From 018fb58e3b1ab5d5fbceaba829d50f64a11b2c98 Mon Sep 17 00:00:00 2001
From: fbrand-new <francesco.brand@iit.it>
Date: Wed, 7 Aug 2024 10:14:24 +0200
Subject: [PATCH] Disable FT sensors on R1SN001

---
 R1SN001/CER.xml                | 8 ++++----
 R1SN001/yarprobotinterface.ini | 2 +-
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/R1SN001/CER.xml b/R1SN001/CER.xml
index ec118e7429..aecc6e2ed2 100644
--- a/R1SN001/CER.xml
+++ b/R1SN001/CER.xml
@@ -85,10 +85,10 @@
 -->
 
     <!--  FT -->
-    <xi:include href="hardware/FT/cer_left_shoulder-ems5-strain.xml" />
-    <xi:include href="hardware/FT/cer_right_shoulder-ems4-strain.xml" />
-    <xi:include href="wrappers/FT/cer_left_arm-FT_wrapper.xml" />
-    <xi:include href="wrappers/FT/cer_right_arm-FT_wrapper.xml" />
+    <xi:include href="hardware/FT/cer_left_shoulder-ems5-strain.xml" disabled_by="disable_ft"/>
+    <xi:include href="hardware/FT/cer_right_shoulder-ems4-strain.xml" disabled_by="disable_ft"/>
+    <xi:include href="wrappers/FT/cer_left_arm-FT_wrapper.xml" disabled_by="disable_ft"/>
+    <xi:include href="wrappers/FT/cer_right_arm-FT_wrapper.xml" disabled_by="disable_ft"/>
 
     <!--  ROS -->
     <xi:include href="wrappers/motorControl/cer_alljoints_remapper.xml" enabled_by="enable_ros enable_ros2" disabled_by="disable_base disable_head disable_left_arm disable_left_hand disable_right_arm disable_right_hand disable_torso"/>
diff --git a/R1SN001/yarprobotinterface.ini b/R1SN001/yarprobotinterface.ini
index 5857263426..ef9e562537 100644
--- a/R1SN001/yarprobotinterface.ini
+++ b/R1SN001/yarprobotinterface.ini
@@ -1,3 +1,3 @@
 config ./CER.xml
 enable_tags (enable_ros2)
-disable_tags ()
+disable_tags (disable_ft)