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Consistency of head version option among different modules #405

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gsaponaro opened this issue Dec 22, 2016 · 2 comments
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Consistency of head version option among different modules #405

gsaponaro opened this issue Dec 22, 2016 · 2 comments
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@pattacini
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@gsaponaro
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Hi, following robotology/community#167 we are now using iKinGazeCtrl --head_version 2.0 in Lisbon. However, I noticed that gravityCompensator and wholeBodyDynamics still use the "old" option name --headV2.

Perhaps it makes sense to make the option --head_version x.y on the two latter modules as well? If you want, I can prepare the corresponding PRs in icub-main and robots-configuration. If not, feel free to close this issue. :)
@pattacini pattacini self-assigned this Dec 22, 2016
@pattacini
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Hi @gsaponaro, we are aware of this and in fact #285 is not closed yet; thanks for reporting though.

Feel free to contribute with a PR; @randaz81 might consider reviewing it.

gsaponaro pushed a commit to gsaponaro/icub-main that referenced this issue Dec 22, 2016
[gravityCompensator,wholeBodyDynamics] use --head_version instead of …
86ee06e 
…--headV2

Replaced the option "--headV2" with "--head_version 2.0" (or 2.5), to be consistent with the recent change in iKinGazeCtrl (robotology#391).

If the option "--head_version" is absent or has an invalid argument, the head v1 model is used and a message is printed.

/cc robotology#285 robotology#405
@gsaponaro gsaponaro mentioned this issue Dec 22, 2016
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@gsaponaro
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OK, cool.

Prepared a PR for review: #406. If that is merged, then I'll send a corresponding PR in robots-configuration too (which will affect only our robot iCubStartup.xml).

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