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Unverified Commit 036736ff authored by Guilhem Saurel's avatar Guilhem Saurel Committed by GitHub
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Merge pull request #40 from nim65s/devel 

[CMake] add BUILD_PYTHON_INTERFACE option
parents 918b8f67 2ae78898
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.gitlab-ci.yml 0 → 100644
+ 54
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variables:
GIT_SUBMODULE_STRATEGY: "recursive"
GIT_DEPTH: "3"
CCACHE_BASEDIR: "${CI_PROJECT_DIR}"
CCACHE_DIR: "${CI_PROJECT_DIR}/ccache"
cache:
paths:
- ccache
.robotpkg-dynamic-graph-bridge-v3: &robotpkg-dynamic-graph-bridge-v3
except:
- gh-pages
script:
- mkdir -p ccache
- cd /root/robotpkg/wip/dynamic-graph-bridge-v3
- git pull
- make checkout MASTER_REPOSITORY="dir ${CI_PROJECT_DIR}"
- make install
- cd work.$(hostname)/$(make show-var VARNAME=DISTNAME)
- make test
robotpkg-dynamic-graph-bridge-v3-14.04-release:
<<: *robotpkg-dynamic-graph-bridge-v3
image: eur0c.laas.fr:5000/stack-of-tasks/dynamic_graph_bridge/dynamic-graph-bridge-v3:14.04
robotpkg-dynamic-graph-bridge-v3-16.04-release:
<<: *robotpkg-dynamic-graph-bridge-v3
image: eur0c.laas.fr:5000/stack-of-tasks/dynamic_graph_bridge/dynamic-graph-bridge-v3:16.04
robotpkg-dynamic-graph-bridge-v3-18.04-release:
<<: *robotpkg-dynamic-graph-bridge-v3
image: eur0c.laas.fr:5000/stack-of-tasks/dynamic_graph_bridge/dynamic-graph-bridge-v3:18.04
allow_failure: true
doc-coverage:
<<: *robotpkg-dynamic-graph-bridge-v3
image: eur0c.laas.fr:5000/stack-of-tasks/dynamic_graph_bridge/dynamic-graph-bridge-v3:16.04
before_script:
- echo -e 'CXXFLAGS+= --coverage\nLDFLAGS+= --coverage\nPKG_DEFAULT_OPTIONS= debug' >> /opt/openrobots/etc/robotpkg.conf
after_script:
- cd /root/robotpkg/wip/dynamic-graph-bridge-v3
- cd work.$(hostname)/$(make show-var VARNAME=DISTNAME)
- make doc
- mv doc/doxygen-html ${CI_PROJECT_DIR}
- mkdir -p ${CI_PROJECT_DIR}/coverage/
- gcovr -r .
- gcovr -r . --html --html-details -o ${CI_PROJECT_DIR}/coverage/index.html
artifacts:
expire_in: 1 day
paths:
- doxygen-html/
- coverage/
CMakeLists.txt
+ 59
− 41
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......@@ -26,17 +26,31 @@ INCLUDE(cmake/eigen.cmake)
include(cmake/ros.cmake)
include(cmake/GNUInstallDirs.cmake)
include(cmake/python.cmake)
include(cmake/test.cmake)
project(dynamic_graph_bridge)
find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs message_generation std_srvs geometry_msgs sensor_msgs tf)
find_package(realtime_tools)
SET(CATKIN_REQUIRED_COMPONENTS roscpp std_msgs message_generation std_srvs geometry_msgs sensor_msgs tf)
SET(CATKIN_DEPENDS_LIBRARIES ros_bridge sot_loader)
## LAAS cmake submodule part
set(PROJECT_DESCRIPTION "Dynamic graph bridge library")
set(PROJECT_NAME dynamic_graph_bridge)
set(PROJECT_URL "")
OPTION (BUILD_PYTHON_INTERFACE "Build the python binding" ON)
IF(BUILD_PYTHON_INTERFACE)
FINDPYTHON()
STRING(REGEX REPLACE "-" "_" PY_NAME ${PROJECT_NAME})
INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_DIRS})
ADD_REQUIRED_DEPENDENCY("dynamic-graph-python >= 3.0.0")
SET(CATKIN_REQUIRED_COMPONENTS ${CATKIN_REQUIRED_COMPONENTS} rospy)
SET(CATKIN_DEPENDS_LIBRARIES ${CATKIN_DEPENDS_LIBRARIES} ros_interpreter)
ENDIF(BUILD_PYTHON_INTERFACE)
find_package(catkin REQUIRED COMPONENTS ${CATKIN_REQUIRED_COMPONENTS})
find_package(realtime_tools)
set(CXX_DISABLE_WERROR False)
set(CUSTOM_HEADER_DIR dynamic_graph_bridge)
set(${PROJECT_NAME}_HEADERS
......@@ -70,7 +84,6 @@ add_required_dependency("realtime_tools >= 1.8")
add_required_dependency(tf2_bullet)
ADD_REQUIRED_DEPENDENCY("pinocchio")
ADD_REQUIRED_DEPENDENCY("dynamic-graph >= 3.0.0")
ADD_REQUIRED_DEPENDENCY("dynamic-graph-python >= 3.0.0")
ADD_REQUIRED_DEPENDENCY("sot-dynamic-pinocchio >= 3.0.0")
ADD_REQUIRED_DEPENDENCY("sot-core >= 3.0.0")
ADD_REQUIRED_DEPENDENCY("sot-tools >= 2.0.0")
......@@ -107,28 +120,26 @@ macro(compile_plugin NAME)
add_library(${NAME} SHARED src/${NAME}.cpp src/${NAME}.hh)
pkg_config_use_dependency(${NAME} dynamic-graph)
pkg_config_use_dependency(${NAME} sot-core)
#pkg_config_use_dependency(${NAME} jrl-dynamics-urdf)
pkg_config_use_dependency(${NAME} dynamic_graph_bridge_msgs)
add_dependencies(${NAME} ros_bridge)
target_link_libraries(${NAME} ros_bridge)
set_target_properties(${NAME} PROPERTIES BUILD_WITH_INSTALL_RPATH True)
set_target_properties(${NAME} PROPERTIES PREFIX "")
install(TARGETS ${NAME} DESTINATION lib/plugin)
dynamic_graph_python_module("ros/${NAME}"
${NAME}
ros/${NAME}/wrap
)
PKG_CONFIG_USE_DEPENDENCY(ros/${NAME}/wrap realtime_tools)
PKG_CONFIG_USE_DEPENDENCY(ros/${NAME}/wrap dynamic_graph)
PKG_CONFIG_USE_DEPENDENCY(ros/${NAME}/wrap sot-core)
PKG_CONFIG_USE_DEPENDENCY(ros/${NAME}/wrap dynamic_graph_bridge_msgs)
IF(BUILD_PYTHON_INTERFACE)
dynamic_graph_python_module("ros/${NAME}"
${NAME}
ros/${NAME}/wrap
)
PKG_CONFIG_USE_DEPENDENCY(ros/${NAME}/wrap realtime_tools)
PKG_CONFIG_USE_DEPENDENCY(ros/${NAME}/wrap dynamic_graph)
PKG_CONFIG_USE_DEPENDENCY(ros/${NAME}/wrap sot-core)
PKG_CONFIG_USE_DEPENDENCY(ros/${NAME}/wrap dynamic_graph_bridge_msgs)
ENDIF(BUILD_PYTHON_INTERFACE)
endmacro()
#include(cmake/python.cmake)
# Build Sot Entities
compile_plugin(ros_publish)
compile_plugin(ros_subscribe)
......@@ -144,29 +155,31 @@ target_link_libraries(ros_publish ros_bridge)
#compile_plugin(robot_model)
# ros_interperter library.
add_library(ros_interpreter src/ros_interpreter.cpp)
pkg_config_use_dependency(ros_interpreter dynamic-graph)
pkg_config_use_dependency(ros_interpreter sot-core)
pkg_config_use_dependency(ros_interpreter roscpp)
pkg_config_use_dependency(ros_interpreter dynamic_graph_bridge_msgs)
add_dependencies(ros_interpreter ros_bridge)
target_link_libraries(ros_interpreter ros_bridge)
set_target_properties(ros_interpreter PROPERTIES BUILD_WITH_INSTALL_RPATH True
LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib)
message(cmakeinstalllibdir " is ${CMAKE_INSTALL_LIBDIR} ")
install(TARGETS ros_interpreter DESTINATION lib)
# Stand alone remote dynamic-graph Python interpreter.
add_executable(interpreter src/interpreter.cpp)
add_dependencies(interpreter ros_interpreter)
target_link_libraries(interpreter ros_interpreter)
pkg_config_use_dependency(interpreter dynamic-graph)
pkg_config_use_dependency(interpreter sot-core)
pkg_config_use_dependency(interpreter sot-dynamic-pinocchio)
pkg_config_use_dependency(interpreter dynamic_graph_bridge_msgs)
# set_target_properties(interpreter PROPERTIES BUILD_WITH_INSTALL_RPATH True)
#install(TARGETS interpreter DESTINATION bin)
IF(BUILD_PYTHON_INTERFACE)
add_library(ros_interpreter src/ros_interpreter.cpp)
pkg_config_use_dependency(ros_interpreter dynamic-graph)
pkg_config_use_dependency(ros_interpreter sot-core)
pkg_config_use_dependency(ros_interpreter roscpp)
pkg_config_use_dependency(ros_interpreter dynamic_graph_bridge_msgs)
add_dependencies(ros_interpreter ros_bridge)
target_link_libraries(ros_interpreter ros_bridge)
set_target_properties(ros_interpreter PROPERTIES BUILD_WITH_INSTALL_RPATH True
LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib)
message(cmakeinstalllibdir " is ${CMAKE_INSTALL_LIBDIR} ")
install(TARGETS ros_interpreter DESTINATION lib)
# Stand alone remote dynamic-graph Python interpreter.
add_executable(interpreter src/interpreter.cpp)
add_dependencies(interpreter ros_interpreter)
target_link_libraries(interpreter ros_interpreter)
pkg_config_use_dependency(interpreter dynamic-graph)
pkg_config_use_dependency(interpreter sot-core)
pkg_config_use_dependency(interpreter sot-dynamic-pinocchio)
pkg_config_use_dependency(interpreter dynamic_graph_bridge_msgs)
# set_target_properties(interpreter PROPERTIES BUILD_WITH_INSTALL_RPATH True)
#install(TARGETS interpreter DESTINATION bin)
ENDIF(BUILD_PYTHON_INTERFACE)
# Stand alone embedded intepreter with a robot controller.
add_executable(geometric_simu src/geometric_simu.cpp src/sot_loader.cpp src/sot_loader_basic.cpp)
......@@ -181,19 +194,24 @@ target_link_libraries(sot_loader ${Boost_LIBRARIES} roscpp ros_bridge tf)
install(TARGETS sot_loader DESTINATION lib)
add_subdirectory(src)
add_subdirectory(tests)
# Deal with the ROS part.
add_service_files( FILES RunPythonFile.srv )
generate_messages( DEPENDENCIES std_msgs )
# This is necessary so that the pc file generated by catking is similar to the on
# done directly by jrl-cmake-modules
catkin_package(CATKIN_DEPENDS message_runtime roscpp realtime_tools tf2_bullet ${SOT_PKGNAMES} tf
LIBRARIES ros_bridge ros_interpreter sot_loader
LIBRARIES ${CATKIN_DEPENDS_LIBRARIES}
)
# Add libraries in pc file generated by cmake submodule
PKG_CONFIG_APPEND_LIBS(ros_bridge ros_interpreter sot_loader)
PKG_CONFIG_APPEND_LIBS(ros_bridge sot_loader)
IF(BUILD_PYTHON_INTERFACE)
PKG_CONFIG_APPEND_LIBS(ros_interpreter)
ENDIF(BUILD_PYTHON_INTERFACE)
#install ros executables
install(PROGRAMS
......
README.md
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dynamic-graph bindings
======================
[![Build Status](https://travis-ci.org/stack-of-tasks/dynamic_graph_bridge.png?branch=master)](https://travis-ci.org/stack-of-tasks/dynamic_graph_bridge)
[![Building Status](https://travis-ci.org/stack-of-tasks/dynamic_graph_bridge.svg?branch=master)](https://travis-ci.org/stack-of-tasks/dynamic_graph_bridge)
[![Pipeline status](https://gepgitlab.laas.fr/stack-of-tasks/dynamic_graph_bridge/badges/master/pipeline.svg)](https://gepgitlab.laas.fr/stack-of-tasks/dynamic_graph_bridge/commits/master)
[![Coverage report](https://gepgitlab.laas.fr/stack-of-tasks/dynamic_graph_bridge/badges/master/coverage.svg?job=doc-coverage)](http://projects.laas.fr/gepetto/doc/stack-of-tasks/dynamic_graph_bridge/master/coverage/)
This ROS package binds together the ROS framework with the
dynamic-graph real-time control architecture.
cmake @ 8e7bedfc
Compare 54177e44...8e7bedfc
Subproject commit 54177e44a1440222184865f1449c40b708eeaaa4
Subproject commit 8e7bedfcbd8524c0401a58fd74edc07c3d4308d0
src/CMakeLists.txt
+ 8
− 3
View file @ 036736ff
PYTHON_INSTALL("dynamic_graph/ros" "__init__.py" "${PYTHON_SITELIB}")
PYTHON_INSTALL("dynamic_graph/ros" "ros.py" "${PYTHON_SITELIB}")
PYTHON_INSTALL("dynamic_graph/ros" "dgcompleter.py" "${PYTHON_SITELIB}")
IF(BUILD_PYTHON_INTERFACE)
INSTALL(FILES
"dynamic_graph/ros/__init__.py"
"dynamic_graph/ros/ros.py"
"dynamic_graph/ros/dgcompleter.py"
DESTINATION "${PYTHON_SITELIB}/dynamic_graph/ros"
)
ENDIF(BUILD_PYTHON_INTERFACE)
tests/CMakeLists.txt 0 → 100644
+ 4
− 0
View file @ 036736ff
IF(BUILD_PYTHON_INTERFACE)
# TODO: this test requires a ros master
#ADD_PYTHON_UNIT_TEST("py-import" "tests/test_import.py")
ENDIF(BUILD_PYTHON_INTERFACE)
tests/test_joint_state.py deleted 100755 → 0
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View file @ 918b8f67
#!/usr/bin/python
try:
from dynamic_graph.sot.dynamics.tools import *
except:
print("This test requires sot-dynamic.")
exit(42)
from dynamic_graph.ros import RosJointState
rjs = RosJointState('rosjointstate')
plug(robot.device.state, rjs.state)
rjs.trigger.recompute(rjs.trigger.time + 1)
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