Merge issue-27-eol-teoSim into develop, for #27

CMakeLists.txt

@@ -32,7 +32,7 @@ option(ENABLE_YarpOpenraveRGBDSensor  "Enable/disable option YarpOpenraveRGBDSen
 option(ENABLE_YarpOpenraveRobotManager "Enable/disable option YarpOpenraveRobotManager" TRUE)
 
 ### options: cpp programs
-option(ENABLE_teoSim "Choose if you want to compile (deprecated) teoSim" TRUE)
+#option(ENABLE_exampleProgram "Choose if you want to compile exampleProgram" TRUE)
 
 
 if(MSVC)
@@ -96,9 +96,9 @@ set(OPENRAVE_YARP_PLUGINS_LINK_DIRS CACHE INTERNAL "appended link dirs" FORCE)
 set(OPENRAVE_YARP_PLUGINS_LIBRARIES CACHE INTERNAL "appended libraries" FORCE)
 
 # add main contents
-add_subdirectory(share)
+#add_subdirectory(share)  # Currently empty
 add_subdirectory(libraries)
-add_subdirectory(programs)
+#add_subdirectory(programs)  # Currently empty
 
 # export our variables to a OPENRAVE_YARP_PLUGINSConfig.cmake creation
 set(OPENRAVE_YARP_PLUGINS_LINK_DIRS ${OPENRAVE_YARP_PLUGINS_LINK_DIRS} ${LIBRARY_OUTPUT_PATH})

README.md

@@ -44,24 +44,24 @@ Technically, the OpenRAVE plugin can directly open YARP ports, or contain one or
 - "name": Can be extracted from the `OpenRAVE::Environment` and can be used for the port names opened by the "device" too.
 - Plus, whatever other information the "subdevice" YARP plugin requires (e.g. which `robotIndex` and/or `manipulatorIndex` for control).
 
-# Tutorials: (How to use openrave-yarp-plugins as a replacement of teoSim)
+# Tutorials: (How openrave-yarp-plugins is used to implement teoSim in teo-configuration-files)
 
 ```bash
 yarpserver
 # new terminal
-python ~/repos/openrave-yarp-plugins/examples/openraveYarpPluginLoader-controlboard-allManipulators.py
+openrave /usr/local/share/teo-openrave-models/contexts/openrave/teo/teo.robot.xml --module OpenraveYarpPluginLoader "open --device controlboardwrapper2 --subdevice YarpOpenraveControlboard --robotIndex 0 --allManipulators"
 # Then the robot can be commanded via yarp with:
 yarp rpc /teoSim/[kinematic chain name]/rpc:i
 ```
 
-If you do not have or want to use Python, the direct CLI one-liner succesor of `teoSim` is:
+We can do funky commands like the following, where `open` acts as a delimiter:
 ```bash
-openrave /usr/local/share/teo-openrave-models/contexts/openrave/teo/teo.robot.xml --module OpenraveYarpPluginLoader "open --device controlboardwrapper2 --subdevice YarpOpenraveControlboard --robotIndex 0 --allManipulators"
+openrave /usr/local/share/teo-openrave-models/contexts/openrave/teo/teo.robot.xml --module OpenraveYarpPluginLoader "open --device controlboardwrapper2 --subdevice YarpOpenraveControlboard --robotIndex 0 --manipulatorIndex 0 open --device controlboardwrapper2 --subdevice YarpOpenraveControlboard --robotIndex 0 --manipulatorIndex 2"
 ```
 
-We can even do funky commands like the following, where `open` acts as a delimiter:
+If you prefer to use Python, the direct CLI one-liner equivalent of `teoSim` is:
 ```bash
-openrave /usr/local/share/teo-openrave-models/contexts/openrave/teo/teo.robot.xml --module OpenraveYarpPluginLoader "open --device controlboardwrapper2 --subdevice YarpOpenraveControlboard --robotIndex 0 --manipulatorIndex 0 open --device controlboardwrapper2 --subdevice YarpOpenraveControlboard --robotIndex 0 --manipulatorIndex 2"
+python ~/repos/openrave-yarp-plugins/examples/openraveYarpPluginLoader-controlboard-allManipulators.py
 ```
 
 Note that OpenraveYarpPluginLoader uses OpenRAVE plugins `main()`, affected by [#59](https://github.com/roboticslab-uc3m/openrave-yarp-plugins/issues/59) and [#60](https://github.com/roboticslab-uc3m/openrave-yarp-plugins/issues/60).

programs/CMakeLists.txt

@@ -1,5 +1,5 @@
 # Copyright: Universidad Carlos III de Madrid (C) 2013
 # Authors: Juan G. Victores
 
-add_subdirectory(teoSim)
+#add_subdirectory(exampleProgram)