`grabberDual` device removal in YARP 3.8.0 about robots-configuration

[Nicogene]

PR in icub-main:

• robotology/icub-main#861

[martinaxgloria]

PR open here:

• #469

cc @Nicogene @pattacini

[pattacini]

Just as a reminder, related to this, there's the deprecation of the remote_grabber client.

[randaz81]

EXAMPLE 1a:
The following configuration, currently used on iCubGenova01 (and similar robots) is bad, because it uses the deprecated device grabberDual and the yarpdev executable, which prevents the integration with ros2.

EXAMPLE 1b:
A similar configuration is also used on iCubGenova02 and R1SNxxx with leopard_python, driver usb_camera. In this case a single camera device driver is used, and the deprecated grabberDual wrapper splits it into two separate streams.

[randaz81]

EXAMPLE 2:
The following configuration, currently used on iCubGenova09 (and similar robots) is bad, because it uses the yarpdev executable, which prevents the integration with ros2.

[randaz81]

EXAMPLE 3:
The following configuration, which uses yarprobotinterface, is the correct one (to be propagated on all robots which use two separated camera device drivers, one for each camera, as shown in EXAMPLE1a and EXAMPLE 2)

yarprobotinterface template files for this configuration can be found here: https://github.com/robotology/robots-configuration/tree/camera_templates/experimentalSetups/camera_templates/camera_template1

[randaz81]

EXAMPLE 4:
The following configuration, which uses yarprobotinterface, is the correct one (to be propagated on all robots which use a single camera device driver as shown in EXAMPLE 1b) if the user wants to receive two camera streams. This is not a strict requirement, since some users may prefer to receive a single stream with both the cameras frames placed side by side. In that case only a single frameGrabber_nws_yarp is needed.

yarprobotinterface template files for this configuration can be found here: https://github.com/robotology/robots-configuration/tree/camera_templates/experimentalSetups/camera_templates/camera_template2

[Nicogene]

We need to do a cleanup of the leftovers of grabberDual see https://github.com/search?q=repo%3Arobotology%2Frobots-configuration%20grabberDual&type=code

cc @pattacini