[yarp] commited first support for middleware specific yarp files

[traversaro]

YARP support can be enabled during RTF compilation using the ENABLE_YARP CMake option.

If a user wants to check if RTF is build with YARP support, he can check against the YARP CMake component of RTF, as in: find_package(RTF 1.0.1 COMPONENTS YARP REQUIRED)

Bump the version number to 1.0.1 .

Overall the scheme followed is the same of the Lua/Python/Ruby support, to enable in the future support for other robot middlewares (ROS, Orocos, etc etc).

[traversaro]

cc @apaikan

[apaikan]

@traversaro Well done!

a comment: can we remove the YARP find package from the main CMAKE and put it under the src/middleware? and keep the ENABLE_YARP option in the main CMAKE to enable it

find_package(YARP) option (ENABLE_YARP "Enable yarp integration" ${YARP_FOUND})

[traversaro]

done!

[traversaro]

But probably I missed what you meant with "and keep the ENABLE_YARP option in the main CMAKE to enable it"

[apaikan]

Thanks. I meant if you still want to automatically enable YARP, we can have an option in the main Cmake for enabling the middleware dependent codes, something like

option (ENABLE_MIDDLEWARE_PLUGINS) "Enable middleware dependent plugins" OFF) 

Then, if this is enabled, all the cmakes from the the src/middleware are called and automatically got enabled if, for example, YARP is found. However, It's better we keep the ENABLE_MIDDLEWARE_PLUGINS OFF by default.

[traversaro]

Ahh... ok. Actually the purpose of auto-enabling the YARP options was meant to simplify installation of RTF for yarp users that can install it without setting any configuration option.. adding an additional ENABLE_MIDDLEWARE_PLUGINS option actually complexities this, but if it's better to keep it off by default it's ok.

[traversaro]

ENABLE_MIDDLEWARE_PLUGINS option added.

[traversaro]

Conflict with ruby stuff manually solved.