CMakeLists.txt cluttered with option parameters

[nunoguedelha]

@fiorisi @traversaro , as a general comment: you must have notived that the cmake files are starting to get cluttered and less readable after every change of this type (#83). I suggest 2 possible solutions:

1. include all the alternate parameters in the yaml.in template file and use cmake to set a configuration switch in the same template. For instance if we consider assignedInertias, we include the parameters in the yaml.in template, along with the definition:

    increase_inertia: @INCREASE_INERTIA_FOR_GAZEBO@ ("true" or "false")

We set @INCREASE_INERTIA_FOR_GAZEBO@ through cmake. Then the processing of increasing the inertia accordingly would be done in the script firstgen.py.

2. Use git to define the specific yaml.in template files. We would use a different master branch for each model (master_icubgenova02, master_icubgenova04, ...). The macro generate_icub_simmechanics would then checkout the desired branch through cmake, after the selected options NO_BACKPACK, BOGUS, INCREASE_INERTIA_FOR_GAZEBO, ICUB_PLUS. The immediate advantage would be the easier comparison between models, but there are some drawbacks to consider that I haven't been through yet...

[nunoguedelha]

CC @diegoferigo

[fiorisi]

Yes, Probably we can modify the simmechanics-to-urdf tool to handle different robot versions. In this case, we could store all the parameters in the *.yaml file and remove the configurations from the CMake file.

[traversaro]

As a personal opinion, I am definitely against option 2.
Option 2 has a lot of drawbacks:

• No one expects the build system to mess with the git state of repository in which the build files are contained.
• Propagating changes that belong to all the robots would become much more difficult.
• How to handle pull requests? As multiple pull requests over all the branches?
• My spider-sense tell me that this is dangerous (ok, probably this is not objective point :D ).

For option 1, I understand the problem but I need to think about it.

[traversaro]

As a general option, I would prefer to leak icub-generation specific stuff to simmechanics-to-urdf, but indeed increasing the inertia for gazebo is kind of a generic problem.

[fiorisi]

What if simmechanics-to-urdf could parse more than one *.yaml file? In this case we could have one for common parameters and one for each robot. Maybe the same could be done for *.csv files.