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robotology / idyntree-yarp-tools

Tools based on the iDynTree library that depend on YARP.
GNU Lesser General Public License v2.1
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Add the possibility to connect to the StateExt ports #7

Closed S-Dafarra closed 3 years ago

S-Dafarra commented 3 years ago

In the end, the modifications needed were a lot, but I tested it on the robot and seems to be working fine. The most difficult part has been defining a proper syntax. I hope it is well explained when typing --help. I also added the default keyword that should work when connecting to a known robot (only icub or icubSim for the time being). I have tested it on iCubGenova09 and with iCubGazeboV3, and iCubGazeboV2_5.

NOTE: I had to switch the compilation to static by default in order to use the ReadOnlyControlBoard plugin without installing. I am not sure if I am missing something.

Closes https://github.com/robotology/idyntree-yarp-tools/issues/6

traversaro commented 3 years ago

I think it would be convenient to have the same text in the help message also in the README of the directory of github, but then we have two places with the same info duplicated, so feel free to choose the solution that you prefer.

traversaro commented 3 years ago

NOTE: I had to switch the compilation to static by default in order to use the ReadOnlyControlBoard plugin without installing. I am not sure if I am missing something.

Yes, that is totally correct, and I am also happy that the support for having yarp devices as static libraries still works fine, this is quite convenient for embedded scenario and that could be useful to have also on BlockFactory or other similar libraries.

traversaro commented 3 years ago

NOTE: I had to switch the compilation to static by default in order to use the ReadOnlyControlBoard plugin without installing. I am not sure if I am missing something.

Yes, that is totally correct, and I am also happy that the support for having yarp devices as static libraries still works fine, this is quite convenient for embedded scenario and that could be useful to have also on BlockFactory or other similar libraries.

To clarify, it would also possible to just specify that YARP plugins or the ReadOnlyControlBoard in particular are compiled as static, but as we don't have other libraries I think that is ok for this project.

S-Dafarra commented 3 years ago

NOTE: I had to switch the compilation to static by default in order to use the ReadOnlyControlBoard plugin without installing. I am not sure if I am missing something.

Yes, that is totally correct, and I am also happy that the support for having yarp devices as static libraries still works fine, this is quite convenient for embedded scenario and that could be useful to have also on BlockFactory or other similar libraries.

To clarify, it would also possible to just specify that YARP plugins or the ReadOnlyControlBoard in particular are compiled as static, but as we don't have other libraries I think that is ok for this project.

I wanted to do that, but I did not understand how to do it from the yarp macros.

S-Dafarra commented 3 years ago

I think it would be convenient to have the same text in the help message also in the README of the directory of github, but then we have two places with the same info duplicated, so feel free to choose the solution that you prefer.

Does it make sense to only document the --help option?

S-Dafarra commented 3 years ago

We quickly discussed F2F, and we concluded the following:

Apparently, this is currently not possible.

According to the case, it might be easier to have the documentation online. Nevertheless, having duplicate information is not good. So I will stick to documenting the --help option only for the time being.

S-Dafarra commented 3 years ago

I have added a basic README. Let me know if you are ok with merging.

prashanthr05 commented 3 years ago

I have added a basic README. Let me know if you are ok with merging.

For me, it's ok.

traversaro commented 3 years ago

Thanks! Do you prefer Merge or Squash and Merge?

S-Dafarra commented 3 years ago

Thanks! Do you prefer Merge or Squash and Merge?

As you prefer. Also Squash and Merge works