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robots-configuration.md

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Handling robots-configuration with the superbuild

It is a common use case that, during the setup of a new iCub, it is used a development branch for adding the xmls of the new robot, and for changing them during the test phase.

The superbuild usually puts all repositories on a specific branch or tag.

Using the master branch, all the repos are set to master (except for YARP that has as stable branch yarp-3.x). Using a specific tag(e.g. v2020.08) the superbuild puts all the repos to the tags specified for that release accordingly to the software versioning table.

It exists a CMake argument called YCM_EP_DEVEL_MODE_<package_name> that, if set to ON, allows to ovverride manually the branch/tag of <package_name> repository. Note that if set to OFF any time you will do make in the ROBOTOLOGY_SUPERBUILD_BUILD_DIR, it will overwrite any user modification/checkout.

In this case the variable to be set ot ON is YCM_EP_DEVEL_MODE_robots-configuration, then access to the source of robots-configuration and checkout to the <development_branch> that has to be used:

cd $ROBOTOLOGY_SUPERBUILD_BUILD_DIR
cmake -DYCM_EP_DEVEL_MODE_robots-configuration:BOOL=ON ..
cd $ROBOT_CODE/robotology-superbuild/src/robots-configuration
git checkout <development_branch>
cd $ROBOTOLOGY_SUPERBUILD_BUILD_DIR
make

Notes

  1. Remember to check if YARP_ROBOT_NAME is defined correctly before installing robots-configuration
  2. It is sufficient to execute once the command cmake -DYCM_EP_DEVEL_MODE_robots-configuration:BOOL=ON .., this option will be enabled until the build is canceled/cleaned up.