{"action":"created","issue":{"url":"https://api.github.com/repos/start-jsk/rtmros_hironx/issues/453","repository_url":"https://api.github.com/repos/start-jsk/rtmros_hironx","labels_url":"https://api.github.com/repos/start-jsk/rtmros_hironx/issues/453/labels{/name}","comments_url":"https://api.github.com/repos/start-jsk/rtmros_hironx/issues/453/comments","events_url":"https://api.github.com/repos/start-jsk/rtmros_hironx/issues/453/events","html_url":"https://github.com/start-jsk/rtmros_hironx/issues/453","id":147902208,"number":453,"title":"Redundant \"connectPorts(self.rh.port(sensor), self.ic.port(sensor))\"?","user":{"login":"130s","id":1840401,"avatar_url":"https://avatars.githubusercontent.com/u/1840401?v=3","gravatar_id":"","url":"https://api.github.com/users/130s","html_url":"https://github.com/130s","followers_url":"https://api.github.com/users/130s/followers","following_url":"https://api.github.com/users/130s/following{/other_user}","gists_url":"https://api.github.com/users/130s/gists{/gist_id}","starred_url":"https://api.github.com/users/130s/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/130s/subscriptions","organizations_url":"https://api.github.com/users/130s/orgs","repos_url":"https://api.github.com/users/130s/repos","events_url":"https://api.github.com/users/130s/events{/privacy}","received_events_url":"https://api.github.com/users/130s/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/start-jsk/rtmros_hironx/labels/question","name":"question","color":"cc317c"}],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":1,"created_at":"2016-04-12T23:25:06Z","updated_at":"2016-04-15T15:14:10Z","closed_at":null,"body":"@k-okada @hyaguchijsk \r\n\r\n[In HIRONX](https://github.com/start-jsk/rtmros_hironx/blob/afe78e916ce0f8125eea0a86e818ca31fce29d6e/hironx_ros_bridge/src/hironx_ros_bridge/hironx_client.py#L177-L181), when IC is present (along with other conditions), RH connects to IC port.\r\n\r\n```\r\n def init(self, robotname=\"HiroNX(Robot)0\", url=\"\"):\r\n:\r\n        # connect ic if needed\r\n        for sensor in ['lhsensor' , 'rhsensor']:\r\n            if self.ic and self.ic.port(sensor) and self.ic.port(sensor).get_port_profile() and \\\r\n                    not self.ic.port(sensor).get_port_profile().connector_profiles :\r\n                connectPorts(self.rh.port(sensor), self.ic.port(sensor))\r\n```\r\n\r\nHowever, it seems already done [in its parent class, `HrpsysConfigurator`](https://github.com/fkanehiro/hrpsys-base/blob/872b832ba658618c015189fdded4afe3f749a0e7/python/hrpsys_config.py#L440-L443):\r\n```\r\n def connectComps(self):\r\n:\r\n        elif self.ic: # if the robot does not have rmfo and kf, but have ic\r\n            for sen in filter(lambda x: x.type == \"Force\", self.sensors):\r\n                connectPorts(self.rh.port(sen.name),\r\n                             self.ic.port(sen.name))\r\n```\r\n\r\nWhy do we need the one in HIRONX? Thank you in advance."},"comment":{"url":"https://api.github.com/repos/start-jsk/rtmros_hironx/issues/comments/210500682","html_url":"https://github.com/start-jsk/rtmros_hironx/issues/453#issuecomment-210500682","issue_url":"https://api.github.com/repos/start-jsk/rtmros_hironx/issues/453","id":210500682,"user":{"login":"k-okada","id":493276,"avatar_url":"https://avatars.githubusercontent.com/u/493276?v=3","gravatar_id":"","url":"https://api.github.com/users/k-okada","html_url":"https://github.com/k-okada","followers_url":"https://api.github.com/users/k-okada/followers","following_url":"https://api.github.com/users/k-okada/following{/other_user}","gists_url":"https://api.github.com/users/k-okada/gists{/gist_id}","starred_url":"https://api.github.com/users/k-okada/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/k-okada/subscriptions","organizations_url":"https://api.github.com/users/k-okada/orgs","repos_url":"https://api.github.com/users/k-okada/repos","events_url":"https://api.github.com/users/k-okada/events{/privacy}","received_events_url":"https://api.github.com/users/k-okada/received_events","type":"User","site_admin":false},"created_at":"2016-04-15T15:14:09Z","updated_at":"2016-04-15T15:14:09Z","body":"sorry, I do not remember whey I added this code, but since these two change\nhas been made same day, i think I put the code to both hironx and hrpsys\nand use hironx one until hrpsys has been released. and forget to remove\nhironx one when hrpsys has released.\nanyway i think we can remove hironx settings\n\n--\n◉ Kei Okada\n\n\nOn Wed, Apr 13, 2016 at 8:25 AM, Isaac I.Y. Saito <notifications@github.com>\nwrote:\n\n> @k-okada <https://github.com/k-okada> @hyaguchijsk\n> <https://github.com/hyaguchijsk>\n>\n> In HIRONX\n> <https://github.com/start-jsk/rtmros_hironx/blob/afe78e916ce0f8125eea0a86e818ca31fce29d6e/hironx_ros_bridge/src/hironx_ros_bridge/hironx_client.py#L177-L181>,\n> when IC is present (along with other conditions), RH connects to IC port.\n>\n>  def init(self, robotname=\"HiroNX(Robot)0\", url=\"\"):\n> :\n>         # connect ic if needed\n>         for sensor in ['lhsensor' , 'rhsensor']:\n>             if self.ic and self.ic.port(sensor) and self.ic.port(sensor).get_port_profile() and \\\n>                     not self.ic.port(sensor).get_port_profile().connector_profiles :\n>                 connectPorts(self.rh.port(sensor), self.ic.port(sensor))\n>\n> However, it seems already done in its parent class, HrpsysConfigurator\n> <https://github.com/fkanehiro/hrpsys-base/blob/872b832ba658618c015189fdded4afe3f749a0e7/python/hrpsys_config.py#L440-L443>\n> :\n>\n>  def connectComps(self):\n> :\n>         elif self.ic: # if the robot does not have rmfo and kf, but have ic\n>             for sen in filter(lambda x: x.type == \"Force\", self.sensors):\n>                 connectPorts(self.rh.port(sen.name),\n>                              self.ic.port(sen.name))\n>\n> Why do we need the one in HIRONX? Thank you in advance.\n>\n> —\n> You are receiving this because you were mentioned.\n> Reply to this email directly or view it on GitHub\n> <https://github.com/start-jsk/rtmros_hironx/issues/453>\n>\n"}}