JderobotComm C++ for kobuki

[aitormf]

Using JdeRobotComm, our tools can use ROS messages or Ice interfaces for laser, motors, cameras and pose3d.

kobukiViewer also has been adapted to use jderobotComm . Example of laser part of config file:

# 0 -> Deactivate, 1 -> Ice , 2 -> ROS
kobukiViewer.Laser=1
kobukiViewer.Laser.Proxy=Laser:tcp -h localhost -p 9001		  
kobukiViewer.Laser.Topic=/scan
kobukiViewer.Laser.Name=kobukiViewerLaser

To add JdeRobotComm laser interface to a tool, you only need put:

this->laserClient = JdeRobotComm::getLaserClient(ic, "kobukiViewer.Laser");

then, using laserClient->getLaserData(), you will receive a JdeRobotTypes::LaserData that contains:

class LaserData {
	public:
	    std::vector values;
	    float minAngle = 0; //Angle of first value (rads)
	    float maxAngle = 0; // Angle of last value (rads)
	    float minRange = 0; // Max Range posible (meters)
	    float maxRange = 0; //Min Range posible (meters)
	    double timeStamp = 0; //seconds
	};

for the others interfaces is the same:

class CMDVel {
	public:
		float vx = 0; /**< % vel in x[m/s] (use this for V in wheeled robots)*/
	    float vy = 0; /**< %vel in y[m/s] */
	    float vz = 0; /**< %vel in z[m/s] */
	    float ax = 0; /**< %angular vel in X axis [rad/s] */
	    float ay = 0; /**< %angular vel in Y axis [rad/s] */
	    float az = 0; /**< %angular vel in Z axis [rad/s] (use this for W in wheeled robots)*/
	    double timeStamp = 0; /**< %Time stamp [s] */
	};

class Image {
	public:

	    int height = 0; /**< %Image height [pixels] */
	    int width = 0; /**< %Image width [pixels] */
	    double timeStamp = 0; /**< %Time stamp [s] */
	    std::string format = ""; /**< %Image format string (RGB8, BGR,...) */
	    cv::Mat data = cv::Mat::zeros(3,3, CV_8UC3); /**< The image data itself */
	};

	class Pose3d {
	public:
		float x = 0; /**< %X coord [meters] */
	    float y = 0; /**< %Y coord [meters] */
	    float z = 0; /**< %Z coord [meters] */
	    float h = 0; /**< %H param */
	    float yaw = 0; /**< %Yaw angle[rads] */
	    float pitch = 0; /**< %Pitch angle[rads] */
	    float roll = 0; /**< %Roll angle[rads] */
	    std::vector q = {0,0,0,0}; /**< %Quaternion */
	    double timeStamp = 0; /**< %Time stamp [s] */
	};

all new internal types are in "src/types".

jderobotcomm_cpp is in "src/libs" and internally is divided in three blocks:

• interfaces: provides the interfaces to be used by clients
• ros: ros listeners and publishers
• ice: ice interfaces

Also I have added two Cmake modules to can use python3 and python2 in the same project because we use python 3 but ROS uses python2.
With a macro added to root CMakeLists we can switch between versions using: usePython(MajorVersionNumber), for example:

 
usePython(3)

This PR solves #548, #551, #552, #640, #644, #655, #662, #665, #666