Fix/camera config erzelli02

[Nicogene]

The grabber wrapper has been deprecated in yarp 3.3 (see robotology/yarp@1ad59e9)

Sorry for the multiple commits, they can be squashed in one.

[traversaro]

There is any specific reason for which on iCubErzelli02 the dragonfly_***.ini files spawn a network server wrapper YARP device(i.e. grabber or grabberDual) while on other robots such as iCubGenova02 the dragonfy_***.ini file only spawns the physical YARP device dragonfly2 (see for example https://github.com/robotology/robots-configuration/blob/master/iCubGenova04/camera/dragonfly2_config_left.ini)?

[traversaro]

There is any specific reason for which on iCubErzelli02 the dragonfly_***.ini files spawn a network server wrapper YARP device(i.e. grabber or grabberDual) while on other robots such as iCubGenova02 the dragonfy_***.ini file only spawns the physical YARP device dragonfly2 (see for example https://github.com/robotology/robots-configuration/blob/master/iCubGenova04/camera/dragonfly2_config_left.ini)?

Related files:

• https://github.com/robotology/icub-main/blob/4215771441724b7ece6412d56d7f884f70cca703/app/default/scripts/cameras_calib.xml.template
• https://github.com/robotology/icub-main/tree/4215771441724b7ece6412d56d7f884f70cca703/app/default/scripts

Probably it could make sense to open a separate issue to track this?

[pattacini]

I think this PR only fixes the grabber in grabberDual but the correct usage appears different as @traversaro mentioned.

The device grabberDual should go into the file ServerGrabberDualDragon.ini instead, and it is already there.
That said, the option subdevice should be turned into device in files dragonfly2_***.ini.

I took iCubGenova01 as the baseline.

cc @Nicogene

[Nicogene]

I agree, the correct usage should be run the yarpdev with the ServerGrabber*.ini that will take the dragonfly2_***.ini, unfortunately, the yarpmanager XML files of iCubErzelli02 are quite old(e.g iCubStartup, CalibCameras etc.) and they call directly dragonfly2_***.ini.

In any case this

That said, the option subdevice should be turned into device in files dragonfly2_***.ini.

should be ok because the default wrapper is grabberDual https://github.com/robotology/icub-main/blob/122e11a3147d406e636020a377405086b95197b2/src/libraries/icubmod/dragonfly2/CMakeLists.txt#L20