Add explicit period parameter(0.01 s) for the controlboard_nws_yarp

[Nicogene]

This PR addresses #378

Please review code

[traversaro]

fyi @GiulioRomualdi @S-Dafarra

[pattacini]

Hi @Nicogene

I would rule out the robots R1 from this PR. We could address them separately if we decide to do so.

Also, could you check if we can update files in iCubTemplates/iCubTemplateV6_0?

[pattacini]

cc @xEnVrE for iCubGenova01

[Nicogene]

@pattacini I removed R1 from the PR, and I checked iCubTemplates/iCubTemplateV6_0 and the only wrappers in the template are the ones of FT and inertials

[pattacini]

Thanks heaps @Nicogene

Before merging, I think it's worth giving it a try on iCubGenova01 and iCubGenova09.

@xEnVrE, @S-Dafarra, @GiulioRomualdi are you willing to do a quick test?

[S-Dafarra]

@xEnVrE, @S-Dafarra, @GiulioRomualdi are you willing to do a quick test?

On it

[xEnVrE]

@pattacini tested on iCubGenova01 (excluding legs and the left arm that is not available at the moment).

The difference in timestamps from a yarpdatadumper log (configured to collect transmission times) reads, e.g., 0.010070085525512695. Seems alright.

[pattacini]

@pattacini tested on iCubGenova01 (excluding legs and the left arm that is not available at the moment).

The difference in timestamps from a yarpdatadumper log (configured to collect transmission times) reads, e.g., 0.010070085525512695. Seems alright.

Super! Thanks heaps.

[S-Dafarra]

I tested the walking on iCubGenova09 and it seems to be ok!

[pattacini]

I tested the walking on iCubGenova09 and it seems to be ok!

Thanks!
Merging...