[DRAFT] Update to YARP 3.11.1 candidate

[traversaro]

This draft PR checks if the branch https://github.com/traversaro/yarp/tree/fixpublicheaders works fine with the rest of the superbuild. If it works, we can merge it in YARP and then fix #1798 .

[traversaro]

Ok, at a first glance the failures seems:

• Version of yarp-devices-ros2 not updated to support YARP 3.11.1
• Some Ubuntu 20.04 still present in CI (see Drop Ubuntu 20.04 support for apt dependencies #1439)
• openxr-device not updated, error

2025-02-20T11:22:50.1768453Z [3/38] Building CXX object src/utils/OpenXrFrameViz/CMakeFiles/OpenXrFrameViz.dir/main.cpp.o
2025-02-20T11:22:50.1769400Z FAILED: src/utils/OpenXrFrameViz/CMakeFiles/OpenXrFrameViz.dir/main.cpp.o 
2025-02-20T11:22:50.1772458Z /usr/bin/c++  -isystem /__w/robotology-superbuild/robotology-superbuild/build/install/include -g -fPIE -MD -MT src/utils/OpenXrFrameViz/CMakeFiles/OpenXrFrameViz.dir/main.cpp.o -MF src/utils/OpenXrFrameViz/CMakeFiles/OpenXrFrameViz.dir/main.cpp.o.d -o src/utils/OpenXrFrameViz/CMakeFiles/OpenXrFrameViz.dir/main.cpp.o -c /__w/robotology-superbuild/robotology-superbuild/src/yarp-device-openxrheadset/src/utils/OpenXrFrameViz/main.cpp
2025-02-20T11:22:50.1775895Z In file included from /__w/robotology-superbuild/robotology-superbuild/src/yarp-device-openxrheadset/src/utils/OpenXrFrameViz/main.cpp:10:
2025-02-20T11:22:50.1778280Z /__w/robotology-superbuild/robotology-superbuild/build/install/include/iDynTree/yarp/YARPConversions.h:7:4: warning: #warning <iDynTree/yarp/YARPConversions.h> is deprecated. Please use <iDynTree/YARPConversions.h>. To disable this warning use -Wno-deprecated. [-Wcpp]
2025-02-20T11:22:50.1781179Z     7 |   #warning <iDynTree/yarp/YARPConversions.h> is deprecated. Please use <iDynTree/YARPConversions.h>. To disable this warning use -Wno-deprecated.
2025-02-20T11:22:50.1782211Z       |    ^~~~~~~
2025-02-20T11:22:50.1783268Z /__w/robotology-superbuild/robotology-superbuild/src/yarp-device-openxrheadset/src/utils/OpenXrFrameViz/main.cpp: In function 'int main(int, char**)':
2025-02-20T11:22:50.1785562Z /__w/robotology-superbuild/robotology-superbuild/src/yarp-device-openxrheadset/src/utils/OpenXrFrameViz/main.cpp:160:51: error: no matching function for call to 'yarp::dev::IFrameTransform::canTransform(std::string&, std::string&)'
2025-02-20T11:22:50.1787468Z   160 |                         if (tfReader->canTransform(id, rootFrame->name)) //The frame has never been added and it is linked to the openxr_origin
2025-02-20T11:22:50.1788306Z       |                             ~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
2025-02-20T11:22:50.1789545Z In file included from /__w/robotology-superbuild/robotology-superbuild/src/yarp-device-openxrheadset/src/utils/OpenXrFrameViz/main.cpp:13:
2025-02-20T11:22:50.1791744Z /__w/robotology-superbuild/robotology-superbuild/build/install/include/yarp/dev/IFrameTransform.h:56:40: note: candidate: 'virtual yarp::dev::ReturnValue yarp::dev::IFrameTransform::canTransform(const string&, const string&, bool&)'
2025-02-20T11:22:50.1793721Z    56 |     virtual yarp::dev::ReturnValue     canTransform (const std::string &target_frame, const std::string &source_frame, bool& canTransform)  = 0;
2025-02-20T11:22:50.1794581Z       |                                        ^~~~~~~~~~~~
2025-02-20T11:22:50.1795630Z /__w/robotology-superbuild/robotology-superbuild/build/install/include/yarp/dev/IFrameTransform.h:56:40: note:   candidate expects 3 arguments, 2 provided

[traversaro]

New frametransform failures:

2025-02-20T18:22:42.4766295Z /home/runner/work/robotology-superbuild/robotology-superbuild/b/install/include/yarp/dev/IFrameTransform.h:72:40: note:   candidate expects 2 arguments, 1 provided
2025-02-20T18:22:42.4769259Z /home/runner/work/robotology-superbuild/robotology-superbuild/src/HumanDynamicsEstimation/devices/IFrameTransformToIWear/src/IFrameTransformToIWear.cpp:267:57: error: no matching function for call to 'yarp::dev::IFrameTransform::frameExists(std::__cxx11::basic_string<char>&)'
2025-02-20T18:22:42.4771464Z   267 |         if (!pImpl->frameTransformInterface->frameExists(ID)) {
2025-02-20T18:22:42.4772106Z       |              ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
2025-02-20T18:22:42.4773869Z /home/runner/work/robotology-superbuild/robotology-superbuild/b/install/include/yarp/dev/IFrameTransform.h:72:40: note: candidate: 'virtual yarp::dev::ReturnValue yarp::dev::IFrameTransform::frameExists(const std::string&, bool&)'
2025-02-20T18:22:42.4776277Z    72 |     virtual yarp::dev::ReturnValue     frameExists (const std::string &frame_id, bool& exists) = 0;
2025-02-20T18:22:42.4777080Z       |                                        ^~~~~~~~~~~
2025-02-20T18:22:42.4778435Z /home/runner/work/robotology-superbuild/robotology-superbuild/b/install/include/yarp/dev/IFrameTransform.h:72:40: note:   candidate expects 2 arguments, 1 provided
2025-02-20T18:22:42.4780139Z [65/145] Building CXX object devices/ICub/CMakeFiles/ICub.dir/yarp_plugin_icub_wearable_device.cpp.o
2025-02-20T18:22:42.4781522Z [66/145] Building CXX object devices/IAnalogSensorToIWear/CMakeFiles/IAnalogSensorToIWear.dir/src/IAnalogSensorToIWear.cpp.o
2025-02-20T18:22:42.4782767Z [67/145] Building CXX object devices/ICub/CMakeFiles/ICub.dir/src/ICub.cpp.o
2025-02-20T18:22:42.4784637Z In file included from /home/runner/work/robotology-superbuild/robotology-superbuild/src/HumanDynamicsEstimation/devices/ICub/src/ICub.cpp:16:
2025-02-20T18:22:42.4787119Z /home/runner/work/robotology-superbuild/robotology-superbuild/b/install/include/iDynTree/Model/Model.h:8:4: warning: #warning <iDynTree/Model/Model.h> is deprecated. Please use <iDynTree/Model.h>. To disable this warning use -Wno-deprecated. [-Wcpp]
2025-02-20T18:22:42.4789353Z     8 |   #warning <iDynTree/Model/Model.h> is deprecated. Please use <iDynTree/Model.h>. To disable this warning use -Wno-deprecated.
2025-02-20T18:22:42.4790262Z       |    ^~~~~~~
2025-02-20T18:22:42.4791270Z In file included from /home/runner/work/robotology-superbuild/robotology-superbuild/src/HumanDynamicsEstimation/devices/ICub/src/ICub.cpp:17:
2025-02-20T18:22:42.4793860Z /home/runner/work/robotology-superbuild/robotology-superbuild/b/install/include/iDynTree/ModelIO/ModelLoader.h:8:4: warning

[traversaro]

Ok, CI now is happy, so we validated robotology/yarp#3182 . At this point, we just need to wait for robotology/yarp#3182 for being merged and released, and we can close this PR, moving relevant bits to other PRs (something already went in #1800 ).