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iCub3: Fix GYP 4 compatibility #212

Merged
merged 2 commits into from
Oct 25, 2021
Merged

iCub3: Fix GYP 4 compatibility #212

merged 2 commits into from
Oct 25, 2021

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Nicogene
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@Nicogene Nicogene commented Oct 25, 2021 •
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This PR add velocityControlImplementationType to the conf files of the iCub3 models, that is now mandatory when using gazebo-yarp-plugins 4.0.0 or greater.

It fixes:

[ERROR] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| VELOCITY_CONTROL: 'velocityControlImplementationType' param missing.
[ERROR] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard|  To fix your model to have the same default behaviour  of gazebo-yarp-plugins < 4, just add 'velocityControlImplementationType direct_velocity_pid' in the '[VELOCITY_CONTROL]' group.

cc @mfussi66 @AlexAntn @GrmanRodriguez @S-Dafarra

@Nicogene Nicogene added the bug label Oct 25, 2021
@Nicogene Nicogene self-assigned this Oct 25, 2021
@Nicogene Nicogene merged commit 82d5c7a into master Oct 25, 2021
@Nicogene Nicogene deleted the fix/GYP4Compatibility branch October 25, 2021 13:42
@traversaro traversaro mentioned this pull request Nov 7, 2021
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@GiulioRomualdi GiulioRomualdi mentioned this pull request Nov 11, 2021
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@traversaro traversaro traversaro approved these changes

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