Unverified Commit fa923ace authored by Bence Magyar's avatar Bence Magyar Committed by GitHub
Browse files

Merge pull request #4 from ros-controls/initial_pkg_structure

Add initial package structure
parents eb85e2d3 fe783a86
---
Language: Cpp
BasedOnStyle: Google
...
name: CI
on:
pull_request:
push:
branches:
- master
schedule:
# Run every morning to detect flakiness and broken dependencies
- cron: '28 6 * * *'
jobs:
industrial_ci:
strategy:
matrix:
env:
- {ROS_DISTRO: foxy, ROS_REPO: testing}
- {ROS_DISTRO: foxy, ROS_REPO: main}
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v1
- uses: 'ros-industrial/industrial_ci@master'
env: ${{matrix.env}}
name: Coverage
on:
pull_request:
push:
branches:
- master
schedule:
# Run every morning to detect flakiness and broken dependencies
- cron: '17 8 * * *'
jobs:
build_and_test:
runs-on: ubuntu-18.04
strategy:
fail-fast: false
steps:
- uses: ros-tooling/setup-ros@0.0.13
- uses: ros-tooling/action-ros-ci@0.0.13
with:
package-name: ros2_control_demo_communication_gazebo ros2_control_demo_communication_headless ros2_control_demo_hardware ros2_control_demo_robot
colcon-mixin-name: coverage-gcc
colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
- uses: codecov/codecov-action@v1
with:
token: ${{ secrets.CODECOV_TOKEN }}
file: ros_ws/lcov/total_coverage.info
flags: unittests
name: codecov-umbrella
yml: ./codecov.yml
fail_ci_if_error: true
# - uses: actions/upload-artifact@master
# with:
# name: colcon-logs-${{ matrix.os }}
# path: ros_ws/log
name: Linters
on:
pull_request:
jobs:
ament_copyright:
name: ament_copyright
runs-on: ubuntu-18.04
steps:
- uses: actions/checkout@v1
- uses: ros-tooling/setup-ros@0.0.13
- uses: ros-tooling/action-ros-lint@0.0.5
with:
linter: copyright
package-name: ros2_control_demo_communication_gazebo ros2_control_demo_communication_headless ros2_control_demo_hardware ros2_control_demo_robot
ament_xmllint:
name: ament_xmllint
runs-on: ubuntu-18.04
steps:
- uses: actions/checkout@v1
- uses: ros-tooling/setup-ros@0.0.13
- uses: ros-tooling/action-ros-lint@0.0.5
with:
linter: xmllint
package-name: ros2_control_demo_communication_gazebo ros2_control_demo_communication_headless ros2_control_demo_hardware ros2_control_demo_robot
ament_lint_cpp:
name: ament_${{ matrix.linter }}
runs-on: ubuntu-18.04
strategy:
fail-fast: false
matrix:
linter: [cppcheck, cpplint, uncrustify]
steps:
- uses: actions/checkout@v1
- uses: ros-tooling/setup-ros@0.0.13
- uses: ros-tooling/action-ros-lint@0.0.5
with:
linter: ${{ matrix.linter }}
package-name: ros2_control_demo_communication_gazebo ros2_control_demo_communication_headless ros2_control_demo_hardware ros2_control_demo_robot
.kdev4/
*~
*.kate-swp
*.kdev4
# Contributing Guidelines
Thank you for your interest in contributing to `ros2_control_demos`.
Whether it's a bug report, new feature, correction, or additional
documentation, we greatly value feedback and contributions from our community.
Please read through this document before submitting any issues or pull requests to ensure we have all the necessary
information to effectively respond to your bug report or contribution.
## Reporting Bugs/Feature Requests
We welcome you to use the GitHub issue tracker to report bugs or suggest features.
When filing an issue, please check [existing open][issues], or [recently closed][closed-issues], issues to make sure
somebody else hasn't already reported the issue.
Please try to include as much information as you can. Details like these are incredibly useful:
* A reproducible test case or series of steps
* The version of our code being used
* Any modifications you've made relevant to the bug
* Anything unusual about your environment or deployment
## Contributing via Pull Requests
Contributions via pull requests are much appreciated.
Before sending us a pull request, please ensure that:
1. You are working against the latest source on the *master* branch.
2. You check existing open, and recently merged, pull requests to make sure someone else hasn't addressed the problem already.
3. You open an issue to discuss any significant work - we would hate for your time to be wasted.
To send us a pull request, please:
1. Fork the repository.
2. Modify the source; please focus on the specific change you are contributing.
If you also reformat all the code, it will be hard for us to focus on your change.
3. Ensure local tests pass.
4. Commit to your fork using clear commit messages.
5. Send a pull request, answering any default questions in the pull request interface.
6. Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.
GitHub provides additional documentation on [forking a repository](https://help.github.com/articles/fork-a-repo/) and
[creating a pull request](https://help.github.com/articles/creating-a-pull-request/).
## Finding contributions to work on
Looking at the existing issues is a great way to find something to contribute on.
As this project, by default, uses the default GitHub issue labels
(enhancement/bug/duplicate/help wanted/invalid/question/wontfix), looking at any ['help wanted'][help-wanted] issues
is a great place to start.
## Licensing
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license]:
~~~
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
~~~
[issues]: https://github.com/ros-controls/ros2_control_demos/issues
[closed-issues]: https://github.com/ros-controls/ros2_control_demos/issues?utf8=%E2%9C%93&q=is%3Aissue%20is%3Aclosed%20
[help-wanted]: https://github.com/ros-controls/ros2_control_demos/issues?q=is%3Aopen+is%3Aissue+label%3A%22help+wanted%22
[license]: http://www.apache.org/licenses/LICENSE-2.0.html
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# ros2_control_demos
\ No newline at end of file
# ROS2 Control Demos
[![Build Status](https://github.com/ros-controls/ros2_control_demos/workflows/CI/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions?query=workflow%3ACI)
[![Linters Status](https://github.com/ros-controls/ros2_control_demos/workflows/Linters/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions?query=workflow%3ALinters)
[![Coverage Status](https://github.com/ros-controls/ros2_control_demos/workflows/Coverage/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions?query=workflow%3ACoverage)
[![Licence](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
This repository provides templates for the development of `ros2_control`-enabled robots and a simple simulation of a robot to demonstrate and prove `ros2_control` concepts.
## Goals
The repository has two goals:
1. It provides templates for faster start of implementing own hardware and controllers;
2. The repository is a validation environment for `ros2_control` concepts, which can only be tested during run-time (e.g., execution of controllers by the controller manager, communication between robot hardware and controllers).
## Description
The repository is inspired by [ros_control_boilerplate](https://github.com/PickNikRobotics/ros_control_boilerplate) repository from Dave Coleman.
The simulation has three parts/packages:
1. The first package, `ros2_control_demo_communication_headless`, uses scripts to simulate communication to and movements of virtual hardware.
This package does not have any dependencies except on the `ros2` core packages and can, therefore, be used on SoC-hardware of headless systems.
2. The second package, `ros2_control_demo_communication_gazebo`, uses a gazebo simulator to simulate the *RRBot* and its physics.
This package is useful to test the connection of `ros2_control` to the gazebo simulator and to detect any missing plugins.
3. The third package holds template/example files for `ros2_control` enabled robots and controllers.
The intention of those files is to simplify start with `ros2_control` and to enable faster integration of new robots and controllers.
This repository demonstrates the following `ros2_control` concepts:
* Creating of `hardware_interface` for a Robot, Sensor, and Actor
* Creating a robot description in the form of YAML files
* Loading configuration and starting robot using launch files
* Control of two joints of *RRBot*
* Using simulated robots and starting `ros_control` with gazebo simulator
* Implementing of controller switching strategy for a robot
* Using joint limits and transmission concepts in `ros2_control`
* TBD
# Getting Started with ROS2 Control
To test `demo_robot` start launch file with:
```
ros2 launch ros2_control_demo_robot demo_robot_launch.py
```
for headless version of the `demo_robot` or
```
ros2 launch ros2_control_demo_robot demo_robot_modular_launch.py
```
for headless modular version of the `demo_robot` which uses separate interfaces for its sensors and actuators.
## Class Diagram of `demo_robot`
The figure hereunder depicts the class diagram of `ros2_control_demos` metapackage, i.e., `demo_robot`, together with used interfaces and classes from `ros2_control` package.
Diagram gives an overview of the components needed for a robot that is ROS2-Control compatible.
In the middle of the diagram (no color), entities are core components of `ros2_control`.
Green colored entities are "ROS2-Control"-standardized data structures, hardware representations, and communication interfaces.
Blue colored is the implementation of `demo_robot`.
A large amount of classes is for the exemplary purpose, therefore __don't worry__ you probably don't need so many different interfaces and classes.
![ROS2 Control Demo Robot - Class Diagram][ros2_control_demo_robot_class_diagram]
# Making a Robot for ROS2-Control Compatible
Before starting the implementation of your robot, please check the following diagram:
![ROS2 Control - Enabling a new Robot][ros2_control_new_robot]
<!-- References -->
[ros2_control_demo_robot_class_diagram]: docs/ros2_control_demo_robot_class_diagram.svg "ROS2 Control Demo Robot - Class Diagram"
[ros2_control_new_robot]: docs/ros2_control_new_robot.svg "ROS2 Control - Enabling a new Robot"
fixes:
- "ros_ws/src/ros2_control_demos/::"
This diff is collapsed.
This diff is collapsed.
cmake_minimum_required(VERSION 3.5)
project(ros2_control_demo_communication_gazebo)
# Default to C99
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 99)
endif()
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
install(DIRECTORY include/
DESTINATION include)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
ament_add_gtest(test_dummy test/test_dummy.cpp)
target_include_directories(test_dummy PRIVATE include)
# ament_target_dependencies(test_dummy rcpputils)
endif()
ament_export_libraries(${PROJECT_NAME})
ament_export_include_directories(include)
ament_package()
// Copyright 2017 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
/* This header must be included by all rclcpp headers which declare symbols
* which are defined in the rclcpp library. When not building the rclcpp
* library, i.e. when using the headers in other package's code, the contents
* of this header change the visibility of certain symbols which the rclcpp
* library cannot have, but the consuming code must have inorder to link.
*/
#ifndef ROS2_CONTROL_DEMO_COMMUNICATION_GAZEBO__VISIBILITY_CONTROL_H_
#define ROS2_CONTROL_DEMO_COMMUNICATION_GAZEBO__VISIBILITY_CONTROL_H_
// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
// https://gcc.gnu.org/wiki/Visibility
#if defined _WIN32 || defined __CYGWIN__
#ifdef __GNUC__
#define ROS2_CONTROL_DEMO_COMMUNICATION_GAZEBO_EXPORT __attribute__((dllexport))
#define ROS2_CONTROL_DEMO_COMMUNICATION_GAZEBO_IMPORT __attribute__((dllimport))
#else
#define ROS2_CONTROL_DEMO_COMMUNICATION_GAZEBO_EXPORT __declspec(dllexport)
#define ROS2_CONTROL_DEMO_COMMUNICATION_GAZEBO_IMPORT __declspec(dllimport)
#endif
#ifdef ROS2_CONTROL_DEMO_COMMUNICATION_GAZEBO_BUILDING_DLL
#define ROS2_CONTROL_DEMO_COMMUNICATION_GAZEBO_PUBLIC \
ROS2_CONTROL_DEMO_COMMUNICATION_GAZEBO_EXPORT
#else
#define ROS2_CONTROL_DEMO_COMMUNICATION_GAZEBO_PUBLIC \
ROS2_CONTROL_DEMO_COMMUNICATION_GAZEBO_IMPORT
#endif
#define ROS2_CONTROL_DEMO_COMMUNICATION_GAZEBO_PUBLIC_TYPE \
ROS2_CONTROL_DEMO_COMMUNICATION_GAZEBO_PUBLIC
#define ROS2_CONTROL_DEMO_COMMUNICATION_GAZEBO_LOCAL
#else
#define ROS2_CONTROL_DEMO_COMMUNICATION_GAZEBO_EXPORT \
__attribute__((visibility("default")))
#define ROS2_CONTROL_DEMO_COMMUNICATION_GAZEBO_IMPORT
#if __GNUC__ >= 4
#define ROS2_CONTROL_DEMO_COMMUNICATION_GAZEBO_PUBLIC \
__attribute__((visibility("default")))
#define ROS2_CONTROL_DEMO_COMMUNICATION_GAZEBO_LOCAL \
__attribute__((visibility("hidden")))
#else
#define ROS2_CONTROL_DEMO_COMMUNICATION_GAZEBO_PUBLIC
#define ROS2_CONTROL_DEMO_COMMUNICATION_GAZEBO_LOCAL
#endif
#define ROS2_CONTROL_DEMO_COMMUNICATION_GAZEBO_PUBLIC_TYPE
#endif
#endif // ROS2_CONTROL_DEMO_COMMUNICATION_GAZEBO__VISIBILITY_CONTROL_H_
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>ros2_control_demo_communication_gazebo</name>
<version>0.0.0</version>
<description>Demo package of `ros2_control` Gazebo communication interface. This interface is used with `demo_robot` from package `ros2_control_demo_robot`.</description>
<maintainer email="ostasse@laas.fr">Olivier Stasse</maintainer>
<maintainer email="denis@stogl.de">Denis Štogl</maintainer>
<license>Apache License 2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<test_depend>ament_cmake_gtest</test_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>
// Copyright 2017 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <gtest/gtest.h>
class TestDummy : public ::testing::Test
{
protected:
static void SetUpTestCase()
{
}
};
cmake_minimum_required(VERSION 3.5)
project(ros2_control_demo_communication_headless)