From fad55256b2835028e3c08146764ffee7e025dd6f Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Fri, 5 May 2017 18:23:05 +0200
Subject: [PATCH] Add a clean up procedure and change the dependency from
bullet to tf2_bullet.
---
CMakeLists.txt | 6 +++---
include/dynamic_graph_bridge/sot_loader_basic.hh | 7 ++++++-
package.xml | 4 ++--
src/sot_loader_basic.cpp | 15 +++++++++++----
4 files changed, 22 insertions(+), 10 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 58b4c76..7bce72d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -67,7 +67,7 @@ dynamic_graph_bridge_msgs)
add_required_dependency(roscpp)
add_required_dependency(tf)
add_required_dependency("realtime_tools >= 1.8")
-add_required_dependency(bullet)
+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")
@@ -89,7 +89,7 @@ add_library(ros_bridge
include/dynamic_graph_bridge/ros_init.hh src/ros_init.cpp
src/sot_to_ros.hh src/sot_to_ros.cpp
)
-pkg_config_use_dependency(ros_bridge bullet)
+pkg_config_use_dependency(ros_bridge tf2_bullet)
pkg_config_use_dependency(ros_bridge dynamic_graph_bridge_msgs)
install(TARGETS ros_bridge DESTINATION lib)
@@ -184,7 +184,7 @@ 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 bullet ${SOT_PKGNAMES} tf
+catkin_package(CATKIN_DEPENDS message_runtime roscpp realtime_tools tf2_bullet ${SOT_PKGNAMES} tf
LIBRARIES ros_bridge ros_interpreter sot_loader
)
diff --git a/include/dynamic_graph_bridge/sot_loader_basic.hh b/include/dynamic_graph_bridge/sot_loader_basic.hh
index 6f7fbdf..b561d48 100644
--- a/include/dynamic_graph_bridge/sot_loader_basic.hh
+++ b/include/dynamic_graph_bridge/sot_loader_basic.hh
@@ -60,6 +60,8 @@ protected:
po::variables_map vm_;
std::string dynamicLibraryName_;
+ /// \brief Handle on the SoT library.
+ void * sotRobotControllerLibrary_;
/// \brief Map between SoT state vector and some joint_state_links
XmlRpc::XmlRpcValue stateVectorMap_;
@@ -89,9 +91,12 @@ public:
// \brief Read user input to extract the path of the SoT dynamic library.
int parseOptions(int argc, char *argv[]);
- // \brief Load the SoT
+ /// \brief Load the SoT device corresponding to the robot.
void Initialization();
+ /// \brief Unload the library which handles the robot device.
+ void CleanUp();
+
// \brief Create a thread for ROS.
virtual void initializeRosNode(int argc, char *argv[]);
diff --git a/package.xml b/package.xml
index c4370a7..7bdb5a6 100644
--- a/package.xml
+++ b/package.xml
@@ -1,6 +1,6 @@
<package format="2">
<name>dynamic_graph_bridge</name>
- <version>3.0.4</version>
+ <version>3.0.6</version>
<description>
ROS bindings for dynamic graph.
@@ -27,7 +27,7 @@
<depend>realtime_tools</depend>
<depend>message_generation</depend>
<depend>message_runtime</depend>
- <depend>bullet</depend>
+ <depend>tf2_bullet</depend>
<depend>dynamic-graph</depend>
<depend>dynamic-graph-python</depend>
<depend>sot-core</depend>
diff --git a/src/sot_loader_basic.cpp b/src/sot_loader_basic.cpp
index e9c3f19..4193a9b 100644
--- a/src/sot_loader_basic.cpp
+++ b/src/sot_loader_basic.cpp
@@ -54,7 +54,8 @@ void createRosSpin(SotLoaderBasic *aSotLoaderBasic)
SotLoaderBasic::SotLoaderBasic():
- dynamic_graph_stopped_(true)
+ dynamic_graph_stopped_(true),
+ sotRobotControllerLibrary_(0)
{
readSotVectorStateParam();
initPublication();
@@ -192,9 +193,9 @@ void SotLoaderBasic::Initialization()
{
// Load the SotRobotBipedController library.
- void * SotRobotControllerLibrary = dlopen( dynamicLibraryName_.c_str(),
+ sotRobotControllerLibrary_ = dlopen( dynamicLibraryName_.c_str(),
RTLD_LAZY | RTLD_GLOBAL );
- if (!SotRobotControllerLibrary) {
+ if (!sotRobotControllerLibrary_) {
std::cerr << "Cannot load library: " << dlerror() << '\n';
return ;
}
@@ -206,7 +207,7 @@ void SotLoaderBasic::Initialization()
createSotExternalInterface_t * createSot =
reinterpret_cast<createSotExternalInterface_t *>
(reinterpret_cast<long>
- (dlsym(SotRobotControllerLibrary,
+ (dlsym(sotRobotControllerLibrary_,
"createSotExternalInterface")));
const char* dlsym_error = dlerror();
if (dlsym_error) {
@@ -219,6 +220,12 @@ void SotLoaderBasic::Initialization()
cout <<"Went out from Initialization." << endl;
}
+void SotLoaderBasic::CleanUp()
+{
+ /// Uncount the number of access to this library.
+ dlclose(sotRobotControllerLibrary_);
+}
+
bool SotLoaderBasic::start_dg(std_srvs::Empty::Request& ,
--
GitLab