From c04f7c0e886c42daa0c2e3850a7fcb049e80197c Mon Sep 17 00:00:00 2001
From: Nicogene <nicolo.genesio@iit.it>
Date: Mon, 4 Sep 2023 14:36:15 +0200
Subject: [PATCH] Fix amibiguity between sensor and MAS client device names

---
 urdf/ergoCub/conf/estimators/wbd_ecub_sim.xml | 12 +++++-----
 .../conf/launch_wholebodydynamics_ecub.xml    | 22 +++++++++----------
 2 files changed, 17 insertions(+), 17 deletions(-)

diff --git a/urdf/ergoCub/conf/estimators/wbd_ecub_sim.xml b/urdf/ergoCub/conf/estimators/wbd_ecub_sim.xml
index ab3467b8..467ff78c 100644
--- a/urdf/ergoCub/conf/estimators/wbd_ecub_sim.xml
+++ b/urdf/ergoCub/conf/estimators/wbd_ecub_sim.xml
@@ -56,13 +56,13 @@
                 <!--elem name="right_lower_arm">right_arm-mc_wrapper</elem>
                 <elem name="left_lower_arm">left_arm-mc_wrapper</elem-->
                 <!-- imu -->
-                <elem name="imu">head_inertial_hardware_device</elem>
-                <elem name="waist_imu">waist_inertial_hardware_device</elem>
+                <elem name="imu">head_inertial_MAS_client</elem>
+                <elem name="waist_imu">waist_inertial_MAS_client</elem>
                 <!-- ft -->
-                <elem name="left_arm_ft_sensor">ergocub_left_arm_ft</elem>
-                <elem name="right_arm_ft_sensor">ergocub_right_arm_ft</elem>
-                <elem name="left_leg_ft_sensor">ergocub_left_leg_ft</elem>
-                <elem name="right_leg_ft_sensor">ergocub_right_leg_ft</elem>
+                <elem name="left_arm_ft_sensor">left_arm_ft_MAS_client</elem>
+                <elem name="right_arm_ft_sensor">right_arm_ft_MAS_client</elem>
+                <elem name="left_leg_ft_sensor">left_leg_ft_MAS_client</elem>
+                <elem name="right_leg_ft_sensor">right_leg_ft_MAS_client</elem>
             </paramlist>
         </action>
 
diff --git a/urdf/ergoCub/conf/launch_wholebodydynamics_ecub.xml b/urdf/ergoCub/conf/launch_wholebodydynamics_ecub.xml
index ba185d53..73afd991 100644
--- a/urdf/ergoCub/conf/launch_wholebodydynamics_ecub.xml
+++ b/urdf/ergoCub/conf/launch_wholebodydynamics_ecub.xml
@@ -35,37 +35,37 @@
 
 
     <!-- imu -->
-    <device name="head_inertial_hardware_device" type="multipleanalogsensorsclient">
+    <device name="head_inertial_MAS_client" type="multipleanalogsensorsclient">
         <param name="remote"> /ergocubSim/head/inertials </param>
         <param name="local"> /wholeBodyDynamics/imu </param>
     </device>
-    
-    <device name="waist_inertial_hardware_device" type="multipleanalogsensorsclient">
+
+    <device name="waist_inertial_MAS_client" type="multipleanalogsensorsclient">
         <param name="remote"> /ergocubSim/waist/inertials </param>
         <param name="local"> /wholeBodyDynamics/waist_imu </param>
     </device>
-    
+
     <!-- six axis force torque sensors -->
-    <device name="ergocub_left_arm_ft" type="multipleanalogsensorsclient">
+    <device name="left_arm_ft_MAS_client" type="multipleanalogsensorsclient">
         <param name="remote"> /ergocubSim/left_arm/FT </param>
         <param name="local"> /wholeBodyDynamics/left_arm_ft_sensor </param>
     </device>
 
-    <device name="ergocub_right_arm_ft" type="multipleanalogsensorsclient">
+    <device name="right_arm_ft_MAS_client" type="multipleanalogsensorsclient">
         <param name="remote"> /ergocubSim/right_arm/FT </param>
         <param name="local"> /wholeBodyDynamics/right_arm_ft_sensor </param>
-    </device> 
+    </device>
 
-    <device name="ergocub_left_leg_ft" type="multipleanalogsensorsclient">
+    <device name="left_leg_ft_MAS_client" type="multipleanalogsensorsclient">
         <param name="remote"> /ergocubSim/left_leg/FT </param>
         <param name="local"> /wholeBodyDynamics/left_leg_ft_sensor </param>
     </device>
 
-    <device name="ergocub_right_leg_ft" type="multipleanalogsensorsclient">
+    <device name="right_leg_ft_MAS_client" type="multipleanalogsensorsclient">
         <param name="remote"> /ergocubSim/right_leg/FT </param>
         <param name="local"> /wholeBodyDynamics/right_leg_ft_sensor </param>
-    </device>  
-    
+    </device>
+
     <!-- estimators -->
     <xi:include href="estimators/wbd_ecub_sim.xml" />