Use CMake preset (#380)

docs/sw_installation/icub_head_manual.md

@@ -3,66 +3,11 @@
 The `icub-head` (also known as `pc104` on older iCubs) is a Linux system, so the
 installation procedure follows the one described in [the installation for Linux systems](linux_from_sources_manual.md).
 
-The main difference is that in addition you need to enable certain flags in CMake that enable compilation of specific
-software modules.
-
-We recap the list of software modules before going to the installation instructions.
-
-## List of modules
-
-The list of modules depends on the version of the robot you have.
-
-These are modules that are common to all robots:
-
-  - serial and serialport: face expressions
-  - xsensmtx: inertial sensor
-  - dragonfly2: firewire cameras
-  - portaudio: microphones
-  - skinWrapper
-
-CAN based robots:
-
-  - sharedcan
-  - canmotioncontrol: communication with the can bus
-  - canBusAnalogSensor
-  - canBusDoubleFTSensor
-  - canBusInertialMTB
-  - canBusSkin
-  - canBusVirtualAnalogSensor
-
-CAN subdevices to enable depending on the version of the robot:
-
-  - pcan: plx can interface (iCub 1.0 and 1.1.0)
-  - ecan: esd can interface (iCub 1.1.0)
-  - cfw2can: cfw2 can interface (iCub 1.1.1 and later versions)
-  - skinprototype: if skin parts (palm, forearm, arm) are present on the
-    robot (iCub versions 1.2 and later)
-
-ETH based robots: **In addition** to can devices also enable the
-following ones
-
-  - embObjStrain
-  - embObjMais
-  - embObjInertials
-  - embObjMotionControl
-  - embObjSkin
-  - embObjVirtualAnalogSensor
-
-Calibrators:
-
-  - parametricCalibrator (CAN version)
-  - parametricCalibratorEth (ETH version, EMS boards)
-
-Cartesian controllers:
-
-  - cartesiancontrollerclient
-  - cartesiancontrollerserver
-
 ## Prepare your system
-This page only covers the software installation on the icub-head. To prepare the operating system for the icub-head system,
+This page only covers the software installation on the `icub-head`. To prepare the operating system for the `icub-head` system,
 please refer to Section on [iCub Operating Systems](../icub_operating_systems/index.md).
 
-### Getting YARP, iCub sources and Robots configurations
+### Getting YARP, iCub sources, and Robots configurations
 
 Depending on your configuration, you may already have the required source code git repositories cloned in these directories:
 
@@ -75,7 +20,7 @@ Depending on your configuration, you may already have the required source code g
 /usr/local/src/robot/robots-configuration
 ~~~
 
-If for some reasons you do not have these directories you have to
+If for some reason you do not have these directories you have to
 download the repositories from git:
 
 ~~~
@@ -93,7 +38,7 @@ shall match the YARP dependencies as per the [Software Versioning
 Table](../sw_versioning_table/index.md).
 
 Do not change the location of the repositories because the icub
-environment on the icub-head is already configured by assuming the above
+environment on the `icub-head` is already configured by assuming the above
 directories.
 
 ## Compile YCM
@@ -122,13 +67,13 @@ rm CMakeCache.txt
 ccmake $YARP_SOURCE_DIR
 ~~~
 
-Do not forget to enable optimization, this will improve performances a
+Do not forget to enable optimization, this will improve performance a
 lot. In CMake for both YARP and icub-main set:
 
 ~~~
 CMAKE_BUILD_TYPE: Release
 CREATE_LIB_MATH, set to ON
-CREATE_DEVICE_LIBRARY_MODULES:ON`
+CREATE_DEVICE_LIBRARY_MODULES:ON
 ~~~
 
 Configure (hit c):
@@ -203,65 +148,33 @@ Clean cache and generate makefiles:
 ~~~
 cd $ICUB_DIR
 rm CMakeCache.txt
-ccmake $ICUB_SOURCE_DIR
+ccmake $ICUB_SOURCE_DIR --preset robot
 ~~~
 
 The following options are as usual:
 ~~~
-CMAKE_BUILD_TYPE:Release`
+CMAKE_BUILD_TYPE:Release
 ~~~
 
-Hit c to configure. A long list of devices (in the form of
-`ENABLE_icubmod_*`) will appear.
+Hit c to configure. A long list of devices (in the form of `ENABLE_icubmod_*`) will appear.
+Aside from those already enabled, you have to switch on also the following:
 
-You need to enable (all versions of iCub):
+All iCub versions:
 ~~~
 ENABLE_icubmod_dragonfly2
-ENABLE_icubmod_skinWrapper
 ENABLE_icubmod_xsensmtx
 ~~~
 
-CAN robots:
-~~~
-ENABLE_icubmod_sharedcan
-ENABLE_icubmod_canmotioncontrol
-ENABLE_icubmod_canBusAnalogSensor
-ENABLE_icubmod_canBusDoubleFTSensor
-ENABLE_icubmod_canBusSkin
-ENABLE_icubmod_canBusInertialMTB
-ENABLE_icubmod_canBusVirtualAnalogSensor
-ENABLE_icubmod_cfw2can
-ENABLE_icubmod_parametricCalibrator
-~~~
-
-ETH robots: enable **also** the following
-~~~
-ENABLE_icubmod_embObjAnalogSensor
-ENABLE_icubmod_embObjMotionControl
-ENABLE_icubmod_embObjSkin
-ENABLE_icubmod_embObjVirtualAnalogSensor
-ENABLE_icubmod_parametricCalibratorEth
-~~~
-
-Cartesian controller:
-
-~~~
-ENABLE_icubmod_cartesiancontrollerclient
-ENABLE_icubmod_cartesiancontrollerserver
-~~~
-
-Versions from **iCub 1.1.1** enable also:
-
+Versions equal to **iCub 1.1.1**:
 ~~~
 ENABLE_icubmod_cfw2can
 ENABLE_icubmod_skinprototype
 ~~~
 
-Previous versions (iCub 1.0 and 1.1.0):
-
+Older versions (**iCub 1.0** and **1.1.0**):
 ~~~
-ENABLE_icubmod_pcan: iCub 1.0 and 1.1.0
-ENABLE_icubmod_ecan: iCub 1.1.0
+ENABLE_icubmod_pcan (iCub 1.0 and 1.1.0)
+ENABLE_icubmod_ecan (iCub 1.1.0)
 ~~~
 
 CMake will generate make files. Possible errors:
@@ -287,7 +200,7 @@ To verify the procedure type:
 yarpdev --list
 ~~~
 
-among the others the list should contains also the selected devices
+among the others, the list should contain also the selected devices
 like:
 
 ~~~
@@ -315,7 +228,7 @@ make install
 
 Further documentation is available in [`icub-contrib-common` documentation](https://github.com/robotology/icub-contrib-common).
 
-Then, proceed installing your robot configuration files:
+Then, proceed to install your robot configuration files:
 
 ~~~
 cd $ROBOT_CODE/robots-configuration