Bump to YARP 3.8+

roboticslab-uc3m · Mar 29, 2024 · 97ecca2 · 97ecca2
1 parent 61b8a44
commit 97ecca2
Show file tree

Hide file tree

Showing 7 changed files with 12 additions and 18 deletions.
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -35,9 +35,9 @@ jobs:
       matrix:
         os: [ubuntu-20.04, ubuntu-22.04]
         robotology:
-        - { yarp: yarp-3.7, cmake: 3.16.x }
         - { yarp: yarp-3.8, cmake: 3.16.x }
-        - { yarp: master, cmake: 3.16.x }
+        - { yarp: yarp-3.9, cmake: 3.16.x }
+        - { yarp: master, cmake: 3.19.x }
         compiler:
         - { cc: gcc, cxx: g++ }
         - { cc: clang, cxx: clang++ }
@@ -48,23 +48,23 @@ jobs:
 
     steps:
     - name: Check out kinematics-dynamics
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
 
     - name: Check out YCM
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
       with:
         repository: robotology/ycm
         path: .deps/ycm
 
     - name: Check out YARP
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
       with:
         repository: robotology/yarp
         ref: ${{matrix.robotology.yarp}}
         path: .deps/yarp
 
     - name: Check out Orocos KDL
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
       with:
         repository: orocos/orocos_kinematics_dynamics
         path: .deps/kdl
@@ -73,7 +73,7 @@ jobs:
       run: sudo apt-get install -qq ccache libeigen3-dev swig googletest
 
     - name: Set up CMake
-      uses: jwlawson/actions-setup-cmake@v1
+      uses: jwlawson/actions-setup-cmake@v2
       with:
         cmake-version: ${{matrix.robotology.cmake}}
 

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -27,7 +27,7 @@ list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/find-modules)
 
 # Hard dependencies.
 find_package(YCM 0.11 REQUIRED)
-find_package(YARP 3.7 REQUIRED COMPONENTS os dev sig
+find_package(YARP 3.8 REQUIRED COMPONENTS os dev sig
                                OPTIONAL_COMPONENTS math)
 
 # Soft dependencies.

diff --git a/doc/kinematics-dynamics-install.md b/doc/kinematics-dynamics-install.md
@@ -2,10 +2,10 @@
 
 First install the dependencies:
 
-- [Install CMake 3.16+](https://github.com/roboticslab-uc3m/installation-guides/blob/master/docs/install-cmake.md/)
-- [Install YCM 0.11+](https://github.com/roboticslab-uc3m/installation-guides/blob/master/docs/install-ycm.md/)
-- [Install YARP 3.7+](https://github.com/roboticslab-uc3m/installation-guides/blob/master/docs/install-yarp.md/)
-- [Install KDL 1.4+](https://github.com/roboticslab-uc3m/installation-guides/blob/master/docs/install-kdl.md/)
+- [Install CMake 3.16+](https://github.com/roboticslab-uc3m/installation-guides/blob/master/install-cmake.md/)
+- [Install YCM 0.11+](https://github.com/roboticslab-uc3m/installation-guides/blob/master/install-ycm.md/)
+- [Install YARP 3.8+](https://github.com/roboticslab-uc3m/installation-guides/blob/master/install-yarp.md/)
+- [Install KDL 1.4+](https://github.com/roboticslab-uc3m/installation-guides/blob/master/install-kdl.md/)
 
 We optionally use the `ProximitySensorsClient` device from [yarp-devices](https://github.com/roboticslab-uc3m/yarp-devices) in the `haarDetectionController` app. Refer to its installation guide for instructions.
 

diff --git a/libraries/YarpPlugins/BasicCartesianControl/DeviceDriverImpl.cpp b/libraries/YarpPlugins/BasicCartesianControl/DeviceDriverImpl.cpp
@@ -66,7 +66,6 @@ bool BasicCartesianControl::open(yarp::os::Searchable& config)
     yarp::os::Property robotOptions;
     robotOptions.fromString(config.toString());
     robotOptions.put("device", robotStr);
-    robotOptions.setMonitor(config.getMonitor(), robotStr.c_str());
 
     if (!robotDevice.open(robotOptions))
     {
@@ -190,8 +189,6 @@ bool BasicCartesianControl::open(yarp::os::Searchable& config)
         yCInfo(BCC) << "Using joint limits provided via user configuration";
     }
 
-    solverOptions.setMonitor(config.getMonitor(), solverStr.c_str());
-
     if (!solverDevice.open(solverOptions))
     {
         yCError(BCC) << "Solver device not valid:" << solverStr;

diff --git a/libraries/YarpPlugins/CartesianControlServer/DeviceDriverImpl.cpp b/libraries/YarpPlugins/CartesianControlServer/DeviceDriverImpl.cpp
@@ -31,7 +31,6 @@ bool CartesianControlServer::open(yarp::os::Searchable& config)
             yarp::os::Property p;
             p.fromString(config.toString());
             p.put("device", name->toString());
-            p.setMonitor(config.getMonitor(), name->toString().c_str());
             cartesianControlDevice.open(p);
         }
         else

diff --git a/libraries/YarpPlugins/KdlSolver/DeviceDriverImpl.cpp b/libraries/YarpPlugins/KdlSolver/DeviceDriverImpl.cpp
@@ -164,7 +164,6 @@ bool KdlSolver::open(yarp::os::Searchable & config)
     yarp::os::Property fullConfig;
     fullConfig.fromConfigFile(kinematicsFullPath.c_str());
     fullConfig.fromString(config.toString(), false);
-    fullConfig.setMonitor(config.getMonitor(), "KdlSolver");
 
     yCDebug(KDLS) << "fullConfig:" << fullConfig.toString();
 

diff --git a/libraries/YarpPlugins/KdlTreeSolver/DeviceDriverImpl.cpp b/libraries/YarpPlugins/KdlTreeSolver/DeviceDriverImpl.cpp
@@ -144,7 +144,6 @@ bool KdlTreeSolver::open(yarp::os::Searchable & config)
     yarp::os::Property fullConfig;
     fullConfig.fromConfigFile(kinematicsFullPath.c_str());
     fullConfig.fromString(config.toString(), false);
-    fullConfig.setMonitor(config.getMonitor(), "KdlTreeSolver");
 
     yCDebug(KDLS) << "fullConfig:" << fullConfig.toString();