Merge pull request #49 from robotology/fix_tf

Fix use of transformServer device in yarprobotstatepublisher

CHANGELOG.md

@@ -5,6 +5,16 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ## [Unreleased]
 
+### Fixed
+
+- Fix use of transformServer device in yarprobotstatepublisher https://github.com/robotology/idyntree-yarp-tools/pull/49
+
+## [0.0.8] - 2023-11-17
+
+### Changed
+
+- The remapper connector will not fail if some board of joint is not available https://github.com/robotology/idyntree-yarp-tools/pull/47
+
 ## [0.0.7] - 2023-02-24
 
 ### Changed

src/modules/yarprobotstatepublisher/src/robotstatepublisher.cpp

@@ -35,15 +35,20 @@ bool YARPRobotStatePublisherModule::configureTransformServer(const std::string &
 {
 
     std::string namePrefix = rf.check("name-prefix", yarp::os::Value("")).asString();
+    if (namePrefix.front() != '/')
+    {
+        namePrefix = '/' + namePrefix;
+    }
 
     yarp::os::Property pTransformclient_cfg;
-    pTransformclient_cfg.put("device", "transformClient");
-    if (!namePrefix.empty()) {
-        pTransformclient_cfg.put("local", "/"+namePrefix+"/"+name+"/transformClient");
+    pTransformclient_cfg.put("device", rf.check("tf-device", yarp::os::Value("frameTransformClient")).asString());
+    pTransformclient_cfg.put("filexml_option",  rf.check("tf-file", yarp::os::Value("ftc_yarp_only.xml")).asString());
+    pTransformclient_cfg.put("ft_client_prefix", namePrefix + "/" + name + "/tf");
+    if (rf.check("tf-remote"))
+    {
+        pTransformclient_cfg.put("ft_server_prefix", rf.find("tf-remote").asString());
     }
-    else pTransformclient_cfg.put("local", "/"+name+"/transformClient");
-
-    pTransformclient_cfg.put("remote",  rf.check("tf-remote", yarp::os::Value("/transformServer")).asString());
+    pTransformclient_cfg.put("local_rpc", namePrefix + "/" + name + "/tf/local_rpc");
 
     m_tfPrefix = rf.check("tf-prefix", yarp::os::Value("")).asString();