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vvv-school / tutorial_impedance-control

Tutorial of an Whole-Body impedance controller using iDynTree and YARP
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Migrate to iDynTree + RemoteControlBoardRemapper #1

Closed traversaro closed 6 years ago

diegoferigo commented 6 years ago

Currently iDynTree and RemoteControlBoardRemapper resources are handled by the toolbox with the RobotInterface class. In this case, it would be the perfect replacement for the deprecated yarpWholeBodyInterface.

However, the WB3.0 branch which is installed in the VM still compiles the mex monolithic-ally. The WB3.1 instead will export the toolbox as a library, and it links it against simulink-related piece of software in a later moment.

Probably the best option for this year's VVV is using the raw resources, and we might consider switching to RobotInterface next year in order to simplify the tutorials / assignments code.

What do you think @traversaro?

diegoferigo commented 6 years ago

A viable alternative would be quickly porting this new CMake logic in the WB3.0, it wouldn't take a lot considering it is already done for WB3.1. At that point, a simple find_package() would do the work.

If we proceed in this way, we can open an issue and ask all the students to update the toolbox before Saturday.

traversaro commented 6 years ago

Done in https://github.com/vvv-school/tutorial_impedance-control/pull/2 .