robotology
iCubGazebo2_5_visuomanip: provide port names consistent with the real robot
See https://github.com/robotology/icub-models/issues/44#issuecomment-664225199 .
In particular, according to https://github.com/robotology/icub-models/issues/44#issuecomment-664225199 the real robot publishes RGB images as:
/icub/cam/right/icub/cam/left
While the Gazebo simulated robot:
/icubSim/cam/left/rgbImage:o/icubSim/cam/right
I am considering again this issue, after #195 and https://github.com/vvv-school/assignment_make-it-roll/issues/9.
At the moment, we can only decide the initial part of the port name: https://github.com/robotology/icub-models/blob/5627eeabf9dc1afce951b67c95147d122d55849f/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/camera/left_camera-rgbd_wrapper.xml#L4-L6
To solve the problem from the root, what is missing is having the possibility to decide the final part of the port names within the rgbdSensor_nws_yarp device.
The final part of the ports is hardcoded at the moment, as can be seen in https://github.com/robotology/yarp/blob/03a47d532b048bd862eb763c58badf2f7576847d/src/devices/RGBDSensor_nws_yarp/RgbdSensor_nws_yarp.cpp#L255.
Changing that behavior would imply adding some parameters and proper defaults to avoid the necessity to change a huge number of configuration files.
cc @pattacini
