Upgrade to YARP 4.0.0

[traversaro]

[traversaro]

YARP 4.0.0 will be released in some time, but it would be good if we could migrate the Unstable CI to use it. At the moment, it was disabled in #1865 due to breaking changes that were not addressed:

2025-06-06T02:58:07.6186902Z 139287 |   (arg1)->includeNodeInName(arg2);
2025-06-06T02:58:07.6187334Z        |           ^~~~~~~~~~~~~~~~~
2025-06-06T02:58:07.6188825Z /home/runner/work/robotology-superbuild/robotology-superbuild/src/yarp-matlab-bindings/matlab/autogenerated/yarpMATLAB_wrap.cxx: In function 'int _wrap_VectorInt_getFirst__SWIG_0(int, mxArray**, int, mxArray**)':
2025-06-06T02:58:07.6192233Z /home/runner/work/robotology-superbuild/robotology-superbuild/src/yarp-matlab-bindings/matlab/autogenerated/yarpMATLAB_wrap.cxx:139774:71: warning: 'const T* yarp::sig::VectorOf<T>::getFirst() const [with T = int]' is deprecated: Use either data() if you need the pointer to the first element, or cbegin() if you need the iterator [-Wdeprecated-declarations]
2025-06-06T02:58:07.6194642Z 139774 |   result = (int *)((yarp::sig::VectorOf< int > const *)arg1)->getFirst();
2025-06-06T02:58:07.6195254Z        |                   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~
2025-06-06T02:58:07.6196284Z /home/runner/work/robotology-superbuild/robotology-superbuild/b/install/include/yarp/sig/Vector.h:194:21: note: declared here
2025-06-06T02:58:07.6197313Z   194 |     inline const T *getFirst() const
2025-06-06T02:58:07.6197727Z       |                     ^~~~~~~~
2025-06-06T02:58:07.6199215Z /home/runner/work/robotology-superbuild/robotology-superbuild/src/yarp-matlab-bindings/matlab/autogenerated/yarpMATLAB_wrap.cxx: In function 'int _wrap_VectorInt_getFirst__SWIG_1(int, mxArray**, int, mxArray**)':
2025-06-06T02:58:07.6202543Z /home/runner/work/robotology-superbuild/robotology-superbuild/src/yarp-matlab-bindings/matlab/autogenerated/yarpMATLAB_wrap.cxx:139798:35: warning: 'T* yarp::sig::VectorOf<T>::getFirst() [with T = int]' is deprecated: Use either data() if you need the pointer to the first element, or begin() if you need the iterator [-Wdeprecated-declarations]
2025-06-06T02:58:07.6204660Z 139798 |   result = (int *)(arg1)->getFirst();
2025-06-06T02:58:07.6205091Z        |                   ~~~~~~~~~~~~~~~~^~
2025-06-06T02:58:07.6206059Z /home/runner/work/robotology-superbuild/robotology-superbuild/b/install/include/yarp/sig/Vector.h:201:15: note: declared here
2025-06-06T02:58:07.6207050Z   201 |     inline T *getFirst()
2025-06-06T02:58:07.6207414Z       |               ^~~~~~~~
2025-06-06T02:58:07.6208964Z /home/runner/work/robotology-superbuild/robotology-superbuild/src/yarp-matlab-bindings/matlab/autogenerated/yarpMATLAB_wrap.cxx: In function 'int _wrap_BufferedPortVectorInt_includeNodeInName(int, mxArray**, int, mxArray**)':
2025-06-06T02:58:07.6241995Z /home/runner/work/robotology-superbuild/robotology-superbuild/src/yarp-matlab-bindings/matlab/autogenerated/yarpMATLAB_wrap.cxx:143679:11: error: 'class yarp::os::BufferedPort<yarp::sig::VectorOf<int> >' has no member named 'includeNodeInName'
2025-06-06T02:58:07.6243798Z 143679 |   (arg1)->includeNodeInName(arg2);
2025-06-06T02:58:07.6244253Z        |           ^~~~~~~~~~~~~~~~~
2025-06-06T02:58:07.6245916Z /home/runner/work/robotology-superbuild/robotology-superbuild/src/yarp-matlab-bindings/matlab/autogenerated/yarpMATLAB_wrap.cxx: In function 'int _wrap_BufferedPortImageFloat_includeNodeInName(int, mxArray**, int, mxArray**)':
2025-06-06T02:58:07.6249072Z /home/runner/work/robotology-superbuild/robotology-superbuild/src/yarp-matlab-bindings/matlab/autogenerated/yarpMATLAB_wrap.cxx:146770:11: error: 'class yarp::os::BufferedPort<yarp::sig::ImageOf<float> >' has no member named 'includeNodeInName'
2025-06-06T02:58:07.6250746Z 146770 |   (arg1)->includeNodeInName(arg2);
2025-06-06T02:58:07.6251177Z        |           ^~~~~~~~~~~~~~~~~
2025-06-06T02:58:07.6253209Z /home/runner/work/robotology-superbuild/robotology-superbuild/src/yarp-matlab-bindings/matlab/autogenerated/yarpMATLAB_wrap.cxx: In function 'int _wrap_BufferedPortImageRgbFloat_includeNodeInName(int, mxArray**, int, mxArray**)':
2025-06-06T02:58:07.6256206Z /home/runner/work/robotology-superbuild/robotology-superbuild/src/yarp-matlab-bindings/matlab/autogenerated/yarpMATLAB_wrap.cxx:149774:11: error: 'class yarp::os::BufferedPort<yarp::sig::ImageOf<yarp::sig::PixelRgbFloat> >' has no member named 'includeNodeInName'
2025-06-06T02:58:07.6258030Z 149774 |   (arg1)->includeNodeInName(arg2);
2025-06-06T02:58:07.6258449Z        |           ^~~~~~~~~~~~~~~~~
2025-06-06T02:58:07.6258857Z ninja: build stopped: subcommand failed.

For reference, for this specific error it should be sufficient to regenerate the matlab bindings.

[traversaro]

I am working on this as part of . Similarly to #1854 (comment), also in YARP 4.0.0 there is a change of name in a widely used device, i.e. RGBDSensorClient was renamed to RGBDSensor_nws_yarp, even if RGBDSensorClient was never deprecated and it is still widely used in the YARP codebase itself (see https://github.com/search?q=repo%3Arobotology%2Fyarp%20RGBDSensorClient&type=code). We should double check if this change was intentional.