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Change references from RGBDSensorWrapper to rgbdSensor_nws_yarp #49

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Nov 27, 2024
Merged

Change references from RGBDSensorWrapper to rgbdSensor_nws_yarp #49

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18 changes: 9 additions & 9 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -37,18 +37,18 @@ Before proceeding further, please install the following dependencies:

- [librealsense](https://github.com/IntelRealSense/librealsense)

### Configure YARP
### YARP compilation from source

Before proceeding further, please enable the following CMake flags in YARP:
If you are using `yarp` binary package from conda-forge or you compiled `yarp` via the `robotology-superbuild`, go to the next section.

**Only** if instead you manually compiled YARP, please make sure that the following CMake flags are enabled in the YARP CMake build:
```
ENABLE_yarpmod_RGBDSensorWrapper
ENABLE_yarpmod_rgbdSensor_nws_yarp
ENABLE_yarpmod_RGBDSensorClient
ENABLE_yarpcar_mjpeg
ENABLE_yarppm_depthimage_to_rgb
```

:bulb: **NOTE:** If you use YARP < 3.5, instead of the option `ENABLE_yarppm_depthimage_to_rgb` you should enable the option `ENABLE_yarpcar_depthimage2`.

### Build and install yarp-device-realsense2

```bash
Expand Down Expand Up @@ -129,7 +129,7 @@ By setting the `YARP_ROBOT_NAME`, YARP finds the configuration file `RealSense_c
`RealSense_conf.ini` contains the following settings:

```ini
device RGBDSensorWrapper
device rgbdSensor_nws_yarp
subdevice realsense2
name /depthCamera

Expand Down Expand Up @@ -159,7 +159,7 @@ To use this model of camera you can follow the same instructions above with the
Considering the above, a possible configuration file might be the following:

```ini
device RGBDSensorWrapper
device rgbdSensor_nws_yarp
subdevice realsense2
name /depthCamera

Expand Down Expand Up @@ -204,7 +204,7 @@ This device driver exposes the `yarp::dev::IRGBDSensor` and
the available settings.
See the documentation for more details about each interface.

This device is paired with its server called `RGBDSensorWrapper` to stream the
This device is paired with its server called `rgbdSensor_nws_yarp` to stream the
images and perform remote operations.

The configuration file is subdivided into 2 major sections called `SETTINGS` and
Expand Down Expand Up @@ -271,7 +271,7 @@ Parameters used by this device are:
Configuration file using `.ini` format, for using as RGBD device:

```ini
device RGBDSensorWrapper
device rgbdSensor_nws_yarp
subdevice realsense2
name /depthCamera

Expand Down
4 changes: 2 additions & 2 deletions src/devices/realsense2/CMakeLists.txt
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Expand Up @@ -8,7 +8,7 @@ yarp_prepare_plugin(realsense2
CATEGORY device
TYPE realsense2Driver
INCLUDE realsense2Driver.h
EXTRA_CONFIG WRAPPER=RGBDSensorWrapper
EXTRA_CONFIG WRAPPER=rgbdSensor_nws_yarp
DEPENDS "realsense2_FOUND"
DEFAULT ON
)
Expand Down Expand Up @@ -46,7 +46,7 @@ yarp_prepare_plugin(realsense2withIMU
CATEGORY device
TYPE realsense2withIMUDriver
INCLUDE realsense2withIMUDriver.h
EXTRA_CONFIG WRAPPER=RGBDSensorWrapper
EXTRA_CONFIG WRAPPER=rgbdSensor_nws_yarp
DEPENDS "TARGET YARP::YARP_math;realsense2_FOUND;"
DEFAULT ON
)
Expand Down
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