Add YARP_telemetry to the Dynamics profile

.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
 

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).

cmake/BuildYARP_telemetry.cmake

@@ -0,0 +1,21 @@
+# Copyright (C) 2021 iCub Facility, Istituto Italiano di Tecnologia
+# Authors: Nicolò Genesio <nicolo.genesio@iit.it>
+# 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)

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)
 

cmake/Buildmatio-cpp.cmake → cmake/BuildmatioCpp.cmake

@@ -3,12 +3,12 @@
 # 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
               COMPONENT dynamics
               FOLDER src
               CMAKE_ARGS -DBUILD_TESTING:BOOL=OFF)
 
-set(matio-cpp_CONDA_DEPENDENCIES "libmatio")
+set(matioCpp_CONDA_DEPENDENCIES "libmatio")

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)

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()

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_<profile>` .
 
 | 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` |  ✔️           |        ❌                      |             ❌                 |                 ✔️              |              ❌                 |                 ❌               |

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