Move FakeControlboard to yarp-devices

[PeterBowman]

The FakeControlBoard device actually belongs to roboticslab-uc3m/yarp-devices. We only needed this here because of teoSim:

openrave-yarp-plugins/programs/teoSim/ControlboardContainer.cpp

Line 66 in 44296ec

options.put("subdevice","FakeControlboard"); // FakeControlboard provides more interfaces than test_motor

...which is about to die as a result of #27.

When completed, remember to update unit tests at kinematics-dynamics (.travis.yaml + doc/kinematics-dynamics-install.md).

This issue is preceded by 8b4a803 (code & style review, minor refactorization of FCB).

[jgvictores]

Given that it doesn't even depend on ColorDebug, maybe we could clean it up a bit and try a PR at YARP?

[jgvictores]

PS: Oh, wait! It does depend on ColorDebug, see here.

[PeterBowman]

PS: Oh, wait! It does depend on ColorDebug, see here.

My bad: 4dfa391 :(. We can revert it, though.

maybe we could clean it up a bit and try a PR at YARP?

For reference: http://yarp.it/classyarp_1_1dev_1_1TestMotor.html.

[traversaro]

Little intrusion: there is also https://github.com/robotology/yarp/tree/master/src/devices/fakeMotionControl , even if sadly is not greatly documented/visible as most of devices in YARP.

[PeterBowman]

Thanks! I tweaked our unit test at kinematics-dynamics to use fakeMotionControl (in here, passing a compulsory name option as well), but kept being unable to acquire the yarp::dev::IVelocityControl interface handle (crashes here). It does not happen when I upgrade the velocity interface to yarp::dev::IVelocityControl2 (ref).

[jgvictores]

@traversaro Thanks for the reference!
@PeterBowman Looks good! I put robotology/yarp#1502 just to keep thing in place. :-)

[PeterBowman]

We observed that fakeMotionControl does not emulate velocities in position or velocity control mode.
For now, waiting for #27, and then will move FakeControlboard to yarp-devices.

[jgvictores]

No longer blocked!

[PeterBowman]

Done at:

• 9289d7e
• roboticslab-uc3m/yarp-devices@fafe871...18aa6ab
• roboticslab-uc3m/kinematics-dynamics@aa9a20c

[jgvictores]

Thank you so much!!