From 97ecca2d43bf830a83c360a62b727a24fa7c0c23 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bartek=20=C5=81ukawski?= Date: Fri, 29 Mar 2024 19:24:55 +0100 Subject: [PATCH] Bump to YARP 3.8+ --- .github/workflows/ci.yml | 14 +++++++------- CMakeLists.txt | 2 +- doc/kinematics-dynamics-install.md | 8 ++++---- .../BasicCartesianControl/DeviceDriverImpl.cpp | 3 --- .../CartesianControlServer/DeviceDriverImpl.cpp | 1 - .../YarpPlugins/KdlSolver/DeviceDriverImpl.cpp | 1 - .../YarpPlugins/KdlTreeSolver/DeviceDriverImpl.cpp | 1 - 7 files changed, 12 insertions(+), 18 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 274bad319..8ba275da5 100644 --- 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 index 1b661bc3a..6b4320534 100644 --- 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 index 7435d1964..c6c623fb6 100644 --- 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 index 2e6af4bed..fbb010431 100644 --- 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 index 24e1e0c53..c1c5170fc 100644 --- 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 index 970f37c1c..b87d33cd9 100644 --- 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 index 0b8a25d42..4ca45bebf 100644 --- 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();