Merge pull request #56 from prashanthr05/fix/wbd_in_simulation

[devices][wholeBodyDynamics] replicate codyco-modules PR #280 Restore compatibility with YARP 3.2.0
robotology · Apr 2, 2020 · 34c8186 · 34c8186 · fjandrad · Apr 2, 2020
2 parents ec6aaa7 + 8294d89
commit 34c8186
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Showing 4 changed files with 8 additions and 8 deletions.
diff --git a/devices/wholeBodyDynamics/app/launch-wholebodydynamics-icub-four-fts.xml b/devices/wholeBodyDynamics/app/launch-wholebodydynamics-icub-four-fts.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
 
-<robot name="@WBD_YARP_ROBOT_NAME">
+<robot name="@WBD_YARP_ROBOT_NAME" build="1" xmlns:xi="http://www.w3.org/2001/XInclude">
     <!-- controlboards -->
     <device name="torso_mc" type="remote_controlboard">
         <param name="remote"> /icub/torso </param>
@@ -120,5 +120,5 @@
     </device>
 
     <!-- estimators -->
-    <devices file="estimators/wholebodydynamics-external.xml" />
+    <xi:include href="estimators/wholebodydynamics-external.xml" />
 </robot>
diff --git a/devices/wholeBodyDynamics/app/launch-wholebodydynamics-icub-six-fts-sim.xml b/devices/wholeBodyDynamics/app/launch-wholebodydynamics-icub-six-fts-sim.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
 
-<robot name="@WBD_YARP_ROBOT_NAME">
+<robot name="@WBD_YARP_ROBOT_NAME" build="1" xmlns:xi="http://www.w3.org/2001/XInclude">
     <!-- controlboards -->
     <device name="torso_mc" type="remote_controlboard">
         <param name="remote"> /icubSim/torso </param>
@@ -94,5 +94,5 @@
     </device>
 
     <!-- estimators -->
-    <devices file="estimators/wholebodydynamics-external.xml" />
+    <xi:include href="estimators/wholebodydynamics-external.xml" />
 </robot>
diff --git a/devices/wholeBodyDynamics/app/launch-wholebodydynamics-icub-six-fts.xml b/devices/wholeBodyDynamics/app/launch-wholebodydynamics-icub-six-fts.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
 
-<robot name="@WBD_YARP_ROBOT_NAME">
+<robot name="@WBD_YARP_ROBOT_NAME" build="1" xmlns:xi="http://www.w3.org/2001/XInclude">
     <!-- controlboards -->
     <device name="torso_mc" type="remote_controlboard">
         <param name="remote"> /icub/torso </param>
@@ -130,5 +130,5 @@
     </device>
 
     <!-- estimators -->
-    <devices file="estimators/wholebodydynamics-external.xml" />
+    <xi:include href="estimators/wholebodydynamics-external.xml" />
 </robot>
diff --git a/devices/wholeBodyDynamics/app/launch-wholebodydynamics-icubheidelberg01.xml b/devices/wholeBodyDynamics/app/launch-wholebodydynamics-icubheidelberg01.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
 
-<robot name="iCubHeidelberg01">
+<robot name="iCubHeidelberg01" build="1" xmlns:xi="http://www.w3.org/2001/XInclude">
     <!-- controlboards -->
     <device name="torso_mc" type="remote_controlboard">
         <param name="remote"> /icub/torso </param>
@@ -68,5 +68,5 @@
     </device>
 
     <!-- estimators -->
-    <devices file="estimators/wholebodydynamics-external.xml" />
+    <xi:include href="estimators/wholebodydynamics-external.xml" />
 </robot>