237449ba2be79836d2a62/libraries/singleton/src/ConfHelpers.cc#L125 . I guess there is something different in the sensor name when the model is loaded via the world vs when is spawned, this is probably a Gazebo problem. Not sure if https://bitbucket.org/osrf/gazebo/issues/2228/inconsistent-behavior-in-scoped-name could be related.

[traversaro]

This always make me feel like a bad person (we can have a f2f meeting if you want). :D

[lrapetti]

This always make me feel like a bad person (we can have a f2f meeting if you want). :D

@traversaro Thanks! No, I got the point. It is just that I already went through this 'names' trap, but I got tricked again :D.