Merge branch 'inis-and-readme' into develop

roboticslab-uc3m · Jan 21, 2020 · 9fc1e41 · 9fc1e41
2 parents ca032b9 + 8baf691
commit 9fc1e41
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Showing 4 changed files with 50 additions and 41 deletions.
diff --git a/libraries/YarpPlugins/RealToSimControlboard/DeviceDriverImpl.cpp b/libraries/YarpPlugins/RealToSimControlboard/DeviceDriverImpl.cpp
@@ -26,12 +26,7 @@ bool RealToSimControlboard::open(yarp::os::Searchable& config)
     }
     CD_DEBUG("%s\n", controlledDeviceList->toString().c_str());
 
-    std::string prefix;
-    if(config.check("prefix","prefix for all local and remote ports"))
-    {
-        prefix = config.find("prefix").asString();
-        CD_INFO("Using prefix: %s\n",prefix.c_str());
-    }
+    std::string name = config.find("name").asString();
 
     std::map<std::string,int> controlledDeviceNameToIdx;
     for(size_t controlledDeviceIdx=0; controlledDeviceIdx< controlledDeviceList->size(); controlledDeviceIdx++)
@@ -47,22 +42,20 @@ bool RealToSimControlboard::open(yarp::os::Searchable& config)
         CD_INFO("%s\n", controlledDeviceGroup.toString().c_str());
         yarp::os::Property controlledDeviceOptions;
         controlledDeviceOptions.fromString(controlledDeviceGroup.toString());
-        if(!prefix.empty())
+
+        if(controlledDeviceOptions.check("remote"))
         {
-            if(controlledDeviceOptions.check("remote"))
-            {
-                std::string remote(prefix);
-                remote += controlledDeviceOptions.find("remote").asString();
-                controlledDeviceOptions.unput("remote");
-                controlledDeviceOptions.put("remote",remote);
-            }
-            if(controlledDeviceOptions.check("local"))
-            {
-                std::string local(prefix);
-                local += controlledDeviceOptions.find("local").asString();
-                controlledDeviceOptions.unput("local");
-                controlledDeviceOptions.put("local",local);
-            }
+            std::string remote(name);
+            remote += controlledDeviceOptions.find("remote").asString();
+            controlledDeviceOptions.unput("remote");
+            controlledDeviceOptions.put("remote",remote);
+        }
+        if(controlledDeviceOptions.check("local"))
+        {
+            std::string local(name);
+            local += controlledDeviceOptions.find("local").asString();
+            controlledDeviceOptions.unput("local");
+            controlledDeviceOptions.put("local",local);
         }
 
         yarp::dev::PolyDriver* controlledDevice = new yarp::dev::PolyDriver(controlledDeviceOptions);

diff --git a/libraries/YarpPlugins/RealToSimControlboard/README.md b/libraries/YarpPlugins/RealToSimControlboard/README.md
@@ -4,15 +4,22 @@
 yarp server
 ```
 
-## Example with Dextra
-Example invocation with a `leftDextra`:
+## Example with Left Dextra
+```bash
+openrave --module OpenraveYarpPluginLoader "env openrave/dextra/leftDextra.robot.xml open --device controlboardwrapper2 --subdevice YarpOpenraveControlboard --robotIndex 0 --allManipulators" --viewer qtcoin --collision ode
+```
+
 ```bash
 yarpdev --device RealToSimControlboard --context RealToSimControlboard --from leftDextra.ini
 ```
 
-Example invocation with a `leftDextra` in a `teoSim`:
+## Example with Left Dextra in a teoSim
+```bash
+teoSim dextra
+```
+
 ```bash
-yarpdev --device RealToSimControlboard --context RealToSimControlboard --from leftDextra.ini --prefix teoSim
+yarpdev --device RealToSimControlboard --context RealToSimControlboard --from leftDextra.ini --name /teoSim/leftDextra
 ```
 
 ## Example with Lacquey Fetch
@@ -23,3 +30,12 @@ openrave --module OpenraveYarpPluginLoader "env openrave/lacqueyFetch/lacqueyFet
 ```bash
 yarpdev --device RealToSimControlboard --context RealToSimControlboard --from lacqueyFetch.ini
 ```
+
+## Example with Lacquey Fetch (left) in a teoSim
+```bash
+teoSim
+```
+
+```bash
+yarpdev --device RealToSimControlboard --context RealToSimControlboard --from lacqueyFetch.ini --name /teoSim/leftLacqueyFetch
+```
diff --git a/share/contexts/RealToSimControlboard/lacqueyFetch.ini b/share/contexts/RealToSimControlboard/lacqueyFetch.ini
@@ -7,18 +7,18 @@ remotes (externalFinger internalFinger thumb)
 
 [externalFinger]
 device remote_controlboard
-local /realToSimControlboard/lacqueyFetch/externalFinger
-remote /lacqueyFetch/externalFinger
+local /realToSimControlboard/externalFinger
+remote /externalFinger
 
 [internalFinger]
 device remote_controlboard
-local /realToSimControlboard/lacqueyFetch/internalFinger
-remote /lacqueyFetch/internalFinger
+local /realToSimControlboard/internalFinger
+remote /internalFinger
 
 [thumb]
 device remote_controlboard
-local /realToSimControlboard/lacqueyFetch/thumb
-remote /lacqueyFetch/thumb
+local /realToSimControlboard/thumb
+remote /thumb
 
 [exposed_joint_0]
 externalFinger (joint 0 transformation linear m 1 b 0)

diff --git a/share/contexts/RealToSimControlboard/leftDextra.ini b/share/contexts/RealToSimControlboard/leftDextra.ini
@@ -7,28 +7,28 @@ remotes (thumb index middle ring pinky)
 
 [thumb]
 device remote_controlboard
-local /realToSimControlboard/leftDextra/thumb
-remote /leftDextra/thumb
+local /realToSimControlboard/thumb
+remote /thumb
 
 [index]
 device remote_controlboard
-local /realToSimControlboard/leftDextra/index
-remote /leftDextra/index
+local /realToSimControlboard/index
+remote /index
 
 [middle]
 device remote_controlboard
-local /realToSimControlboard/leftDextra/middle
-remote /leftDextra/middle
+local /realToSimControlboard/middle
+remote /middle
 
 [ring]
 device remote_controlboard
-local /realToSimControlboard/leftDextra/ring
-remote /leftDextra/ring
+local /realToSimControlboard/ring
+remote /ring
 
 [pinky]
 device remote_controlboard
-local /realToSimControlboard/leftDextra/pinky
-remote /leftDextra/pinky
+local /realToSimControlboard/pinky
+remote /pinky
 
 [exposed_joint_0]
 thumb (joint 0 transformation linear m 1 b 0)