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Install ergoCubEmotions application even with COMPILE_ergoCubEmotions off #196

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merged 2 commits into from
Dec 11, 2023

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martinaxgloria
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@martinaxgloria martinaxgloria commented Nov 30, 2023

As per title, I created this PR to refactor the ergoCubEmotions module to have the ergoCubEmotions xml application for the yarpmanager on ergocub-laptop. In this way, when robotology-superbuild is installed:

  • on ergocub-head the COMPILE_ergoCubEmotions flag is ON, so the module is properly installed to be run on it
  • on ergocub-laptop the flag is OFF, but the xml for the yarpmanager is still installed. In so doing, the module can be launched from the laptop (as per all the other applications) attaching to the ergocub-head node.

I tried this changes on my laptop. The first time, I installed ergocub-software with the flag OFF, I opened the yarpmanager and I tried to launch the module from the configuration file (which is installed now):

Screenshot from 2023-11-30 17-10-54

Since no images and videos are installed, nothing is shown.

Then I rebuilt the repo with the flag ON, I repeated the passages listed above and this time I was able to see the expressions:

Screenshot from 2023-11-30 17-03-12

I'll take this PR in draft until these changes are tested on the robot.

@martinaxgloria martinaxgloria self-assigned this Nov 30, 2023
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martinaxgloria commented Dec 1, 2023

Since ergoCub was not available, I tested the changes on the ergoCub setup on bench with the Orin NX and they worked smoothly: with this PR the module could be launched via the yarpmanager launched from the laptop, as the other yarpmanager applications

cc @Nicogene @pattacini

@martinaxgloria martinaxgloria marked this pull request as ready for review December 1, 2023 10:50
app/ergoCubEmotions/CMakeLists.txt Outdated Show resolved Hide resolved
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@Nicogene Nicogene left a comment

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We need also to add YARP in the installation instructions if it become mandatory

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So we go for the solution proposed by @Nicogene? I could modify the README.md in accordance to this change

cc @traversaro

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Hi @traversaro @Nicogene. Here 8340017 I applied the required changes and I also modified every CMakeLists copyright (like this). I hope that now it's ok

@Nicogene Nicogene merged commit 91efee5 into icub-tech-iit:master Dec 11, 2023
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@martinaxgloria martinaxgloria deleted the feat/ergocubemotions branch December 11, 2023 12:43
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3 participants