From 308914e5113f59eb0f2f6caf1aff5a5d08f2284c Mon Sep 17 00:00:00 2001
From: Martina Gloria <114698424+martinaxgloria@users.noreply.github.com>
Date: Fri, 1 Sep 2023 12:06:10 +0000
Subject: [PATCH] Automatic build. GitHub Actions build: 6049069305
 icub-model-generator commit:
 robotology/icub-models-generator@98d0ff6eb5ba248225caf2c13906eb3b25ffb079
 urdf_parser_py commit:
 ros/urdf_parser_py@31474b9baaf7c3845b40e5a9aa87d5900a2282c3
 simmechanics-to-urdf commit:
 robotology/simmechanics-to-urdf@9431d99570921d20002461a02d4974020e97f22a

---
 iCub/conf/gazebo_icub_xsens_inertial.ini | 4 ++--
 iCub/conf/icub.xml                       | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/iCub/conf/gazebo_icub_xsens_inertial.ini b/iCub/conf/gazebo_icub_xsens_inertial.ini
index 2bfc67a..b164f02 100644
--- a/iCub/conf/gazebo_icub_xsens_inertial.ini
+++ b/iCub/conf/gazebo_icub_xsens_inertial.ini
@@ -1,7 +1,7 @@
 [include "gazebo_icub_robotname.ini"]
 
 name /${gazeboYarpPluginsRobotName}/xsens_inertial
-period 0.0025
+period 2
 
-device inertial
+device multipleanalogsensorsserver
 subdevice gazebo_imu
diff --git a/iCub/conf/icub.xml b/iCub/conf/icub.xml
index 6b9ce23..71ca941 100644
--- a/iCub/conf/icub.xml
+++ b/iCub/conf/icub.xml
@@ -30,6 +30,6 @@
     <!-- INERTIAL SENSOR-->
     <xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />
 <!--  NOT USED RIGHT NOW
-    <xi:include href="wrappers/inertials/waist-inertials_wrapper.xml" /> -->
+    <xi:include href="wrappers/inertials/waist-inertials_wrapper.xml" /> -->    
     </devices>
 </robot>