How to change joint names in yarpmotorgui

[hu-yue]

Hi,
How can one change the name of the joints in the yarpmotorgui? I mean the ones in parenthesis after the joint number, like JOINT 0 (torso_roll).
Because in our robot (iCubHeidelberg01) the joints in the gui and the real joints do not match.
In the gui the sequence is roll - pitch - yaw but on the real robot it is yaw - roll - pitch, and it makes the motorgui quite misleading everytime.
Thanks!

[pattacini]

@hu-yue I think we already reported these incongruities in robotology/icub-main#229.

[hu-yue]

@pattacini yes thanks!

[barbalberto]

yarpmotorgui gets the axes names at run-time from robotInterface.

The name of the axis is thus specified in the corresponding file hardware/motorControl/[part_name].xml by means of the following parameter:

<param name="AxisName"> "name_axis_0" "name_axis_1" ... </param>

These names will be also used for ROS topics as well.

[hu-yue]

@barbalberto Thanks.
I found the parameter in mechanicals instead of motorControl.
However this arises a further question about the influence of the parameter. I mean, does this change affects the software of the robot?

[pattacini]

Uhm, in iCubGenova01 they're in motorControl ... it seems there are discrepancies then.

[barbalberto]

Probably there is some difference between can-based and eth-based robots.
This difference however does not affect the robot behaviour because those two files will be 'merged' together by the code before calling the actual device.

[pattacini]

It seems @barbalberto guessed well: iCubGenova04 (ETH robot) has also those parameters under mechanicals.

[randaz81]

@yue please do not manually edit those files. They will be fixed soon. (robotology/icub-main#229)

[hu-yue]

@randaz81 I will wait for the fix. Thanks!

[pattacini]

Closing this issue again then.