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robotology / whole-body-estimators

YARP devices that implement estimators for humanoid robots.
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Add basic pixi support and add basic smoke test of `wholebodydynamics` device #177

Closed traversaro closed 4 months ago

traversaro commented 4 months ago

I wanted to work on https://github.com/robotology/whole-body-estimators/issues/170 and https://github.com/robotology/whole-body-estimators/issues/176, but it was tricky to do so without any even basic test of the functionality of wholebodydynamics device.

To solve the problem, I added basic support for building the project with pixi, and then I added a basic test that just loads the wholebodydynamics device file for ergoCubSN001 with fake devices.

The setup at the moment is a bit complex, as I need to compile YARP (and hence icub-main and ergocub-software) as otherwise the fakeIMU device in YARP 3.9 does not support specifying the frameName. Furthermore, I had to manually add a fakeFTs device to simulate a device that exposes multiple FTs sensors with temperature sensors. Once YARP 3.10 is released, the setup can be simplified to use YARP (and ICUB and ergocub-software) binaries.

traversaro commented 4 months ago

As currently building the test requires yarp master, I disable the test in CI so we can continue to use the yarp binaries there.

traversaro commented 4 months ago

As currently building the test requires yarp master, I disable the test in CI so we can continue to use the yarp binaries there.

Anyhow, I added a separate pixi-ci, so conda-ci checks compilation against YARP 3.9 (or in general the latest binary release available), and pixi-ci uses instead YARP master. We can revisit this in the future.