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Restore compatibility with YARP 3.2.0 #280

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merged 3 commits into from
Oct 22, 2019
Merged

Restore compatibility with YARP 3.2.0 #280

merged 3 commits into from
Oct 22, 2019

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GiulioRomualdi
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@GiulioRomualdi GiulioRomualdi commented Jul 24, 2019 •
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This PR updates:

  • launch-wholebodydynamics-icub-six-fts-sim.xml
  • wholebodydynmics-icub-external-six-fts-sim.xml

The PR is already tested with the latest version of YARP robotology/yarp@8f7d736

See #277 for further details

cc @prashanthr05 @gabrielenava @traversaro

@traversaro
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As I am not really sure if this is compatible with YARP 3.0/3.1 and probably it is not really worth testing that (unless @lrapetti @kouroshD need compatibility with YARP 3.1 due to robotology/wearables#46 / robotology/yarp#2054 ), can you bump the minimum required YARP version to 3.2 in https://github.com/robotology/codyco-modules/blob/master/CMakeLists.txt#L34 ?
Furthermore, can you also update also the other files contained in https://github.com/robotology/codyco-modules/tree/646fd2974815d26be21100a080a727786f298833/src/devices/wholeBodyDynamics/app ? Sorry for the trouble, but I know that either we updated them now, or they will never be updated. Thanks a lot.

@lrapetti
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unless @lrapetti @kouroshD need compatibility with YARP 3.1 due to robotology/wearables#46 / robotology/yarp#2054

The problem of not compatibility of wearable (and all the related software) with YARP 3.2 is currently affecting the compatibility with the master of many repos. This means that it is required anyhow to point some specific commit for those repos, so I think it is not that relevant for us to keep the compatibility with codyco-modules master. I think you can proceed switching to minimum required 3.2.

@nunoguedelha nunoguedelha mentioned this pull request Oct 21, 2019
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nunoguedelha reviewed Oct 21, 2019
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src/devices/wholeBodyDynamics/app/wholebodydynamics-icub-external-six-fts-sim.xml Outdated
<param name="imuFrameName">imu_frame</param>
<param name="useJointVelocity">true</param>
<param name="useJointAcceleration">true</param>
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="wholebodydynamics" type="wholebodydynamics">
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We don't need to define xmlns:xi="http://www.w3.org/2001/XInclude" here since we don't use xi:include.

@traversaro
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Thanks @nunoguedelha . Is this ready for merging?

@nunoguedelha
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@traversaro I have a rebased branch but I need the rights to push to @GiulioRomualdi 's fork.

@nunoguedelha nunoguedelha force-pushed the fix/wbd_in_simulation branch from bf697e9 to 218614f Compare October 22, 2019 12:59
@nunoguedelha
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Sorry @traversaro @GiulioRomualdi actually I had the rights. Just pushed.

@traversaro
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Ok, now it is ready?

@traversaro traversaro merged commit d673cbe into robotology-legacy:master Oct 22, 2019
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I've fast-forwarded the devel branch up to master.

This was referenced Apr 2, 2020
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@GiulioRomualdi @traversaro @lrapetti @nunoguedelha