YARP 3.0 upgrade path

[PeterBowman]

Following #65 (forward compat with YARP 3.x), #78 (upgrade and require YCM v0.10+) and #73 (migrating to Xenial builds in Travis), minimum required YARP version is going to be bumped from v2.3.70 to v3.0 soon enough. This issue will track code cleanup (remove pre-3.0 stuff), blockers and announcements.

TODOs

• Drop find_package(YARP 2.3.70 REQUIRED) fallbacks (ref).

• List optional and required components (ref, see also Forward compatibility with YARP 3.0 #65 (comment) and Espeak not enabled because YARP_HAS_IDL is deprecated speech#27).

• Update required YARP version in doc/<repo>-install.md.

• Remove version checks such as #if YARP_VERSION_MAJOR != 3 in C++ and CMake code (e.g. roboticslab-uc3m/yarp-devices@2af42cd, Follow up upstream deprecations concerning control board interfaces yarp-devices#180).

• Fix C++/CMake deprecation warnings (check Travis builds).

• Rename local C++ implementation files regarding motor interfaces (e.g. IControlMode2Impl.cpp would become IControlModeImpl.cpp).

• Delete pre-v3.0 jobs in .travis.yml (delete the cache).

• Explore YARP v3.0.0 and v3.0.1 release notes, adopt new features (conditionally enable v3.1.0 and v3.1.1).

• Tag the last pre-v3.0 commit.

• Upgrade robot on-board PCs.

• Review install guides, e.g. some CMake options have been renamed, removed, made optional or changed defaults (ref).

Blockers (mostly related to a recent OpenNI2->RGBDSensor device migration, roboticslab-uc3m/vision#83)

• Update vision-related config files regarding latest RGBD improvements teo-configuration-files#16: update TEO's depth camera-related .xml files
• Depth frames don't scale well on Kinect v2 devices vision#85: frame resolution mismatch bug
• RGBD sensor plugin must implement yarp::dev::IFrameGrabberControls(2) openrave-yarp-plugins#92: YARP v2.3.72.1-v3.1.0 bug, missing interface implementation

[PeterBowman]

TEO's PCs now run YARP 3.1.1. Note that teo-head is a Trusty system, whereas manipulation and locomotion already moved on to Xenial.

Tracked at roboticslab-uc3m/teo-main#49.

Edit: teo-head done, too (running current YARP master because of robotology/yarp#2009).

[PeterBowman]

Since all blockers have been resolved, I'm going to gradually start enforcing the YARP 3.0+ requisite in several repositories. Please git pull to the latest master branch or check out YARP's v3.1.1 git tag. It is recommended to uninstall first.

cc @roboticslab-uc3m

Edit: v3.0.1 -> v3.1.1.

[PeterBowman]

Since latest YARP master is now recommended, and YARP 3.1 was released shortly after YARP 3.0, I'm probably going to require YARP 3.1+ in a few repos (namely kin-dyn, openrave-yarp-plugins and yarp-devices). This will spare several version checks regarding features that had been added in v3.1 but weren't present at v3.0.x.

[PeterBowman]

• Fix C++/CMake deprecation warnings (check Travis builds).

Notable changes:

• yarp::os::ConstString -> std::string
• yarp::os::RateThread -> yarp::os::PeriodicThread
  • setRate() -> setPeriod()
  • milliseconds -> seconds
• VOCAB<N> -> yarp::os::createVocab() (YARP 3.1)
• IPositionControl2 -> IPositionControl and so on
• Arch-dependent addInt()-like methods (Properly handle 8,16,32,64 bit integers and 32,64 bit floating point values robotology/yarp#1677)

  grep -rnIP '(add|is|as|make)(Int|Double)' /path/to/src/root --exclude-dir={build,doc}
  find /path/to/src/root -type f -exec sed -i -r 's/(add|is|as|make)Int/\1Int32/g' {} \+
  find /path/to/src/root -type f -exec sed -i -r 's/(add|is|as|make)Double/\1Float64/g' {} \+
  

• YARP_HAS_MATH_LIB -> YARP_math_FOUND (CMake code)

[PeterBowman]

Tag the last pre-v3.0 commit.

Done at most relevant repositories listed here, namely:

• kinematics-dynamics
• openrave-yarp-plugins
• project-generator
• speech
• tools
• vision
• yarp-devices

Nothing more to do here, closing.