Wrong port names for the right camera

[xEnVrE]

After reading robotology/icub-models#195, I noticed that this assignment is making the assumption that the following port exists for the simulated RGB cameras:

cd assignment_make-it-roll
grep -nre "rgbImage:o" .
./smoke-test/fixtures/fixture.xml:57:            <port timeout="10">/icubSim/cam/left/rgbImage:o</port>
./smoke-test/fixtures/fixture.xml:58:            <port timeout="10">/icubSim/cam/right/rgbImage:o</port>
./smoke-test/fixtures/fixture.xml:68:        <from>/icubSim/cam/left/rgbImage:o</from>
./smoke-test/fixtures/fixture.xml:73:        <from>/icubSim/cam/right/rgbImage:o</from>
./app/scripts/assignment_make-it-roll-app-icubSim.xml:7:      <port>/icubSim/cam/left/rgbImage:o</port>
./app/scripts/assignment_make-it-roll-app-icubSim.xml:8:      <port>/icubSim/cam/right/rgbImage:o</port>
./app/scripts/assignment_make-it-roll-app-icubSim.xml:33:      <from>/icubSim/cam/left/rgbImage:o</from>
./app/scripts/assignment_make-it-roll-app-icubSim.xml:39:      <from>icubSim/cam/left/rgbImage:o</from>

namely, /icubSim/cam/left/rgbImage:o and /icubSim/cam/left/rgbImage:o. However, the simulated model exposes different names, i.e. /icubSim/cam/left/rgbImage:o and /icubSim/cam/right, due to robotology/icub-models#44 (comment).

Should we fix the wrong name?

Thanks

[traversaro]

fyi @davidegorbani

[traversaro]

x-link to relevant issue: robotology/icub-models#47 .

[davidegorbani]

In the assignment_make-it-roll-app-icubSim.xml file I changed the port /icubSim/cam/right/rgbImage:o with /icubSim/cam/right/ and now the two yarpviewer show the images of the cameras.

[pattacini]

We definitely need to fix the wrong names, but:

• I ought to understand how the module has been keeping working till now 😄
• I would appreciate making only one fix here¹, hence solving iCubGazebo2_5_visuomanip: provide port names consistent with the real robot  robotology/icub-models#47 first.

Footnotes

1. I will need to update many other gazebo-based apps too. ↩

[xEnVrE]

I would appreciate making only one fix here, hence solving robotology/icub-models#47

Totally agree with you.

[pattacini]

The assignment was working just fine when @martinaxgloria completed it this year.
This means that the port of the right camera was opened with the correct name.

We need to investigate what happened in the meantime.
Maybe, something to do with the distro 2023.02.0?

[pattacini]

Somehow, this change might have been removed:

• /~https://github.com/robotology/icub-models/pull/45/files

[pattacini]

With @xEnVrE, we agreed to reinstate the customization to have left and right camera port names equal.
Later, we will harmonize the names to make them equal to those on the physical robot.

[pattacini]

Fix proposed via robotology/icub-models#196.
Closing.

[pattacini]

Re-tested after Distro 2023.02.2 and everything worked as expected.

cc @xEnVrE @davidegorbani