Remvoed ROS1 device publisher and example device

ami-iit · Jan 13, 2025 · a81da33 · a81da33
1 parent ccce521
commit a81da33
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Showing 17 changed files with 3 additions and 888 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -5,6 +5,7 @@ All notable changes to this project are documented in this file.
 ### Added
 ### Changed
 - Some improvements on the YarpRobotLoggerDevice (https://github.com/ami-iit/bipedal-locomotion-framework/pull/910)
+- Removed ROS1 device publisher and the corresponding example (https://github.com/ami-iit/bipedal-locomotion-framework/pull/910)
 ### Fixed
 
 ## [0.20.0] - 2024-12-16

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -15,8 +15,6 @@ option(BUILD_SHARED_LIBS "Build libraries as shared as opposed to static" ON)
 option(BUILD_TESTING "Create tests using CMake" OFF)
 include(CTest)
 
-option(BUILD_DEVICE_EXAMPLES "Create example devices using CMake" OFF)
-
 # Check BipedalLocomotionFramework dependencies, find necessary libraries.
 include(BipedalLocomotionFrameworkDependencies)
 

diff --git a/cmake/AddBipedalLocomotionYARPDevice.cmake b/cmake/AddBipedalLocomotionYARPDevice.cmake
@@ -2,11 +2,6 @@
 # This software may be modified and distributed under the terms of the
 # BSD-3-Clause license.
 
-framework_dependent_option(FRAMEWORK_COMPILE_example_devices
-  "Compile example devices?" ON
-  "BUILD_DEVICE_EXAMPLES" OFF)
-
-
 function(add_bipedal_yarp_device)
   set(options )
   set(oneValueArgs NAME)

diff --git a/cmake/BipedalLocomotionFrameworkDependencies.cmake b/cmake/BipedalLocomotionFrameworkDependencies.cmake
@@ -141,10 +141,6 @@ framework_dependent_option(FRAMEWORK_COMPILE_YarpUtilities
   "Compile YarpHelper library?" ON
   "FRAMEWORK_USE_YARP" OFF)
 
-framework_dependent_option(FRAMEWORK_COMPILE_Ros1Publisher
-  "Compile YarpUtilities::RosPublisher class?" ON
-  "FRAMEWORK_USE_YARP" OFF)
-
 framework_dependent_option(FRAMEWORK_COMPILE_RosImplementation
   "Compile All the ROS implementations?" ON
   "FRAMEWORK_USE_rclcpp" OFF)

diff --git a/devices/CMakeLists.txt b/devices/CMakeLists.txt
@@ -7,8 +7,3 @@ add_subdirectory(JointTorqueControlDevice)
 add_subdirectory(RobotDynamicsEstimatorDevice)
 add_subdirectory(YarpRobotLoggerDevice)
 add_subdirectory(VectorsCollectionWrapper)
-
-if (FRAMEWORK_COMPILE_example_devices)
-  add_subdirectory(examples)
-endif()
-
diff --git a/devices/examples/CMakeLists.txt b/devices/examples/CMakeLists.txt
diff --git a/devices/examples/ROSPublisherTestDevice/CMakeLists.txt b/devices/examples/ROSPublisherTestDevice/CMakeLists.txt
diff --git a/devices/examples/ROSPublisherTestDevice/README.md b/devices/examples/ROSPublisherTestDevice/README.md
diff --git a/devices/examples/ROSPublisherTestDevice/app/CMakeLists.txt b/devices/examples/ROSPublisherTestDevice/app/CMakeLists.txt
diff --git a/...s/examples/ROSPublisherTestDevice/app/robots/iCubGazeboV2_5/launch-ros-publisher-test.xml b/...s/examples/ROSPublisherTestDevice/app/robots/iCubGazeboV2_5/launch-ros-publisher-test.xml
diff --git a/...ces/examples/ROSPublisherTestDevice/app/robots/iCubGazeboV2_5/publisher/ros-publisher.xml b/...ces/examples/ROSPublisherTestDevice/app/robots/iCubGazeboV2_5/publisher/ros-publisher.xml
diff --git a/devices/examples/ROSPublisherTestDevice/include/BipedalLocomotion/ROSPublisherTestDevice.h b/devices/examples/ROSPublisherTestDevice/include/BipedalLocomotion/ROSPublisherTestDevice.h
diff --git a/devices/examples/ROSPublisherTestDevice/ros-publisher-test-runner.xml b/devices/examples/ROSPublisherTestDevice/ros-publisher-test-runner.xml
diff --git a/devices/examples/ROSPublisherTestDevice/src/ROSPublisherTestDevice.cpp b/devices/examples/ROSPublisherTestDevice/src/ROSPublisherTestDevice.cpp
diff --git a/src/YarpUtilities/CMakeLists.txt b/src/YarpUtilities/CMakeLists.txt
@@ -5,17 +5,10 @@
 # set target name
 if(FRAMEWORK_COMPILE_YarpUtilities)
 
-  set(YarpUtilities_Ros1Publisher_PUBLIC_HEADERS "")
-  set(YarpUtilities_Ros1Publisher_SOURCES "")
-  if(FRAMEWORK_COMPILE_Ros1Publisher)
-    list(APPEND YarpUtilities_Ros1Publisher_PUBLIC_HEADERS "include/BipedalLocomotion/YarpUtilities/RosPublisher.h")
-    list(APPEND YarpUtilities_Ros1Publisher_SOURCES "src/RosPublisher.cpp")
-  endif()
-
   add_bipedal_locomotion_library(
     NAME                   YarpUtilities
-    SOURCES                src/Helper.cpp ${YarpUtilities_Ros1Publisher_SOURCES}
-    PUBLIC_HEADERS         include/BipedalLocomotion/YarpUtilities/Helper.h include/BipedalLocomotion/YarpUtilities/Helper.tpp ${YarpUtilities_Ros1Publisher_PUBLIC_HEADERS}
+    SOURCES                src/Helper.cpp
+    PUBLIC_HEADERS         include/BipedalLocomotion/YarpUtilities/Helper.h include/BipedalLocomotion/YarpUtilities/Helper.tpp
     PUBLIC_LINK_LIBRARIES  ${YARP_LIBRARIES} ${iDynTree_LIBRARIES} BipedalLocomotion::GenericContainer BipedalLocomotion::ParametersHandler BipedalLocomotion::TextLogging
     SUBDIRECTORIES         tests)