Provide a way for plugins to explicitly disable implicitly created network wrappers server

[traversaro]

See #569 for a recap on this in situation. In a nutshell, now we have the GAZEBO_YARP_PLUGINS_DISABLE_IMPLICIT_NETWORK_WRAPPERS option that just disable all implicitly created network wrappers server, as we would expect that gazebo-yarp-plugins will work in the future. However users that are migrating to the new nws/nwc system, are actually requiring the GAZEBO_YARP_PLUGINS_DISABLE_IMPLICIT_NETWORK_WRAPPERS option to be ON, as they do not want to launch at all the implicit network wrappers.

However, for various reason having models that use gazebo-yarp-plugins compiled with a non-standard flag enabled is problematic for a various of reason:

• First of all, it prevents people to use the same gazebo-yarp-plugins to simulate both models that still needs to be migrated to use nws/nwc structure and models that already use the new nws/nwc structure but required GAZEBO_YARP_PLUGINS_DISABLE_IMPLICIT_NETWORK_WRAPPERS to be ON
• Secondly, it prevents users that get gazebo-yarp-plugins via binaries (for example conda binaries) to simulate the new models

To avoid this situation, I guess the easier way to avoid this problem is to provide users a way to explicity disable at runtime the instantiation of implicity created network wrappers servers, for example a disableImplicitNetworkWrapper option. This option will be ignored if GAZEBO_YARP_PLUGINS_DISABLE_IMPLICIT_NETWORK_WRAPPERS option is ON and when it will be ON by default, but it will help a lot in this transition period to simulate with the same gazebo-yarp-plugins both new and old models.

[Nicogene]

The thing that confused me a little bit about GAZEBO_YARP_PLUGINS_DISABLE_IMPLICIT_NETWORK_WRAPPERS is that it should actually disable implicit network wrappers, like for example:

gazebo-yarp-plugins/plugins/forcetorque/src/ForceTorque.cc

Lines 57 to 63 in 880af12

	#ifndef GAZEBO_YARP_PLUGINS_DISABLE_IMPLICIT_NETWORK_WRAPPERS
	netWrapper = "analogServer";
	#endif // GAZEBO_YARP_PLUGINS_DISABLE_IMPLICIT_NETWORK_WRAPPERS
	// Add my gazebo device driver to the factory.
	::yarp::dev::Drivers::factory().add(new ::yarp::dev::DriverCreatorOf< ::yarp::dev::GazeboYarpForceTorqueDriver>
	("gazebo_forcetorque", netWrapper.c_str(), "GazeboYarpForceTorqueDriver"));

But it is doing more than that, it disable also the explicit wrapper instantiation from ini files see:

gazebo-yarp-plugins/plugins/controlboard/src/ControlBoard.cc

Lines 103 to 119 in 880af12

	#ifndef GAZEBO_YARP_PLUGINS_DISABLE_IMPLICIT_NETWORK_WRAPPERS
	yarp::os::Bottle wrapper_group = m_parameters.findGroup("WRAPPER");
	if(wrapper_group.isNull())
	{
	yCDebug(GAZEBOCONTROLBOARD) <<"[WRAPPER] group not found in config file";
	}
	if(m_parameters.check("ROS"))
	{
	std::string ROS;
	ROS = std::string ("(") + m_parameters.findGroup("ROS").toString() + std::string (")");
	wrapper_group.append(yarp::os::Bottle(ROS));
	}
	m_wrapper.open(wrapper_group);

gazebo-yarp-plugins/plugins/depthCamera/src/DepthCamera.cc

Lines 92 to 108 in 880af12

	#ifndef GAZEBO_YARP_PLUGINS_DISABLE_IMPLICIT_NETWORK_WRAPPERS
	///////////////////////////
	//Open the wrapper, forcing it to be a "RGBDSensorWrapper"
	wrapper_properties.put("device","RGBDSensorWrapper");
	if(wrapper_properties.check("subdevice"))
	{
	yCError(GAZEBODEPTH) << "RGBDSensorWrapper: Do not use 'subdevice' keyword here since the only supported subdevice is <gazebo_depthCamera>. \
	Please remove the line 'subdevice " << wrapper_properties.find("subdevice").asString().c_str() << "' from your config file before proceeding";
	return;
	}
	if(!m_cameraWrapper.open(wrapper_properties) )
	{
	yCError(GAZEBODEPTH)<<"GazeboYarpDepthCamera Plugin failed: error in opening yarp wrapper";
	return;
	}
	#endif

gazebo-yarp-plugins/plugins/imu/src/IMU.cc

Lines 86 to 130 in 880af12

	#ifndef GAZEBO_YARP_PLUGINS_DISABLE_IMPLICIT_NETWORK_WRAPPERS
	/*
	* Open the driver wrapper
	*/
	//Retrieve wrapper properties
	::yarp::os::Bottle MASwrapperProp = m_parameters.findGroup("WRAPPER");
	if(MASwrapperProp.isNull())
	{
	yWarning("GazeboYarpIMU : [WRAPPER] group not found in config file, maybe you are using the old version of the ini file, please update icub-gazebo\n");
	yWarning("GazeboYarpIMU : trying to open it with the legacy behaviour device-subdevice");
	legacy_behaviour = true;
	}
	if (legacy_behaviour) {
	m_parameters.put(YarpIMUScopedName.c_str(), m_scopedSensorName.c_str());
	m_parameters.put("sensor_name",_sensor->Name());
	if (!m_imuDriver.open(m_parameters)) {
	yError() << "GazeboYarpIMU Plugin Load failed: error in opening yarp driver";
	}
	return;
	}
	//Open the driver wrapper
	if (!m_MASWrapper.open(MASwrapperProp))
	{
	yError() << "GazeboYarpIMU Plugin Load failed: error in opening the yarp wrapper";
	}
	/*
	* Open the old wrapper
	*/
	//Retrieve wrapper properties
	::yarp::os::Bottle AdditionalWrapperProp = m_parameters.findGroup("ADDITIONAL_WRAPPER");
	if(AdditionalWrapperProp.isNull())
	{
	yError("GazeboYarpIMU : [ADDITIONAL_WRAPPER] group not found in config file\n");
	return;
	}
	//Open the driver wrapper
	if (!m_AdditionalWrapper.open(AdditionalWrapperProp))
	{
	yError() << "GazeboYarpIMU Plugin Load failed: error in opening the yarp wrapper";
	}

gazebo-yarp-plugins/plugins/forcetorque/src/ForceTorque.cc

Lines 84 to 92 in 880af12

	#ifndef GAZEBO_YARP_PLUGINS_DISABLE_IMPLICIT_NETWORK_WRAPPERS
	//Open the wrapper
	//Force the wrapper to be of type "analogServer" (it make sense? probably no)
	wrapper_properties.put("device","analogServer");
	if( !m_forcetorqueWrapper.open(wrapper_properties) ) {
	yError()<<"GazeboYarpForceTorque Plugin failed: error in opening yarp driver wrapper";
	return;
	}
	#endif // GAZEBO_YARP_PLUGINS_DISABLE_IMPLICIT_NETWORK_WRAPPERS

I would re-enable the open of the wrappers, also when the implicit wrapper is disabled

[traversaro]

I think this is the source of the confusion. What you are calling explicit network wrapper is what we are calling (me and @ste93, see #569) the implicit network wrapper (we are calling it implicit, as it is always create whenever the Gazebo plugin is created). However, we can clarify ourself on teams. If I am not wrong, what you are calling implicit created device are only created if you are using the command line tool yarpdev, so they do not play a role here as they are never created by a Gazebo simulation.

I would re-enable the open of the wrappers, also when the implicit wrapper is disabled

But in this case we would not solve the problem listed in #585, if I am not wrong.

[Nicogene]

Yes what confuse me is the term "implicit" but for sure we can continue F2F or T2T.

If I am not wrong, what you are calling implicit created device are only created if you are using the command line tool yarpdev, so they do not play a role here as they are never created by a Gazebo simulation.

Yes for me implicit is that, but it is just a matter of agree on the nomeclature, and maybe write it somewhere

[ste93]

yep, I will be at cris wednesday if you want f2f, otherwise I'm always available on teams

[traversaro]

Fixed by #586 .