Add the possibility pass the root of robots-configuration in FirmwareUpdater.script.info.all.sh

[GiulioRomualdi]

FirmwareUpdater.script.info.all.sh searches for robots-configuration folder inside $ROBOT_CODE i.e.

./manageFWrobot.py -n $ROBOT_CODE/robots-configuration/$YARP_ROBOT_NAME/network.$YARP_ROBOT_NAME.xml -f ../info/firmware.info.xml -p all -a info | tee ../logs/log.of.FirmwareUpdater.$YARP_ROBOT_NAME.info.all.txt

We usually install robots-configuration as part of the superbuild, so our path is $ROBOTOLOGY_SUPERBUILD_DIR/src/robots-configuration. It would be nice to pass the root of robots configuration as parameter to the sh script.

cc @traversaro @isorrentino

[GiulioRomualdi]

I just noticed that I should open it in icub-firmware-build.

[traversaro]

Note that

We usually install robots-configuration as part of the superbuild, so our path is $ROBOTOLOGY_SUPERBUILD_DIR/src/robots-configuration.

Note that since iCubWaterloo01/SN44, the iCubs that come out from the "production" also use the superbuild, so this is a problem that affects also those robots.

[GiulioRomualdi]

If you tell me what you prefer I can open a PR. Should I close this issue and open a new one in icub-firmware-build?

[traversaro]

I just noticed that I should open it in icub-firmware-build.

I transferred the issue there.

[traversaro]

I think the current solution is not ideal for two reason:

• The location of the file is hardcoded, so we need either to use that the manual ( https://icub-tech-iit.github.io/documentation/sw_installation/linux_from_sources_manual/ ) installation used, or the superbuild one ( https://icub-tech-iit.github.io/documentation/sw_installation/linux_from_sources_superbuild/ )
• The file is loaded from the source directory, while typically configuration files are loaded from the installation directory (or the build one if the install is not used)

I think both issues can be avoided if instead of using:

./manageFWrobot.py -n $ROBOT_CODE/robots-configuration/$YARP_ROBOT_NAME/network.$YARP_ROBOT_NAME.xml -f ../info/firmware.info.xml -p all -a info | tee ../logs/log.of.FirmwareUpdater.$YARP_ROBOT_NAME.info.all.txt

we use the yarp resource utility to find the file, i.e

./manageFWrobot.py -n `yarp resource --from network.$YARP_ROBOT_NAME.xml` -f ../info/firmware.info.xml -p all -a info | tee ../logs/log.of.FirmwareUpdater.$YARP_ROBOT_NAME.info.all.txt

this will work fine both manual and superbuild installation, and will use the installed version of the files instead of the source one (so it will work even if we switch to use binaries in the future).

[marcoaccame]

./manageFWrobot.py -n yarp resource --from network.$YARP_ROBOT_NAME.xml

seems a good solution by me.

[traversaro]

Given #21, probably we can close this issue @GiulioRomualdi ?

[GiulioRomualdi]

Yes!

[traversaro]

Note that probably yarp resource now also prints [DEBUG] messages so it is not suitable anymore to do this, but that is another story.