Some improvements on the YarpRobotLoggerDevice and removed ROS1 device (

#910) * Improved warning message when adding a channel without metadata in the logger * Added possibility to avoid logging text * Added prints on the current saving stage in the logger device * Improved the time diagnostic of recordVideo in the logger device * Remvoed ROS1 device publisher and example device * Avoid using iCubGazeboV3 in baseEstimatorFromFootIMU * Bump yarp version on CI to 3.10.1 * Fixed generation of bindings in Windows * Explicit the dependency between Math and System * Explicit tell cmake to use conda's Python in conda-forge Windows CI * Remove all the Python interpreter installed by GitHub Actions on Windows --------- Co-authored-by: Silvio Traversaro <silvio.traversaro@iit.it>
ami-iit · Jan 20, 2025 · 1721c3e · 1721c3e
1 parent 520cd51
commit 1721c3e
Show file tree

Hide file tree

Showing 32 changed files with 155 additions and 940 deletions.
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -13,7 +13,7 @@ on:
 env:
   vcpkg_robotology_TAG: v0.11.0
   YCM_TAG: v0.15.3
-  YARP_TAG: v3.8.0
+  YARP_TAG: v3.10.1
   iDynTree_TAG: v12.3.3
   CasADi_TAG: 3.5.5.2
   manif_TAG: 0.0.5

diff --git a/.github/workflows/conda-forge-ci.yml b/.github/workflows/conda-forge-ci.yml
@@ -64,6 +64,9 @@ jobs:
       if: contains(matrix.os, 'windows')
       shell: cmd /C CALL {0}
       run: |
+        :: We delete all the Python executables installed by GitHub Actions as a workaround for https://github.com/ami-iit/bipedal-locomotion-framework/pull/910#issuecomment-2589862552
+        :: once that is not necessary anymore, remove this
+        rmdir /s /q C:\hostedtoolcache\windows\Python
         :: Due to this https://github.com/conda-forge/icub-models-feedstock/issues/18
         :: pcl is removed as a workaround for https://github.com/ami-iit/bipedal-locomotion-framework/pull/695#issuecomment-1632208836
         :: pcl can be re-added once we have a ros humble build compatible with PCL 1.13.0

diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -4,8 +4,11 @@ All notable changes to this project are documented in this file.
 ## [unreleased]
 ### Added
 ### Changed
+- Some improvements on the YarpRobotLoggerDevice (https://github.com/ami-iit/bipedal-locomotion-framework/pull/910)
+- Removed ROS1 device publisher and the corresponding example (https://github.com/ami-iit/bipedal-locomotion-framework/pull/910)
 ### Fixed
 - Add missing `ContinuousDynamicalSystem` row to `Exported components` in the README (https://github.com/ami-iit/bipedal-locomotion-framework/pull/919)
+- Avoid using ``iCubGazeboV3`` model in ``BaseEstimatorFromFootIMU`` test (https://github.com/ami-iit/bipedal-locomotion-framework/pull/910)
 
 ## [0.20.0] - 2024-12-16
 ### Added

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -15,8 +15,6 @@ option(BUILD_SHARED_LIBS "Build libraries as shared as opposed to static" ON)
 option(BUILD_TESTING "Create tests using CMake" OFF)
 include(CTest)
 
-option(BUILD_DEVICE_EXAMPLES "Create example devices using CMake" OFF)
-
 # Check BipedalLocomotionFramework dependencies, find necessary libraries.
 include(BipedalLocomotionFrameworkDependencies)
 

diff --git a/bindings/CMakeLists.txt b/bindings/CMakeLists.txt
@@ -50,7 +50,7 @@ if(FRAMEWORK_COMPILE_PYTHON_BINDINGS)
     add_subdirectory(python)
 
     # Create the __init__.py file
-    file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/__init__.py "")
+    file(WRITE ${BLF_PYTHON_PACKAGE}/__init__.py "")
 
     # If we are on Windows and BUILD_SHARED_LIBS is ON, handle the fact that
     # the Python interpreter does not look into PATH to find dll (see https://docs.python.org/3.8/library/os.html#os.add_dll_directory)
@@ -68,6 +68,12 @@ if(FRAMEWORK_COMPILE_PYTHON_BINDINGS)
         file(APPEND "${BLF_PYTHON_PACKAGE}/__init__.py" "if(library_dll_path != os.path.join(os.environ.get('CONDA_PREFIX', ''),'Library','bin') and library_dll_path != os.path.join(os.environ.get('CONDA_PREFIX', ''),'bin')):${NEW_LINE}")
         file(APPEND "${BLF_PYTHON_PACKAGE}/__init__.py" "    if(os.path.exists(library_dll_path)):${NEW_LINE}")
         file(APPEND "${BLF_PYTHON_PACKAGE}/__init__.py" "        os.add_dll_directory(library_dll_path)${NEW_LINE}")
+
+        # For running tests, we need to add also the path where the dependecies are installed.
+        # We add idyntree to update the dll path for the tests.
+        file(APPEND "${BLF_PYTHON_PACKAGE}/__init__.py" "import idyntree${NEW_LINE}")
+
+
     endif()
 
     file(APPEND "${BLF_PYTHON_PACKAGE}/__init__.py" "from .bindings import *${NEW_LINE}from . import utils${NEW_LINE}")

diff --git a/bindings/python/CMakeLists.txt b/bindings/python/CMakeLists.txt
@@ -49,7 +49,7 @@ target_link_libraries(pybind11_blf PRIVATE
 # # The generated Python dynamic module must have the same name as the pybind11
 # # module, i.e. `bindings`.
 set_target_properties(pybind11_blf PROPERTIES
-    LIBRARY_OUTPUT_DIRECTORY "${BLF_PYTHON_PACKAGE}"
+    LIBRARY_OUTPUT_DIRECTORY $<1:${BLF_PYTHON_PACKAGE}> # Prevent appending Release/Debug to the output path in Windows
     OUTPUT_NAME "bindings")
 
 if(FRAMEWORK_TEST_PYTHON_BINDINGS)

diff --git a/cmake/AddBipedalLocomotionYARPDevice.cmake b/cmake/AddBipedalLocomotionYARPDevice.cmake
@@ -2,11 +2,6 @@
 # This software may be modified and distributed under the terms of the
 # BSD-3-Clause license.
 
-framework_dependent_option(FRAMEWORK_COMPILE_example_devices
-  "Compile example devices?" ON
-  "BUILD_DEVICE_EXAMPLES" OFF)
-
-
 function(add_bipedal_yarp_device)
   set(options )
   set(oneValueArgs NAME)

diff --git a/cmake/BipedalLocomotionFrameworkDependencies.cmake b/cmake/BipedalLocomotionFrameworkDependencies.cmake
@@ -141,10 +141,6 @@ framework_dependent_option(FRAMEWORK_COMPILE_YarpUtilities
   "Compile YarpHelper library?" ON
   "FRAMEWORK_USE_YARP" OFF)
 
-framework_dependent_option(FRAMEWORK_COMPILE_Ros1Publisher
-  "Compile YarpUtilities::RosPublisher class?" ON
-  "FRAMEWORK_USE_YARP" OFF)
-
 framework_dependent_option(FRAMEWORK_COMPILE_RosImplementation
   "Compile All the ROS implementations?" ON
   "FRAMEWORK_USE_rclcpp" OFF)
@@ -157,10 +153,6 @@ framework_dependent_option(FRAMEWORK_COMPILE_TomlImplementation
   "Compile All the TOML implementations?" ON
   "FRAMEWORK_USE_tomlplusplus" OFF)
 
-framework_dependent_option(FRAMEWORK_COMPILE_Math
-  "Compile Math library?" ON
-  "FRAMEWORK_USE_manif" OFF)
-
 framework_dependent_option(FRAMEWORK_COMPILE_Estimators
   "Compile Estimators library?" ON
   "" OFF)
@@ -181,6 +173,10 @@ framework_dependent_option(FRAMEWORK_COMPILE_System
   "Compile System library?" ON
   "" OFF)
 
+framework_dependent_option(FRAMEWORK_COMPILE_Math
+  "Compile Math library?" ON
+  "FRAMEWORK_USE_manif;FRAMEWORK_COMPILE_System" OFF)
+
 framework_dependent_option(FRAMEWORK_COMPILE_Unicycle
     "Compile the Unicycle Planner library?" ON
     "FRAMEWORK_USE_UnicyclePlanner;FRAMEWORK_COMPILE_System;FRAMEWORK_COMPILE_Planners;FRAMEWORK_COMPILE_Contact" OFF)

diff --git a/devices/CMakeLists.txt b/devices/CMakeLists.txt
@@ -7,8 +7,3 @@ add_subdirectory(JointTorqueControlDevice)
 add_subdirectory(RobotDynamicsEstimatorDevice)
 add_subdirectory(YarpRobotLoggerDevice)
 add_subdirectory(VectorsCollectionWrapper)
-
-if (FRAMEWORK_COMPILE_example_devices)
-  add_subdirectory(examples)
-endif()
-
diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1/yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1/yarp-robot-logger.xml
@@ -9,6 +9,7 @@ BSD-3-Clause license. -->
   <param name="rgb_cameras_fps">(30)</param>
   <param name="video_codec_code">mp4v</param>
   <param name="port_prefix">/yarp-robot-logger</param>
+  <param name="log_text">true</param>
   <param name="text_logging_subnames">("ergoCubGazeboV1/yarprobotinterface")</param>
   <param name="maximum_admissible_time_step">1.0</param>
 

diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/yarp-robot-logger.xml
@@ -9,6 +9,7 @@ BSD-3-Clause license. -->
   <param name="rgb_cameras_fps">(30)</param>
   <param name="video_codec_code">mp4v</param>
   <param name="port_prefix">/yarp-robot-logger</param>
+  <param name="log_text">true</param>
   <param name="text_logging_subnames">("ergoCubGazeboV1/yarprobotinterface")</param>
   <param name="maximum_admissible_time_step">1.0</param>
 

diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN000/yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN000/yarp-robot-logger.xml
@@ -17,6 +17,7 @@ BSD-3-Clause license. -->
 
   <param name="video_codec_code">mp4v</param>
   <param name="port_prefix">/yarp-robot-logger</param>
+  <param name="log_text">true</param>
   <param name="text_logging_subnames">("ergocub-torso/yarprobotinterface")</param>
   <param name="code_status_cmd_prefixes">("ssh ergocub@10.0.2.2" "ssh ergocub@10.0.2.3")</param>
 

diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/yarp-robot-logger.xml
@@ -17,6 +17,7 @@ BSD-3-Clause license. -->
 
   <param name="video_codec_code">mp4v</param>
   <param name="port_prefix">/yarp-robot-logger</param>
+  <param name="log_text">true</param>
   <param name="text_logging_subnames">("ergoCubSN001/yarprobotinterface")</param>
   <param name="code_status_cmd_prefixes">("ssh ergocub@10.0.2.2" "ssh ergocub@10.0.2.3")</param>
 

diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN002/yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN002/yarp-robot-logger.xml
@@ -17,6 +17,7 @@ BSD-3-Clause license. -->
 
   <param name="video_codec_code">mp4v</param>
   <param name="port_prefix">/yarp-robot-logger</param>
+  <param name="log_text">true</param>
   <param name="text_logging_subnames">("ergocub-torso/yarprobotinterface")</param>
   <param name="code_status_cmd_prefixes">("ssh ergocub@10.0.2.22" "ssh ergocub@10.0.2.23")</param>
 

diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/yarp-robot-logger.xml
@@ -8,6 +8,7 @@ BSD-3-Clause license. -->
   <param name="sampling_period_in_s">0.01</param>
   <param name="port_prefix">/yarp-robot-logger</param>
   <param name="maximum_admissible_time_step">1.0</param>
+  <param name="log_text">true</param>
 
   <group name="Telemetry">
     <param name="save_period">600.0</param>

diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/yarp-robot-logger.xml
@@ -9,6 +9,7 @@ BSD-3-Clause license. -->
   <param name="rgb_cameras_fps">(30)</param>
   <param name="video_codec_code">mp4v</param>
   <param name="port_prefix">/yarp-robot-logger</param>
+  <param name="log_text">true</param>
   <param name="text_logging_subnames">("icub-head/yarprobotinterface")</param>
   <param name="code_status_cmd_prefixes">("ssh icub@10.0.0.2" "ssh icub@10.0.0.150")</param>
 

diff --git a/devices/YarpRobotLoggerDevice/include/BipedalLocomotion/YarpRobotLoggerDevice.h b/devices/YarpRobotLoggerDevice/include/BipedalLocomotion/YarpRobotLoggerDevice.h
@@ -174,6 +174,7 @@ class YarpRobotLoggerDevice : public yarp::dev::DeviceDriver,
     bool m_streamCartesianWrenches{false};
     bool m_streamFTSensors{false};
     bool m_streamTemperatureSensors{false};
+    bool m_logText{true};
     std::vector<std::string> m_textLoggingSubnames;
     std::vector<std::string> m_codeStatusCmdPrefixes;