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Deprecate ROS 1-based software and add HUMANSTATEPROVIDER_ENABLE_ROS1VISUALIZER option to disable compilation of it #420

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Nov 29, 2024
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Deprecate ROS 1-based software and add HUMANSTATEPROVIDER_ENABLE_ROS1VISUALIZER option to disable compilation of it #420

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7 changes: 6 additions & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@ endif()
include(GNUInstallDirs)
include(CTest)

option(HUMANSTATEPROVIDER_ENABLE_ROS1VISUALIZER "Enable the ROS 1-based RViz Human State Visualizer" OFF)
option(HUMANSTATEPROVIDER_ENABLE_VISUALIZER "Enable the iDyntree-irricht based Human State Visualizer" OFF)

find_package(robometry QUIET)
Expand Down Expand Up @@ -129,7 +130,11 @@ add_subdirectory(app)
add_subdirectory(modules)
add_subdirectory(servers)
add_subdirectory(clients)
add_subdirectory(publishers)

if(HUMANSTATEPROVIDER_ENABLE_ROS1VISUALIZER)
add_subdirectory(publishers)
endif()

add_subdirectory(bindings)
add_subdirectory(HumanDynamicsEstimationLibrary)

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3 changes: 1 addition & 2 deletions README.md
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@@ -1,7 +1,7 @@
# Human Dynamics Estimation (HDE)


Human Dynamics Estimation (HDE) is a collection of YARP devices for the online estimation of the kinematics and dynamics of a human subject monitored with a set of wearable sensors and/or interacting with a robot. A ROS-based visualizer allows to visualize in real-time the output of the estimation. The devices can be installed and run in Linux, macOS and Windows.
Human Dynamics Estimation (HDE) is a collection of YARP devices for the online estimation of the kinematics and dynamics of a human subject monitored with a set of wearable sensors and/or interacting with a robot. The devices can be installed and run in Linux, macOS and Windows.

> !NOTE
> Since September 2024 (release 4.0.0) the human-dynamics-estimation repo contains the software that used to be part of the https://github.com/robotology/wearables repository.
Expand Down Expand Up @@ -43,7 +43,6 @@ For installing the dependencies you can decide to install them individually or t
- [**IPOPT**](http://wiki.icub.org/wiki/Installing_IPOPT): a software package for large-scale nonlinear optimization.

#### Optional dependencies
- [**ROS**](http://wiki.ros.org) with [**rviz**](http://wiki.ros.org/rviz) package: an open-source provider of libraries and tools for creating robot applications.
- [**irrlicht**](http://irrlicht.sourceforge.net/) and [**iDynTree**](https://github.com/robotology/idyntree) compiled with `IDYNTREE_USES_IRRLICHT` enabled: visualizer for floating-base rigid-body systems.
- [**Robometry**](https://github.com/robotology/robometry) : a telemetry suite for logging data.
- [**pybind11**](https://github.com/pybind/pybind11): if present, the user can enable `HDE_COMPILE_PYTHON_BINDINGS` to enable the compilation of the python bindings.
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5 changes: 4 additions & 1 deletion msgs/CMakeLists.txt
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Expand Up @@ -142,4 +142,7 @@ install(TARGETS XsensSuitControl
LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR})

add_subdirectory(yarp)
add_subdirectory(ros)

if(HUMANSTATEPROVIDER_ENABLE_ROS1VISUALIZER)
add_subdirectory(ros)
endif()