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ControlBoardDriver: support use of IJointCoupling devices in gazebo_yarp_controlboard and drop support for hardcoded HandMK5 coupling #671
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I tested these changes both with the robots that uses the "old" pipeline (e.g. iCubGazebo2_5_visuomanip) and ergoCubGazeboV1* and it works fine. The only problem is that these changes requires YARP 3.9.0, then all the conda-based CI are broken, how can we proceed in this sense @traversaro ? |
I checked, the use of yarp 3.9 in stable branches is blocked by robotology/robotology-superbuild#1548, basically the fact that icub-main master does not compile with yarp 3.9, and only icub-main devel compiles with yarp 3.9, so we can't use yarp 3.9 in stable branches of the superbuild at the moment. Can we quickly align you, me and @pattacini to understand how to handle this? |
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Actually, this is not doable because of the icub-firmware-* deps. @traversaro will apply a dedicated patch. |
YARP 3.9 is now available with LatestReleases or Stable in the superbuild, and has been released on conda-forge: |
The CI is now fine! |
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Minor comments, otherwise it seems ok. Can you write something on this in the CHANGELOG? Thanks!
cc @mebbaid |
I think we can add "Fix #470" in the PR body. :) |
Co-authored-by: Silvio Traversaro <[email protected]>
Co-authored-by: Silvio Traversaro <[email protected]>
Co-authored-by: Silvio Traversaro <[email protected]>
@Nicogene can I merge with squash? Furthermore, are you ready to merge icub-tech-iit/ergocub-software#178? I would merge (and eventually release, if we are ready to do so) both at the same time, to avoid breaking the superbuild Stable and Unstable branches. |
Yes sure!
Yes I was awaiting to merge both PR togheter too
I will put in the |
This PR wants to refactor the handMk5 coupling handler in order to use the
couplingXCubHandMK5
device:And the
IJointCoupling
interfaceMoreover it simplify the handling of the coupling, the coupling hadler used to be a vector of handlers supporting more coupling per part, but since none is using this feature I changed the code in order to use only one coupling per part.
It fixes #470