Minor fixes

Improves error msg when there is no robot registered in
ParameterServer (parameter-server.cpp)
Improves robustness to pragma inclusion (robot-utils.hh)
Display parameter_tree when calling displayRobotUtils
(robot-utils.cpp)

Author: olivier-stasse

include/sot/core/robot-utils.hh

@@ -22,11 +22,25 @@
 
 #ifdef BOOST_MPL_LIMIT_VECTOR_SIZE
 #pragma push_macro("BOOST_MPL_LIMIT_VECTOR_SIZE")
+#define UNDEF_BOOST_MPL_LIMIT_VECTOR_SIZE
 #undef BOOST_MPL_LIMIT_VECTOR_SIZE
+#endif
+
+#ifdef BOOST_MPL_LIMIT_LIST_SIZE
+#pragma push_macro("BOOST_MPL_LIMIT_LIST_SIZE")
+#define UNDEF_BOOST_MPL_LIMIT_LIST_SIZE
+#undef BOOST_MPL_LIMIT_LIST_SIZE
+#endif
+
+
 #include <boost/property_tree/ptree.hpp>
+
+#ifdef UNDEF_BOOST_MPL_LIMIT_VECTOR_SIZE
 #pragma pop_macro("BOOST_MPL_LIMIT_VECTOR_SIZE")
-#else
-#include <boost/property_tree/ptree.hpp>
+#endif
+
+#ifdef UNDEF_BOOST_MPL_LIMIT_LIST_SIZE
+#pragma pop_macro("BOOST_MPL_LIMIT_LIST_SIZE")
 #endif
 
 #include "boost/assign.hpp"

src/tools/parameter-server.cpp

@@ -225,8 +225,11 @@ void ParameterServer::init_simple(const double &dt) {
   if (listOfRobots->size() == 1)
     localName = (*listOfRobots)[0];
   else {
+    std::ostringstream oss;
+    oss << "No robot registered in the parameter server list";
+    oss << " listOfRobots->size: " << listOfRobots->size();
     throw ExceptionTools(ExceptionTools::ErrorCodeEnum::PARAMETER_SERVER,
-                         "No robot registered in the parameter server list");
+                         oss.str());
   }
 
   if (!isNameInRobotUtil(localName)) {

src/tools/robot-utils.cpp

@@ -23,6 +23,7 @@
 #include <boost/property_tree/xml_parser.hpp>
 #endif
 
+
 #include <dynamic-graph/factory.h>
 #include <iostream>
 #include <sot/core/debug.hh>
@@ -113,6 +114,7 @@ void ForceLimits::display(std::ostream &os) const {
   os << lower << std::endl;
   os << "Upper Limits:" << std::endl;
   os << upper << std::endl;
+  
 }
 
 /******************** FootUtil ***************************/
@@ -440,6 +442,9 @@ void RobotUtil::display(std::ostream &os) const {
     os << "(" << it->first << "," << it->second << ") ";
   }
   os << std::endl;
+
+  boost::property_tree::write_xml(os,property_tree_);
+
 }
 
 void RobotUtil::sendMsg(const std::string &msg, MsgType t,