Port basestate plugin functionality from gazebo-yarp-plugins

[xela-95]

Plugin: https://github.com/robotology/gazebo-yarp-plugins/tree/master/plugins/basestate
Docs: https://github.com/robotology/gazebo-yarp-plugins/blob/c89280295d53279049bb7521cf6b6b3400130f23/plugins/basestate/include/yarp/dev/BaseStateDriver.h#L44
Examples (not accessible to everyone): https://github.com/ami-iit/component_ironcub/blob/a7117b65ccc4adc43f5991098d89e2266dff4870/models/iRonCub-Mk3/iRonCub/robots/iRonCub-Mk3_Gazebo/model_with-legs-fts.urdf#L1524

[xela-95]

As this plugin share the same structure of the forcetorque one, probably we can copy the forcetorque directory in basestate, and then modify the plugin to get the same functionality of https://github.com/robotology/gazebo-yarp-plugins/tree/master/plugins/basestate by copying the code in there.

[xela-95]

The basestate plugin for gazebo classic have been updated in PR robotology/gazebo-yarp-plugins#675

[xela-95]

@traversaro I am progressing with the porting of the plugin, but up to now I have encountered an issue: my code builds (both manually configuring and building from terminal and using the vscode cmake tools extension). But when I try to install I get the following error:

(gz7) acroci@IITICUBLAP218:~/repos/gz-sim-yarp-plugins/build$ ninja install
[0/1] Install the project...
-- Install configuration: "Debug"
-- Installing: /usr/local/lib/libgz-sim-yarp-handler.so
CMake Error at libraries/singleton-devices/cmake_install.cmake:52 (file):
  file INSTALL cannot copy file
  "/home/acroci/repos/gz-sim-yarp-plugins/build/lib/libgz-sim-yarp-handler.so"
  to "/usr/local/lib/libgz-sim-yarp-handler.so": Permission denied.
Call Stack (most recent call first):
  libraries/cmake_install.cmake:47 (include)
  cmake_install.cmake:47 (include)

FAILED: CMakeFiles/install.util 
cd /home/acroci/repos/gz-sim-yarp-plugins/build && /home/acroci/mambaforge/envs/gz7/bin/cmake -P cmake_install.cmake
ninja: build stopped: subcommand failed.

Probably I'm missing something stupid but I cannot figure out what it is 🙃

[xela-95]

Another question: in order to ask code reviews about the work I'm doing, should I open a PR in draft mode (even if the code is not completed)?

[xela-95]

@traversaro I am progressing with the porting of the plugin, but up to now I have encountered an issue: my code builds (both manually configuring and building from terminal and using the vscode cmake tools extension). But when I try to install I get the following error:

(gz7) acroci@IITICUBLAP218:~/repos/gz-sim-yarp-plugins/build$ ninja install
[0/1] Install the project...
-- Install configuration: "Debug"
-- Installing: /usr/local/lib/libgz-sim-yarp-handler.so
CMake Error at libraries/singleton-devices/cmake_install.cmake:52 (file):
  file INSTALL cannot copy file
  "/home/acroci/repos/gz-sim-yarp-plugins/build/lib/libgz-sim-yarp-handler.so"
  to "/usr/local/lib/libgz-sim-yarp-handler.so": Permission denied.
Call Stack (most recent call first):
  libraries/cmake_install.cmake:47 (include)
  cmake_install.cmake:47 (include)

FAILED: CMakeFiles/install.util 
cd /home/acroci/repos/gz-sim-yarp-plugins/build && /home/acroci/mambaforge/envs/gz7/bin/cmake -P cmake_install.cmake
ninja: build stopped: subcommand failed.

Probably I'm missing something stupid but I cannot figure out what it is 🙃

Ok the problem is solved by configuring the project (as written in the README) with:

cmake -GNinja -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DCMAKE_PREFIX_PATH=$CONDA_PREFIX ..

Then running:

ninja
ninja install

runs fine.

I'm a bit new with cmake, so as I can understand the problem was due to the fact that by default ninja tries to install the executables into the /usr/local/lib folder (for which it needs administrative privileges), while using the $CONDA_PREFIX location it is able to install.

[xela-95]

Ok the problem is solved by configuring the project (as written in the README) with:

cmake -GNinja -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DCMAKE_PREFIX_PATH=$CONDA_PREFIX ..

I will try to configure my vscode settings those arguments so that I can continue to use the build command from vscode.

[xela-95]

Done!

Documentation:

• https://github.com/microsoft/vscode-cmake-tools/blob/main/docs/cmake-settings.md#cmake-settings
• https://github.com/microsoft/vscode-cmake-tools/tree/main/docs#cmake-tools-for-visual-studio-code-documentation

I added to the `.vscode/settings.json' file the following lines:

    "cmake.configureArgs": [
        "-DCMAKE_INSTALL_PREFIX=${env:CONDA_PREFIX}",
        "-DCMAKE_PREFIX_PATH=${env:CONDA_PREFIX}"
    ],
    "cmake.generator": "Ninja"

and now the configuration phase is the same as the one in the README and the install steps works also from inside vscode (I do it by opening the command palette with CTRL+SHIFT+P and then find CMake: install.

[traversaro]

Another question: in order to ask code reviews about the work I'm doing, should I open a PR in draft mode (even if the code is not completed)?

Yes!

[xela-95]

Some documentation to understand messaging in Gazebo sim:

• https://gazebosim.org/docs/harmonic/architecture
• https://gazebosim.org/api/transport/13/tutorials.html

Interesting page aboud ECM:

• https://gazebosim.org/api/sim/7/ardupilot.html