Avoid to use YARP_ROBOT_NAME to permit users to set either icub or ergocub

[traversaro]

Reading the README, it seems to me that in the repo the YARP_ROBOT_NAME can be set to either icub or ergocub to select if icub or ergocub is used (see

xcub-moveit2/robot_moveit/launch/spawn_model.py

Lines 14 to 16 in 6127639

	robot_name = os.environ["YARP_ROBOT_NAME"]
	xacro_file = os.path.join(get_package_share_directory(robot_name+'_moveit_config'), 'config', robot_name+'.urdf.xacro')

). However, such a usage is not compatible with the common use of the YARP_ROBOT_NAME env variable in iCub and ergoCub setups, where the YARP_ROBOT_NAME is set to a name like iCubGenova09 or ergoCubSN002, to load the corresponding configuration files (for example installed via https://github.com/robotology/robots-configuration) via the YARP's ResourceFinder infrastructure (see https://www.yarp.it/latest/yarp_resource_finder_tutorials.html).

Note that some other usages (such as

xcub-moveit2/robot_moveit/launch/circle_demo.launch.py

Lines 8 to 12 in 6127639

	if "icub" in os.environ["YARP_ROBOT_NAME"].casefold():
	yarp_robot_name = "icub"
	elif "ergocub" in os.environ["YARP_ROBOT_NAME"].casefold():
	yarp_robot_name = "ergocub"
	return yarp_robot_name

) do not induce the expectation that YARP_ROBOT_NAME is exactly set to icub or ergocub, so they are compatible with the usual values of YARP_ROBOT_NAME set in robots setup.

[martinaxgloria]

Hi @traversaro,

if I remember correctly, the use of YARP_ROBOT_NAME was strictly related to the simulation environment and/or when I was testing these packages on my machine where this variable was not set. Maybe this could be written well in the documentation and revised how to handle this variable when using simulated models

cc @Nicogene

[traversaro]

I see! Just FYI, also simulated robots have their own YARP_ROBOT_NAME, see for example https://github.com/robotology/icub-models?tab=readme-ov-file#model-details . Could it make sense to use those? If instead we need a variable that is icub or ergocub, I suggest to use a different env variable to avoid confusion.