Clean asibot-main libraries

[jgvictores]

There are a number of libraries that should go elsewhere or become deprecated in favor of advances. This is not mandatory, but we have been working a lot elsewhere

• CartesianClientLib. (see cartesianServer on Clean asibot-main programs/modules #21). ELIMINATE ☠️
• CartesianServerLib. (see cartesianServer on Clean asibot-main programs/modules #21). ELIMINATE ☠️
• ColorClientLib. I'd replace it by an issue on the final vision-related repository mentioning that a API for all vision libs with a nice server/client pair would be nice. ELIMINATE ☠️
• RavePlugins. Can improve (not only redCan) and move to openrave-yarp-plugins. 😄🚚 (Import OpenRAVE libraries and programs from asibot-main repo openrave-yarp-plugins#26)
• RlPlugins
  • cartesianbot. Can be made into a plugin similar to KdlSolver. GOOD TO KEEP 😄🚚 because it has the ASIBOT analytic solution of FK and IK (as far as I recall). kinematics (Extract and import ASIBOT's analytical cartesian solver from asibot-main repo kinematics-dynamics#96)
  • kdlbot. (see cartesianServer on Clean asibot-main programs/modules #21). ELIMINATE ☠️
  • ravebot. Work in progress is to use openrave-yarp-plugins with separate model repos similar to teo-openrave-models to substitute testRaveBot and also teoSim of teo-main. For now only joint movements are implemented, but plugins for creating objects, publishing sensor data etc are on the way. GOOD TO KEEP 😄🚐 (Import OpenRAVE libraries and programs from asibot-main repo openrave-yarp-plugins#26)
  • skymegabot: Was used to send commands to an Arduino connected to a Hand controlled by PWM. Many copies in many places. A pretty functional yarp plugin is LaserTowerOfDeathController. ELIMINATE ☠️
• TestRaveBotLib: Same as ravebot and testRaveBot. GOOD TO KEEP 😄🚐 (Import OpenRAVE libraries and programs from asibot-main repo openrave-yarp-plugins#26)
• TinyMath: It's a nice thing to have around when you already depend on YARP, don't want to thing about KDL, and want to play around with transformation matrices. Uses YARP_math for operators and eye(). Possibly used by several programs, which should be identified. GOOD TO KEEP 😄🚚 kinematics (Extract and import ASIBOT's analytical cartesian solver from asibot-main repo kinematics-dynamics#96)
• TrajGen: Interesting experimental class for trajectories that does not depend on KDL, seems to be used by cartesianbot. GOOD TO KEEP 😄🚚 (to be moved together with cartesianbot). kinematics (Extract and import ASIBOT's analytical cartesian solver from asibot-main repo kinematics-dynamics#96)
• TaskLib: An idea is to migrate these demo-like behaviours to an interpreted language. GOOD TO KEEP 😄 tools

[PeterBowman]

Note: TinyMath is still called by TaskLib.

[jgvictores]

ravebot was never actually migrated, but I'd say that with roboticslab-uc3m/openrave-yarp-plugins#38, it is definitely superseeded by YarpOpenraveControlboard.

[jgvictores]

Well, maybe not completely superseeded until roboticslab-uc3m/openrave-yarp-plugins#29 and roboticslab-uc3m/openrave-yarp-plugins#39 are done.

[jgvictores]

roboticslab-uc3m/openrave-yarp-plugins#29 is now closed, YarpOpenraveControlboard is an efficient re-implementation of ravebot.

As for roboticslab-uc3m/openrave-yarp-plugins#39, it just provides a couple of checks and parameters, will be soon closed.

[jgvictores]

Marking TaskLib too (which was the only lib missing), of which progress will be tracked at #40.

Closing issue!