Fix handling of limbs versions in iKin

[pattacini]

This PR follows up on comments reported in #838 for which limbs version 2.10 is handled equally to 2.1 in iKin, for example.

To remedy this, a dedicated class iKinLimbVersion is introduced and thus all the related components have been updated.

This is an old flaw that emerges now as we have crafted the new iCub version 2.10.

The gaze and cartesian controller client/server versions have been upgraded to 2.0 to notify a breaking change in the way getInfo() operates for the hardware-version¹.

Careful tests need to be done.

Footnotes

1. Other code that needs to be upgraded:

   • https://github.com/robotology/stereo-vision/blob/master/lib/src/disparityThread.cpp#L381
   • https://github.com/robotology/icub-basic-demos/blob/master/demoRedBall/src/main.cpp#L706
   ↩

[Nicogene]

At first glance seems ok 👍🏻

[pattacini]

Before doing specific tests on the robot, I'll be verifying this solution in https://github.com/pattacini/icub-gazebo-grasping-sandbox.

[pattacini]

Before doing specific tests on the robot, I'll be verifying this solution in https://github.com/pattacini/icub-gazebo-grasping-sandbox.

After various fixes, I managed to make it work. See the result below:

2022-11-13.16-29-12.mp4

For the record, here's enclosed the patch file to adapt the sandbox: master...pattacini_icub-gazebo-grasping-sandbox_master.patch.txt 📝

Verifying that the sandbox works as intended is not sufficient:

• The next move is to assess the PR on a physical robot.
• Then, we're required to update the configuration files for the iKinGazeCtrl module plus the other 2 downstream projects.

[pattacini]

• Then, we're required to update the configuration files for the iKinGazeCtrl module plus the other 2 downstream projects.

See:

• [iKinGazeCtrl] patch versioning robots-configuration#397
• Patch iKin versioning stereo-vision#36
• Patch iKin versioning icub-basic-demos#38

[xEnVrE]

In realsense-holder-calibration, that is linked in https://icub-tech-iit.github.io/documentation/upgrade_kits/realsense_holder/support/#calibration-of-the-realsense-holder, we also have a snippet of code of the form

icub_head_center_ = iCub::iKin::iCubHeadCenter("right_" + head_version);

Does that need the same kind of patch as in stereo-vision?

[pattacini]

Does that need the same kind of patch as in stereo-vision?

At first sight, I think it's ok as that module employs the conf param eye_version, which contains the "v" char and there doesn't seem to be any version comparison.
See:

• https://github.com/search?q=repo%3Arobotology%2Frealsense-holder-calibration%20eye_version&type=code
• https://github.com/robotology/realsense-holder-calibration/blob/fb94c261c6d44150e056671a5f482235e7ecc540/src/calibration/app/conf/config_iCubGenova01_holder_no_tilt.ini#L4
• https://github.com/robotology/realsense-holder-calibration/blob/fb94c261c6d44150e056671a5f482235e7ecc540/src/calibration/src/Calibration.cpp#L91

At any rate, better off making a deeper inspection.

[Nicogene]

SInce it is a breaking change I would increment the patch number, in this way we could set the new icub-main version as minimum required for the downstream code that uses iKin.

[pattacini]

SInce it is a breaking change I would increment the patch number, in this way we could set the new icub-main version as minimum required for the downstream code that uses iKin.

Actually, I was thinking to increment the major number, right because it's a breaking change.

[pattacini]

Actually, I was thinking to increment the major number, right because it's a breaking change.

Done via b6a0792, @Nicogene!

[pattacini]

@mfussi66 and @AntonioConsilvio checked the correct behavior of the Red Ball demo!

demoredballrendered.mp4

[pattacini]

• Then, we're required to update the configuration files for the iKinGazeCtrl module plus the other 2 downstream projects.

See:

• [iKinGazeCtrl] patch versioning robots-configuration#397
• Patch iKin versioning stereo-vision#36
• Patch iKin versioning icub-basic-demos#38

I've merged the PR's above too.

cc @Nicogene