WholeBodyDynamicsDevice: Remove meaningless check that total number FTs in attached device match the total number of FTs consired by estimation

[traversaro]

This is a bug found by @LoreMoretti , basically he was trying to remote just the upper_leg FTs from ergocub from the estimation, but the wbd launch was failing with:

        yError() << "WholeBodyDynamicsDevice::attachAll Invalid number of MAS FT sensors after remapper";

However, the check does not make a lot of sense. nrMASFTSensors is the total number of FT sensors in all the devices attached to wbd (for ergocub 8), while remappedMASInterfaces.ftMultiSensors->getNrOfSixAxisForceTorqueSensors() and ftMultipleAnalogSensorNames.size() are the actual number of sensors considered (removing the upper_leg fts as @LoreMoretti was doing, 6).

To be honest, I am wondering how we were removing the FT from the estimation with this bug. Perhaps in all other cases were also either avoiding to pass the upper_leg FTs devices to the attach list, or we removed the FT sensors from the devices opened by the yarprobotinterface?

[S-Dafarra]

To be honest, I am wondering how we were removing the FT from the estimation with this bug. Perhaps in all other cases were also either avoiding to pass the upper_leg FTs devices to the attach list, or we removed the FT sensors from the devices opened by the yarprobotinterface?

Both 😅

[S-Dafarra]

I was looking at this piece of code

whole-body-estimators/devices/wholeBodyDynamics/WholeBodyDynamicsDevice.cpp

Lines 1826 to 1836 in 1fc1d54

	for (auto ftDx = 0; ftDx < nrMASFTSensors; ftDx++)
	{
	std::string sensorName;
	remappedMASInterfaces.ftMultiSensors->getSixAxisForceTorqueSensorName(ftDx, sensorName);
	auto ftIter = std::find(ftMultipleAnalogSensorNames.begin(), ftMultipleAnalogSensorNames.end(), sensorName);
	if (ftIter != ftMultipleAnalogSensorNames.end())
	{
	auto ftMapIdx = std::distance(ftMultipleAnalogSensorNames.begin(), ftIter);
	ftMultipleAnalogSensorIdxMapping[ftMapIdx] = ftDx;
	}
	}

Maybe it should throw an error if the name is not found?

[traversaro]

Maybe it should throw an error if the name is not found?

I am preparing a different PR to drop the support for reading FT sensor data from IAnalogSensor interfaces, I think it is more appropriate to keep that change there.

[traversaro]

Maybe it should throw an error if the name is not found?

I am preparing a different PR to drop the support for reading FT sensor data from IAnalogSensor interfaces, I think it is more appropriate to keep that change there.

Actually that was already removed in #181 . However I indeed preparing a different cleanup PR.