fixed the following parameters:

* deviceId: removed (Was already deprecated) * name: now must contain the complete port name, e.g. /icub/joint_vsens/left_leg:i
HWURoboticsLab · May 11, 2016 · f59adc7 · f59adc7
1 parent 6f029d2
commit f59adc7
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diff --git a/iCubAberystwyth01/wrappers/VFT/left_arm_VFT_wrapper.xml b/iCubAberystwyth01/wrappers/VFT/left_arm_VFT_wrapper.xml
@@ -2,13 +2,13 @@
 <devices>
     <device name="left_arm_VFTserver" type="virtualAnalogServer">
         <param name="period">       10                  </param>
-        <param name="deviceId">     left_arm                </param>
+
 
         <paramlist name="networks">
             <elem name="net_VFT_LA">  0  5  0  5 </elem> 
         </paramlist>
 
-        <param name="name">          /left_arm                </param>
+        <param name="name"> /icub/joint_vsens/left_arm:i </param>
 
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">

diff --git a/iCubAberystwyth01/wrappers/VFT/left_leg_VFT_wrapper.xml b/iCubAberystwyth01/wrappers/VFT/left_leg_VFT_wrapper.xml
@@ -2,13 +2,13 @@
 <devices>
     <device name="left_leg_VFTserver" type="virtualAnalogServer">
         <param name="period">       10                  </param>
-        <param name="deviceId">     left_leg                </param>
+
 
         <paramlist name="networks">
             <elem name="net_VFT_LL">  0  5  0  5 </elem> 
         </paramlist>
 
-        <param name="name">          /left_leg                </param>
+        <param name="name"> /icub/joint_vsens/left_leg:i </param>
 
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">

diff --git a/iCubAberystwyth01/wrappers/VFT/right_arm_VFT_wrapper.xml b/iCubAberystwyth01/wrappers/VFT/right_arm_VFT_wrapper.xml
@@ -2,13 +2,13 @@
 <devices>
     <device name="right_arm_VFTserver" type="virtualAnalogServer">
         <param name="period">       10                  </param>
-        <param name="deviceId">     right_arm                </param>
+
 
         <paramlist name="networks">
             <elem name="net_VFT_RA">  0  5  0  5 </elem> 
         </paramlist>
 
-        <param name="name">           /right_arm                </param>
+        <param name="name"> /icub/joint_vsens/right_arm:i </param>
 
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">

diff --git a/iCubAberystwyth01/wrappers/VFT/right_leg_VFT_wrapper.xml b/iCubAberystwyth01/wrappers/VFT/right_leg_VFT_wrapper.xml
@@ -2,14 +2,14 @@
 <devices>
     <device name="right_leg_VFTserver" type="virtualAnalogServer">
         <param name="period">       10                  </param>
-        <param name="deviceId">     right_leg                </param>
+
 
         <paramlist name="networks">
             <elem name="net_VFT_RL">  0  5  0  5 </elem> 
         </paramlist>
 
         <param name="channels">       6                  </param>
-        <param name="name">           /right_leg                </param>
+        <param name="name"> /icub/joint_vsens/right_leg:i </param>
 
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">

diff --git a/iCubAberystwyth01/wrappers/VFT/torso_VFT_wrapper.xml b/iCubAberystwyth01/wrappers/VFT/torso_VFT_wrapper.xml
@@ -2,13 +2,13 @@
 <devices>
     <device name="torso_VFTserver" type="virtualAnalogServer">
         <param name="period">       10                  </param>
-        <param name="deviceId">     torso                </param>
+
 
         <paramlist name="networks">
             <elem name="net_VFT_TO">  0  5  0  5 </elem> 
         </paramlist>
 
-        <param name="name">           /torso                </param>
+        <param name="name"> /icub/joint_vsens/torso:i </param>
 
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">

diff --git a/iCubBarcelona01/wrappers/VFT/left_arm_VFT_wrapper.xml b/iCubBarcelona01/wrappers/VFT/left_arm_VFT_wrapper.xml
@@ -2,13 +2,13 @@
 <devices>
     <device name="left_arm_VFTserver" type="virtualAnalogServer">
         <param name="period">       10                  </param>
-        <param name="deviceId">     left_arm                </param>
+
 
         <paramlist name="networks">
             <elem name="net_VFT_LA">  0  5  0  5 </elem> 
         </paramlist>
 
-        <param name="name">          /left_arm                </param>
+        <param name="name"> /icub/joint_vsens/left_arm:i </param>
 
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">

diff --git a/iCubBarcelona01/wrappers/VFT/left_leg_VFT_wrapper.xml b/iCubBarcelona01/wrappers/VFT/left_leg_VFT_wrapper.xml
@@ -2,13 +2,13 @@
 <devices>
     <device name="left_leg_VFTserver" type="virtualAnalogServer">
         <param name="period">       10                  </param>
-        <param name="deviceId">     left_leg                </param>
+
 
         <paramlist name="networks">
             <elem name="net_VFT_LL">  0  5  0  5 </elem> 
         </paramlist>
 
-        <param name="name">          /left_leg                </param>
+        <param name="name"> /icub/joint_vsens/left_leg:i </param>
 
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">

diff --git a/iCubBarcelona01/wrappers/VFT/right_arm_VFT_wrapper.xml b/iCubBarcelona01/wrappers/VFT/right_arm_VFT_wrapper.xml
@@ -2,13 +2,13 @@
 <devices>
     <device name="right_arm_VFTserver" type="virtualAnalogServer">
         <param name="period">       10                  </param>
-        <param name="deviceId">     right_arm                </param>
+
 
         <paramlist name="networks">
             <elem name="net_VFT_RA">  0  5  0  5 </elem> 
         </paramlist>
 
-        <param name="name">           /right_arm                </param>
+        <param name="name"> /icub/joint_vsens/right_arm:i </param>
 
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">

diff --git a/iCubBarcelona01/wrappers/VFT/right_leg_VFT_wrapper.xml b/iCubBarcelona01/wrappers/VFT/right_leg_VFT_wrapper.xml
@@ -2,14 +2,14 @@
 <devices>
     <device name="right_leg_VFTserver" type="virtualAnalogServer">
         <param name="period">       10                  </param>
-        <param name="deviceId">     right_leg                </param>
+
 
         <paramlist name="networks">
             <elem name="net_VFT_RL">  0  5  0  5 </elem> 
         </paramlist>
 
         <param name="channels">       6                  </param>
-        <param name="name">           /right_leg                </param>
+        <param name="name"> /icub/joint_vsens/right_leg:i </param>
 
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">

diff --git a/iCubBarcelona01/wrappers/VFT/torso_VFT_wrapper.xml b/iCubBarcelona01/wrappers/VFT/torso_VFT_wrapper.xml
@@ -2,13 +2,13 @@
 <devices>
     <device name="torso_VFTserver" type="virtualAnalogServer">
         <param name="period">       10                  </param>
-        <param name="deviceId">     torso                </param>
+
 
         <paramlist name="networks">
             <elem name="net_VFT_TO">  0  5  0  5 </elem> 
         </paramlist>
 
-        <param name="name">           /torso                </param>
+        <param name="name"> /icub/joint_vsens/torso:i </param>
 
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">

diff --git a/iCubChemnitz01/wrappers/VFT/left_arm_VFT_wrapper.xml b/iCubChemnitz01/wrappers/VFT/left_arm_VFT_wrapper.xml
@@ -2,13 +2,13 @@
 <devices>
     <device name="left_arm_VFTserver" type="virtualAnalogServer">
         <param name="period">       10                  </param>
-        <param name="deviceId">     left_arm                </param>
+
 
         <paramlist name="networks">
             <elem name="net_VFT_LA">  0  5  0  5 </elem> 
         </paramlist>
 
-        <param name="name">          /left_arm                </param>
+        <param name="name"> /icub/joint_vsens/left_arm:i </param>
 
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">

diff --git a/iCubChemnitz01/wrappers/VFT/left_leg_VFT_wrapper.xml b/iCubChemnitz01/wrappers/VFT/left_leg_VFT_wrapper.xml
@@ -2,13 +2,13 @@
 <devices>
     <device name="left_leg_VFTserver" type="virtualAnalogServer">
         <param name="period">       10                  </param>
-        <param name="deviceId">     left_leg                </param>
+
 
         <paramlist name="networks">
             <elem name="net_VFT_LL">  0  5  0  5 </elem> 
         </paramlist>
 
-        <param name="name">          /left_leg                </param>
+        <param name="name"> /icub/joint_vsens/left_leg:i </param>
 
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">

diff --git a/iCubChemnitz01/wrappers/VFT/right_arm_VFT_wrapper.xml b/iCubChemnitz01/wrappers/VFT/right_arm_VFT_wrapper.xml
@@ -2,13 +2,13 @@
 <devices>
     <device name="right_arm_VFTserver" type="virtualAnalogServer">
         <param name="period">       10                  </param>
-        <param name="deviceId">     right_arm                </param>
+
 
         <paramlist name="networks">
             <elem name="net_VFT_RA">  0  5  0  5 </elem> 
         </paramlist>
 
-        <param name="name">           /right_arm                </param>
+        <param name="name"> /icub/joint_vsens/right_arm:i </param>
 
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">

diff --git a/iCubChemnitz01/wrappers/VFT/right_leg_VFT_wrapper.xml b/iCubChemnitz01/wrappers/VFT/right_leg_VFT_wrapper.xml
@@ -2,14 +2,14 @@
 <devices>
     <device name="right_leg_VFTserver" type="virtualAnalogServer">
         <param name="period">       10                  </param>
-        <param name="deviceId">     right_leg                </param>
+
 
         <paramlist name="networks">
             <elem name="net_VFT_RL">  0  5  0  5 </elem> 
         </paramlist>
 
         <param name="channels">       6                  </param>
-        <param name="name">           /right_leg                </param>
+        <param name="name"> /icub/joint_vsens/right_leg:i </param>
 
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">

diff --git a/iCubChemnitz01/wrappers/VFT/torso_VFT_wrapper.xml b/iCubChemnitz01/wrappers/VFT/torso_VFT_wrapper.xml
@@ -2,13 +2,13 @@
 <devices>
     <device name="torso_VFTserver" type="virtualAnalogServer">
         <param name="period">       10                  </param>
-        <param name="deviceId">     torso                </param>
+
 
         <paramlist name="networks">
             <elem name="net_VFT_TO">  0  5  0  5 </elem> 
         </paramlist>
 
-        <param name="name">           /torso                </param>
+        <param name="name"> /icub/joint_vsens/torso:i </param>
 
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">

diff --git a/iCubDaejeon01/wrappers/VFT/left_arm-VFT_wrapper.xml b/iCubDaejeon01/wrappers/VFT/left_arm-VFT_wrapper.xml
@@ -3,13 +3,13 @@
 <devices robot="iCubDaejeon01" build="0">
     <device name="left_arm_VFTserver" type="virtualAnalogServer">
         <param name="period">       10                  </param>
-        <param name="deviceId">     left_arm                </param>
+
 
         <paramlist name="networks">
             <elem name="net_VFT_LA">  0  5  0  5 </elem> 
         </paramlist>
 
-        <param name="name">          /left_arm                </param>
+        <param name="name"> /icub/joint_vsens/left_arm:i </param>
 
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">

diff --git a/iCubDaejeon01/wrappers/VFT/left_leg-VFT_wrapper.xml b/iCubDaejeon01/wrappers/VFT/left_leg-VFT_wrapper.xml
@@ -3,13 +3,13 @@
 <devices robot="iCubDaejeon01" build="0">
     <device name="left_leg_VFTserver" type="virtualAnalogServer">
         <param name="period">       10                  </param>
-        <param name="deviceId">     left_leg                </param>
+
 
         <paramlist name="networks">
             <elem name="net_VFT_LL">  0  5  0  5 </elem> 
         </paramlist>
 
-        <param name="name">          /left_leg                </param>
+        <param name="name"> /icub/joint_vsens/left_leg:i </param>
 
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">

diff --git a/iCubDaejeon01/wrappers/VFT/right_arm-VFT_wrapper.xml b/iCubDaejeon01/wrappers/VFT/right_arm-VFT_wrapper.xml
@@ -3,13 +3,13 @@
 <devices robot="iCubDaejeon01" build="0">
     <device name="right_arm_VFTserver" type="virtualAnalogServer">
         <param name="period">       10                  </param>
-        <param name="deviceId">     right_arm                </param>
+
 
         <paramlist name="networks">
             <elem name="net_VFT_RA">  0  5  0  5 </elem> 
         </paramlist>
 
-        <param name="name">           /right_arm                </param>
+        <param name="name"> /icub/joint_vsens/right_arm:i </param>
 
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">

diff --git a/iCubDaejeon01/wrappers/VFT/right_leg-VFT_wrapper.xml b/iCubDaejeon01/wrappers/VFT/right_leg-VFT_wrapper.xml
@@ -3,14 +3,14 @@
 <devices robot="iCubDaejeon01" build="0">
     <device name="right_leg_VFTserver" type="virtualAnalogServer">
         <param name="period">       10                  </param>
-        <param name="deviceId">     right_leg                </param>
+
 
         <paramlist name="networks">
             <elem name="net_VFT_RL">  0  5  0  5 </elem> 
         </paramlist>
 
         <param name="channels">       6                  </param>
-        <param name="name">           /right_leg                </param>
+        <param name="name"> /icub/joint_vsens/right_leg:i </param>
 
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">

diff --git a/iCubDaejeon01/wrappers/VFT/torso-VFT_wrapper.xml b/iCubDaejeon01/wrappers/VFT/torso-VFT_wrapper.xml
@@ -3,13 +3,13 @@
 <devices robot="iCubDaejeon01" build="0">
     <device name="torso_VFTserver" type="virtualAnalogServer">
         <param name="period">       10                  </param>
-        <param name="deviceId">     torso                </param>
+
 
         <paramlist name="networks">
             <elem name="net_VFT_TO">  0  5  0  5 </elem> 
         </paramlist>
 
-        <param name="name">           /torso                </param>
+        <param name="name"> /icub/joint_vsens/torso:i </param>
 
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">

diff --git a/iCubDarmstadt01/wrappers/VFT/left_arm-VFT_wrapper.xml b/iCubDarmstadt01/wrappers/VFT/left_arm-VFT_wrapper.xml
@@ -4,7 +4,7 @@
 <devices robot="iCubDarmstadt01" build="1">
 	<device name="left_arm_VFTserver" type="virtualAnalogServer">
 		<param name="period">       10  				</param>
-		<param name="deviceId">     left_arm				</param>
+
 
 		 <paramlist name="networks">
 		      <!-- elem name hereafter are custom names that live only in this file, they are used in the attach phase -->
@@ -13,7 +13,7 @@
 		    </paramlist>
 
 		<param name="channels">       7  				</param>
-		<param name="name"> 	     /left_arm				</param>
+		<param name="name"> /icub/joint_vsens/left_arm:i </param>
 
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">

diff --git a/iCubDarmstadt01/wrappers/VFT/left_leg-VFT_wrapper.xml b/iCubDarmstadt01/wrappers/VFT/left_leg-VFT_wrapper.xml
@@ -4,7 +4,7 @@
 <devices robot="iCubDarmstadt01" build="1">
 	<device name="left_leg_VFTserver" type="virtualAnalogServer">
 		<param name="period">       10  				</param>
-		<param name="deviceId">     left_leg				</param>
+
 
 		 <paramlist name="networks">
 		      <!-- elem name hereafter are custom names that live only in this file, they are used in the attach phase -->
@@ -13,7 +13,7 @@
 		    </paramlist>
 
 		<param name="channels">       6  				</param>
-		<param name="name"> 	     /left_leg				</param>
+		<param name="name"> /icub/joint_vsens/left_leg:i </param>
 
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">

diff --git a/iCubDarmstadt01/wrappers/VFT/right_arm-VFT_wrapper.xml b/iCubDarmstadt01/wrappers/VFT/right_arm-VFT_wrapper.xml
@@ -4,7 +4,7 @@
 <devices robot="iCubDarmstadt01" build="1">
 	<device name="right_arm_VFTserver" type="virtualAnalogServer">
 		<param name="period">       10  				</param>
-		<param name="deviceId">     right_arm				</param>
+
 
 		 <paramlist name="networks">
 		      <!-- elem name hereafter are custom names that live only in this file, they are used in the attach phase -->
@@ -13,7 +13,7 @@
 		    </paramlist>
 
 		<param name="channels">       7  				</param>
-		<param name="name"> 	      /right_arm				</param>
+		<param name="name"> /icub/joint_vsens/right_arm:i </param>
 
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">

diff --git a/iCubDarmstadt01/wrappers/VFT/right_leg-VFT_wrapper.xml b/iCubDarmstadt01/wrappers/VFT/right_leg-VFT_wrapper.xml
@@ -4,7 +4,7 @@
 <devices robot="iCubDarmstadt01" build="1">
 	<device name="right_leg_VFTserver" type="virtualAnalogServer">
 		<param name="period">       10  				</param>
-		<param name="deviceId">     right_leg				</param>
+
 
 		 <paramlist name="networks">
 		      <!-- elem name hereafter are custom names that live only in this file, they are used in the attach phase -->
@@ -13,7 +13,7 @@
 		    </paramlist>
 
 		<param name="channels">       6  				</param>
-		<param name="name"> 	      /right_leg				</param>
+		<param name="name"> /icub/joint_vsens/right_leg:i </param>
 
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">