diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 5a30133b9..4c4c37964 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -375,7 +375,7 @@ jobs: # To avoid problems with non-relocatable packages, we unzip the archive exactly in the same directory # that has been used to create the pre-compiled archive cd C:/ - wget https://github.com/robotology/robotology-superbuild-dependencies-vcpkg/releases/download/v0.6.2/vcpkg-robotology-with-gazebo.zip + wget https://github.com/robotology/robotology-superbuild-dependencies-vcpkg/releases/download/v0.6.4/vcpkg-robotology-with-gazebo.zip unzip vcpkg-robotology-with-gazebo.zip -d C:/ rm vcpkg-robotology-with-gazebo.zip diff --git a/CHANGELOG.md b/CHANGELOG.md index 981a88864..044e23930 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -7,6 +7,7 @@ The format of this document is based on [Keep a Changelog](https://keepachangelo ### Added - Add spdlog dependency to the superbuild (https://github.com/robotology/robotology-superbuild/pull/645) +- Add `YARP_telemetry` component to the Dynamics profile (https://github.com/robotology/robotology-superbuild/pull/677). ### Removed - The `icub-gazebo` project was removed from the superbuild (https://github.com/robotology/robotology-superbuild/pull/646). diff --git a/cmake/BuildYARP_telemetry.cmake b/cmake/BuildYARP_telemetry.cmake new file mode 100644 index 000000000..7d48a583e --- /dev/null +++ b/cmake/BuildYARP_telemetry.cmake @@ -0,0 +1,21 @@ +# Copyright (C) 2021 iCub Facility, Istituto Italiano di Tecnologia +# Authors: Nicolò Genesio +# CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT + +include(YCMEPHelper) + +find_or_build_package(YCM QUIET) +find_or_build_package(YARP QUIET) +find_or_build_package(matioCpp QUIET) + +ycm_ep_helper(YARP_telemetry TYPE GIT + STYLE GITHUB + REPOSITORY robotology/yarp-telemetry.git + TAG master + COMPONENT dynamics + FOLDER src + DEPENDS YCM + YARP + matioCpp) + +set(YARP_telemetry_CONDA_DEPENDENCIES boost-cpp libmatio) diff --git a/cmake/Buildbipedal-locomotion-framework.cmake b/cmake/Buildbipedal-locomotion-framework.cmake index 4d8ed2e41..f5d08f5b7 100644 --- a/cmake/Buildbipedal-locomotion-framework.cmake +++ b/cmake/Buildbipedal-locomotion-framework.cmake @@ -7,12 +7,12 @@ include(FindOrBuildPackage) find_or_build_package(YARP QUIET) find_or_build_package(iDynTree QUIET) -find_or_build_package(matio-cpp QUIET) +find_or_build_package(matioCpp QUIET) set(bipedal-locomotion-framework_DEPENDS "") list(APPEND bipedal-locomotion-framework_DEPENDS YARP) list(APPEND bipedal-locomotion-framework_DEPENDS iDynTree) -list(APPEND bipedal-locomotion-framework_DEPENDS matio-cpp) +list(APPEND bipedal-locomotion-framework_DEPENDS matioCpp) set(bipedal-locomotion-framework_USES_CppAD OFF) diff --git a/cmake/Buildmatio-cpp.cmake b/cmake/BuildmatioCpp.cmake similarity index 84% rename from cmake/Buildmatio-cpp.cmake rename to cmake/BuildmatioCpp.cmake index d9351d546..0c720088f 100644 --- a/cmake/Buildmatio-cpp.cmake +++ b/cmake/BuildmatioCpp.cmake @@ -3,7 +3,7 @@ # CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT include(YCMEPHelper) -ycm_ep_helper(matio-cpp TYPE GIT +ycm_ep_helper(matioCpp TYPE GIT STYLE GITHUB REPOSITORY dic-iit/matio-cpp.git TAG master @@ -11,4 +11,4 @@ ycm_ep_helper(matio-cpp TYPE GIT FOLDER src CMAKE_ARGS -DBUILD_TESTING:BOOL=OFF) -set(matio-cpp_CONDA_DEPENDENCIES "libmatio") +set(matioCpp_CONDA_DEPENDENCIES "libmatio") diff --git a/cmake/ProjectsTagsUnstable.cmake b/cmake/ProjectsTagsUnstable.cmake index 7b769121a..0457bdc67 100644 --- a/cmake/ProjectsTagsUnstable.cmake +++ b/cmake/ProjectsTagsUnstable.cmake @@ -28,4 +28,5 @@ set_tag(icub-models_TAG devel) set_tag(icub-gazebo_TAG devel) set_tag(icub-gazebo-wholebody_TAG devel) set_tag(whole-body-controllers_TAG master) -set_tag(OsqpEigen_TAG master) +set_tag(OsqpEigen_TAG master) +set_tag(YARP_telemetry_TAG master) diff --git a/cmake/RobotologySuperbuildLogic.cmake b/cmake/RobotologySuperbuildLogic.cmake index fe603a252..9acb0c2c4 100644 --- a/cmake/RobotologySuperbuildLogic.cmake +++ b/cmake/RobotologySuperbuildLogic.cmake @@ -43,8 +43,9 @@ if(ROBOTOLOGY_ENABLE_DYNAMICS) find_or_build_package(walking-controllers) find_or_build_package(whole-body-estimators) find_or_build_package(whole-body-controllers) - find_or_build_package(matio-cpp) + find_or_build_package(matioCpp) find_or_build_package(bipedal-locomotion-framework) + find_or_build_package(YARP_telemetry) if(ROBOTOLOGY_USES_MATLAB) find_or_build_package(osqp-matlab) endif() diff --git a/doc/profiles.md b/doc/profiles.md index a18f81b71..70d09f0b3 100644 --- a/doc/profiles.md +++ b/doc/profiles.md @@ -31,19 +31,19 @@ Superbuild CMake options ======================== As a huge number of software projects are developed in the `robotology` organization, and a tipical user is only interested in some of them, there are several options to -instruct the superbuild on which packages should be built and which one should not be built. In particular, the robotology-superbuild is divided in different "profiles", -that specify the specific subset of robotology packages to build. +instruct the superbuild on which packages should be built and which one should not be built. In particular, the robotology-superbuild is divided in different "profiles", +that specify the specific subset of robotology packages to build. ## Profile CMake options The profile CMake options specify which subset of the robotology packages will be built by the superbuild. -Note that any dependencies of the included packages that is not available in the system will be downloaded, compiled and installed as well. +Note that any dependencies of the included packages that is not available in the system will be downloaded, compiled and installed as well. All these options are named `ROBOTOLOGY_ENABLE_` . | CMake Option | Description | Main packages included | Default Value | Profile-specific documentation | |:------------:|:-----------:|:---------------------:|:-------------:|:----:| | `ROBOTOLOGY_ENABLE_CORE` | The core robotology software packages, necessary for most users. | [`YARP`](https://github.com/robotology/yarp), [`ICUB`](https://github.com/robotology/icub-main), [`ICUBcontrib`](https://github.com/robotology/icub-contrib-common), [`icub-models`](https://github.com/robotology/icub-models) and [`robots-configurations`](https://github.com/robotology/robots-configuration). [`GazeboYARPPlugins`](https://github.com/robotology/GazeboYARPPlugins) and [`icub-gazebo`](https://github.com/robotology/icub-gazebo) if the `ROBOTOLOGY_USES_GAZEBO` option is enabled. | `ON` | [Documentation on Core profile.](#core) | | `ROBOTOLOGY_ENABLE_ROBOT_TESTING` | The robotology software packages related to robot testing. | [`RobotTestingFramework`](https://github.com/robotology/robot-testing-framework), [`icub-tests`](https://github.com/robotology/icub-tests), [`blocktest`](https://github.com/robotology/blocktest) and [`blocktest-yarp-plugins`](https://github.com/robotology/blocktest-yarp-plugins) | `OFF` | [Documentation on Robot Testing profile.](#robot-testing) | -| `ROBOTOLOGY_ENABLE_DYNAMICS` | The robotology software packages related to balancing, walking and force control. | [`iDynTree`](https://github.com/robotology/idyntree), [`blockfactory`](https://github.com/robotology/blockfactory), [`wb-Toolbox`](https://github.com/robotology/wb-Toolbox), [`whole-body-controllers`](https://github.com/robotology/whole-body-controllers), [`walking-controllers`](https://github.com/robotology/walking-controllers), [`matio-cpp`](https://github.com/dic-iit/matio-cpp), [`bipedal-locomotion-framework`](https://github.com/dic-iit/bipedal-locomotion-framework). | `OFF` | [Documentation on Dynamics profile.](#dynamics) | +| `ROBOTOLOGY_ENABLE_DYNAMICS` | The robotology software packages related to balancing, walking and force control. | [`iDynTree`](https://github.com/robotology/idyntree), [`blockfactory`](https://github.com/robotology/blockfactory), [`wb-Toolbox`](https://github.com/robotology/wb-Toolbox), [`whole-body-controllers`](https://github.com/robotology/whole-body-controllers), [`walking-controllers`](https://github.com/robotology/walking-controllers), [`matioCpp`](https://github.com/dic-iit/matio-cpp), [`bipedal-locomotion-framework`](https://github.com/dic-iit/bipedal-locomotion-framework), [`YARP_telemetry`](https://github.com/robotology/yarp-telemetry). | `OFF` | [Documentation on Dynamics profile.](#dynamics) | | `ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS` | Optional dependencies for [`bipedal-locomotion-framework`](https://github.com/dic-iit/bipedal-locomotion-framework). | [`manif`](https://github.com/artivis/manif), [`qhull`](https://github.com/qhull/qhull), [`casadi`](https://github.com/casadi/casadi). [`CppAD`](https://github.com/coin-or/CppAD). | `OFF` | [Documentation on Dynamics full deps profile.](#dynamics-full-deps) | | `ROBOTOLOGY_ENABLE_ICUB_HEAD` | The robotology software packages needed on the system that is running on the head of the iCub robot, or in general to communicate directly with iCub low-level devices. | [`icub-firmware`](https://github.com/robotology/icub-firmware), [`icub-firmware-shared`](https://github.com/robotology/icub-firmware-shared), [`diagnostic-daemon`](https://github.com/robotology/diagnostic-daemon). Furthermore, several additional devices are compiled in `YARP` and `ICUB` if this option is enabled. | `OFF` | [Documentation on iCub Head profile.](#icub-head) | | `ROBOTOLOGY_ENABLE_ICUB_BASIC_DEMOS` | The robotology software packages needed to run basic demonstrations with the iCub robot. | [`icub-basic-demos`](https://github.com/robotology/icub-basic-demos), [`speech`](https://github.com/robotology/speech), [`funny-things`](https://github.com/robotology/funny-things). | `OFF` | [Documentation on iCub Basic Demos profile.](#icub-basic-demos) | @@ -88,7 +88,7 @@ Not all options are supported on all platforms. The following table provides a r | `ROBOTOLOGY_USES_GAZEBO` | ✔️ | ✔️ | ✔️ | ✔️ | ✔️ | ✔️ | | `ROBOTOLOGY_USES_MATLAB` | ✔️ | ✔️ | ✔️ | ✔️ | ✔️ | ✔️ | | `ROBOTOLOGY_USES_OCTAVE` | ✔️ | ✔️ | ❌ | ❌ | ❌ | ❌ | -| `ROBOTOLOGY_USES_PYTHON` | ✔️ | ❌ | ❌ | ✔️ | ✔️ | ✔️ | +| `ROBOTOLOGY_USES_PYTHON` | ✔️ | ❌ | ❌ | ✔️ | ✔️ | ✔️ | | `ROBOTOLOGY_USES_OCULUS_SDK` | ❌ | ❌ | ✔️ | ❌ | ❌ | ❌ | | `ROBOTOLOGY_USES_CYBERITH_SDK` | ❌ | ❌ | ✔️ | ❌ | ❌ | ✔️ | | `ROBOTOLOGY_USES_CFW2CAN` | ✔️ | ❌ | ❌ | ✔️ | ❌ | ❌ | diff --git a/releases/latest.releases.yaml b/releases/latest.releases.yaml index 81bda8582..ad20b3306 100644 --- a/releases/latest.releases.yaml +++ b/releases/latest.releases.yaml @@ -175,7 +175,7 @@ repositories: type: git url: https://github.com/robotology/event-driven.git version: v1.5 - matio-cpp: + matioCpp: type: git url: https://github.com/dic-iit/matio-cpp.git version: v0.1.1 @@ -187,3 +187,7 @@ repositories: type: git url: https://github.com/dic-iit/osqp-matlab-cmake-buildsystem.git version: v0.6.2.0 + YARP_telemetry: + type: git + url: https://github.com/robotology/yarp-telemetry.git + version: v0.1.0