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Commit fe886ac1 authored by Maximilien Naveau's avatar Maximilien Naveau Committed by Olivier Stasse
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remove ros1 and the ros2 subfolder. Set it to ros2

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.github/workflows/ci_ubuntu18_04_ros1.yml deleted 100644 → 0
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− 48
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name: Ubuntu18.04, ROS1 Continuous Integration
on:
push:
branches:
- master
- devel
- mnaveau/ubuntu20.04_ros1_ros2
pull_request:
branches:
- master
- devel
jobs:
build:
runs-on: ubuntu-18.04
steps:
#
# Setup the machines and build environment
#
- name: Install ROS.
id: ros_install
uses: ros-tooling/setup-ros@v0.2
with:
required-ros-distributions: melodic
#
# Checkout the current branch
#
- uses: actions/checkout@v2
#
# Clone the dependencies in the ROS workspace
#
- name: Clone dependencies in the current workspace.
shell: bash
run: |
mkdir -p /home/runner/work/dynamic_graph_bridge/dynamic_graph_bridge/ros_ws/src
cd /home/runner/work/dynamic_graph_bridge/dynamic_graph_bridge/ros_ws/src
git clone --recursive https://github.com/stack-of-tasks/dynamic_graph_bridge_msgs.git
#
# Build and test the repo
#
- uses: ros-tooling/action-ros-ci@v0.2
with:
package-name: dynamic_graph_bridge
target-ros1-distro: melodic
.github/workflows/ci_ubuntu20_04_ros2.yml → .github/workflows/ci_ubuntu20_04_foxy_ros2.yml
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...@@ -34,14 +34,19 @@ jobs: ...@@ -34,14 +34,19 @@ jobs:
- name: Clone dependencies in the current workspace. - name: Clone dependencies in the current workspace.
shell: bash shell: bash
run: | run: |
mkdir -p /home/runner/work/dynamic_graph_bridge/dynamic_graph_bridge/ros_ws/src ws_path = /home/runner/work/dynamic_graph_bridge/colcon_workspace
cd /home/runner/work/dynamic_graph_bridge/dynamic_graph_bridge/ros_ws/src mkdir -p $ws_path/src
git clone --recursive https://github.com/stack-of-tasks/dynamic_graph_bridge_msgs.git cd $ws_path/src
git clone -b devel --single-branch --recursive https://github.com/stack-of-tasks/dynamic_graph_bridge_msgs.git
#
# Build dep and checkout from source.
#
- name: Build packages.
ln -s /home/runner/work/dynamic_graph_bridge/dynamic_graph_bridge .
colcon build
# #
# Build and test the repo # Test the checkout package
# #
- uses: ros-tooling/action-ros-ci@v0.2 colcon test --packages-select dynamic_graph_bridge --event-handlers console_direct+ --return-code-on-test-failure
with:
package-name: dynamic_graph_bridge
target-ros2-distro: foxy
.github/workflows/ci_ubuntu20_04_ros1.yml deleted 100644 → 0
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− 47
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name: Ubuntu20.04, ROS1 Continuous Integration
on:
push:
branches:
- master
- devel
- mnaveau/ubuntu20.04_ros1_ros2
pull_request:
branches:
- master
- devel
jobs:
build:
runs-on: ubuntu-20.04
steps:
#
# Setup the machines and build environment
#
- name: Install ROS.
uses: ros-tooling/setup-ros@v0.2
with:
required-ros-distributions: noetic
#
# Checkout the current branch
#
- uses: actions/checkout@v2
#
# Clone the dependencies in the ROS workspace
#
- name: Clone dependencies in the current workspace.
shell: bash
run: |
mkdir -p /home/runner/work/dynamic_graph_bridge/dynamic_graph_bridge/ros_ws/src
cd /home/runner/work/dynamic_graph_bridge/dynamic_graph_bridge/ros_ws/src
git clone --recursive https://github.com/stack-of-tasks/dynamic_graph_bridge_msgs.git
#
# Build and test the repo
#
- uses: ros-tooling/action-ros-ci@v0.2
with:
package-name: dynamic_graph_bridge
target-ros1-distro: noetic
CMakeLists.txt
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...@@ -3,45 +3,85 @@ ...@@ -3,45 +3,85 @@
# Author: Florent Lamiraux, Nirmal Giftsun, Guilhem Saurel # Author: Florent Lamiraux, Nirmal Giftsun, Guilhem Saurel
# #
CMAKE_MINIMUM_REQUIRED(VERSION 3.1) cmake_minimum_required(VERSION 3.1)
# Project properties # Project properties
SET(PROJECT_ORG stack-of-tasks) set(PROJECT_ORG stack-of-tasks)
SET(PROJECT_NAME dynamic_graph_bridge) set(PROJECT_NAME dynamic_graph_bridge)
SET(PROJECT_DESCRIPTION "Dynamic graph bridge library") set(PROJECT_DESCRIPTION "Dynamic graph bridge library")
SET(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}") set(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
# Project options # Project options
OPTION(BUILD_PYTHON_INTERFACE "Build the python bindings" ON) option(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
# Project configuration # Project configuration
SET(PROJECT_USE_CMAKE_EXPORT TRUE) set(PROJECT_USE_CMAKE_EXPORT TRUE)
SET(CUSTOM_HEADER_DIR ${PROJECT_NAME}) set(CUSTOM_HEADER_DIR ${PROJECT_NAME})
set(CXX_DISABLE_WERROR FALSE) set(CXX_DISABLE_WERROR FALSE)
SET(DOXYGEN_USE_MATHJAX YES) set(DOXYGEN_USE_MATHJAX YES)
SET(CATKIN_ENABLE_TESTING OFF) set(CATKIN_ENABLE_TESTING OFF)
# JRL-cmakemodule setup # JRL-cmakemodule setup
INCLUDE(cmake/base.cmake) include(cmake/base.cmake)
INCLUDE(cmake/boost.cmake) include(cmake/boost.cmake)
INCLUDE(cmake/python.cmake) include(cmake/python.cmake)
INCLUDE(cmake/ros.cmake) include(cmake/ros.cmake)
# Project definition # Project definition
COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX) compute_project_args(PROJECT_ARGS LANGUAGES CXX)
PROJECT(${PROJECT_NAME} ${PROJECT_ARGS}) project(${PROJECT_NAME} ${PROJECT_ARGS})
if(DEFINED ENV{ROS_VERSION} ) if(NOT CMAKE_CXX_STANDARD)
if ($ENV{ROS_VERSION} EQUAL 2) # if ROS2 set(CMAKE_CXX_STANDARD 14)
add_subdirectory(ros2)
#ROS 2 packaging
ament_package()
else()
add_subdirectory(ros1)
endif()
else()
message(FATAL_ERROR "No ROS version found.")
endif() endif()
cmake_policy(SET CMP0057 NEW)
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(ament_cmake_core REQUIRED)
find_package(ament_index_cpp REQUIRED)
find_package(rcutils REQUIRED)
find_package(std_msgs REQUIRED)
find_package(std_srvs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
add_project_dependency(Boost REQUIRED COMPONENTS program_options)
add_project_dependency(dynamic_graph_bridge_msgs 0.3.0 REQUIRED)
add_project_dependency(sot-core REQUIRED)
if(BUILD_PYTHON_INTERFACE)
findpython()
search_for_boost_python()
string(REGEX REPLACE "-" "_" PY_NAME ${PROJECT_NAME})
add_project_dependency(dynamic-graph-python 4.0.0 REQUIRED)
if(Boost_VERSION GREATER 107299 OR Boost_VERSION_MACRO GREATER 107299)
# Silence a warning about a deprecated use of boost bind by boost >= 1.73
# without dropping support for boost < 1.73
add_definitions(-DBOOST_BIND_GLOBAL_PLACEHOLDERS)
endif()
endif(BUILD_PYTHON_INTERFACE)
add_subdirectory(src)
add_subdirectory(tests)
# install ros executables
install(
PROGRAMS scripts/remote_python_client.py
RENAME remote_python_client
DESTINATION lib/${PROJECT_NAME})
install(
PROGRAMS scripts/remote_python_client.py
RENAME run_command
DESTINATION lib/${PROJECT_NAME})
# we also need to install the header files
install(DIRECTORY include/ DESTINATION include)
# Install package information # Install package information
install(FILES manifest.xml package.xml DESTINATION share/${PROJECT_NAME}) install(FILES package.xml DESTINATION share/${PROJECT_NAME})
\ No newline at end of file
#ROS 2 packaging
ament_package()
\ No newline at end of file
manifest.xml deleted 100644 → 0
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<package>
<description brief="Dynamic graph ROS bridge">
ROS bindings for dynamic graph.
</description>
<author>Thomas Moulard</author>
<license>BSD</license>
<review status="unreviewed" notes=""/>
<url>http://ros.org/wiki/dynamic_graph_bridge</url>
<export>
<cpp
cflags="-I${prefix}/include"
lflags="-L${prefix}/lib -lros_bridge -lros_interpreter -Wl,-rpath,${prefix}/lib"
/>
<rosdoc config="rosdoc.yaml" />
</export>
<rosdep name="boost"/>
<!-- Disable non-standard dependencies for now
<rosdep name="jrl-mal"/>
<rosdep name="dynamic-graph"/>
<rosdep name="sot-core"/>
<rosdep name="sot-dynamic"/>
-->
<depend package="std_msgs"/>
<depend package="std_srvs"/>
<depend package="roscpp"/>
<depend package="geometry_msgs"/>
<depend package="sensor_msgs"/>
<depend package="tf"/>
<depend package="realtime_tools"/>
<depend package="dynamic_graph_bridge_msgs"/>
</package>
package.xml
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...@@ -10,58 +10,25 @@ ...@@ -10,58 +10,25 @@
<license>LGPL</license> <license>LGPL</license>
<url>http://ros.org/wiki/dynamic_graph_bridge</url> <url>http://ros.org/wiki/dynamic_graph_bridge</url>
<!-- ROS1 dependencies -->
<buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
<build_depend condition="$ROS_VERSION == 1">std_msgs</build_depend>
<build_depend condition="$ROS_VERSION == 1">std_srvs</build_depend>
<build_depend condition="$ROS_VERSION == 1">roscpp</build_depend>
<build_depend condition="$ROS_VERSION == 1">geometry_msgs</build_depend>
<build_depend condition="$ROS_VERSION == 1">sensor_msgs</build_depend>
<build_depend condition="$ROS_VERSION == 1">tf2_ros</build_depend>
<build_depend condition="$ROS_VERSION == 1">realtime_tools</build_depend>
<build_depend condition="$ROS_VERSION == 1">message_generation</build_depend>
<build_depend condition="$ROS_VERSION == 1">message_runtime</build_depend>
<build_depend condition="$ROS_VERSION == 1">dynamic-graph</build_depend>
<build_depend condition="$ROS_VERSION == 1">dynamic-graph-python</build_depend>
<build_depend condition="$ROS_VERSION == 1">sot-core</build_depend>
<build_depend condition="$ROS_VERSION == 1">sot-dynamic-pinocchio</build_depend>
<build_depend condition="$ROS_VERSION == 1">dynamic_graph_bridge_msgs</build_depend>
<exec_depend condition="$ROS_VERSION == 1">std_msgs</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">std_srvs</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">roscpp</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">geometry_msgs</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">sensor_msgs</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">tf2_ros</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">realtime_tools</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">message_generation</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">message_runtime</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">dynamic-graph</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">dynamic-graph-python</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">sot-core</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">sot-dynamic-pinocchio</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">dynamic_graph_bridge_msgs</exec_depend>
<!-- ROS2 dependencies --> <!-- ROS2 dependencies -->
<buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend> <buildtool_depend>ament_cmake</buildtool_depend>
<buildtool_depend condition="$ROS_VERSION == 2">ament_index_cpp</buildtool_depend> <buildtool_depend>ament_index_cpp</buildtool_depend>
<depend condition="$ROS_VERSION == 2"> rclcpp </depend> <depend > rclcpp </depend>
<exec_depend condition="$ROS_VERSION == 2"> rclpy </exec_depend> <exec_depend > rclpy </exec_depend>
<depend condition="$ROS_VERSION == 2"> rcutils </depend> <depend > rcutils </depend>
<depend condition="$ROS_VERSION == 2"> std_msgs </depend> <depend > std_msgs </depend>
<depend condition="$ROS_VERSION == 2"> std_srvs </depend> <depend > std_srvs </depend>
<depend condition="$ROS_VERSION == 2"> geometry_msgs </depend> <depend > geometry_msgs </depend>
<depend condition="$ROS_VERSION == 2"> sensor_msgs </depend> <depend > sensor_msgs </depend>
<depend condition="$ROS_VERSION == 2"> tf2_ros </depend> <depend > tf2_ros </depend>
<depend condition="$ROS_VERSION == 2"> boost </depend> <depend > boost </depend>
<depend condition="$ROS_VERSION == 2"> dynamic_graph_bridge_msgs </depend> <depend > dynamic_graph_bridge_msgs </depend>
<depend condition="$ROS_VERSION == 2"> sot-core </depend> <depend > sot-core </depend>
<export> <export>
<rosdoc config="rosdoc.yaml" /> <rosdoc config="rosdoc.yaml" />
<build_type condition="$ROS_VERSION == 2">ament_cmake</build_type> <build_type>ament_cmake</build_type>
</export> </export>
<test_depend condition="$ROS_VERSION == 2">rclpy</test_depend> <test_depend>rclpy</test_depend>
</package> </package>
ros1/CMakeLists.txt deleted 100644 → 0
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# Copyright (C) 2008-2020 LAAS-CNRS, JRL AIST-CNRS.
#
# Author: Florent Lamiraux, Nirmal Giftsun, Guilhem Saurel, Maxmilien Naveau
#
# Project dependencies
SET(CATKIN_REQUIRED_COMPONENTS roscpp std_msgs message_generation std_srvs geometry_msgs sensor_msgs tf2_ros
realtime_tools)
ADD_PROJECT_DEPENDENCY(Boost REQUIRED COMPONENTS program_options)
ADD_PROJECT_DEPENDENCY(dynamic_graph_bridge_msgs 0.3.0 REQUIRED)
IF(BUILD_PYTHON_INTERFACE)
FINDPYTHON()
SEARCH_FOR_BOOST_PYTHON()
STRING(REGEX REPLACE "-" "_" PY_NAME ${PROJECT_NAME})
ADD_PROJECT_DEPENDENCY(dynamic-graph-python 4.0.0 REQUIRED)
SET(CATKIN_REQUIRED_COMPONENTS ${CATKIN_REQUIRED_COMPONENTS} rospy)
IF(Boost_VERSION GREATER 107299 OR Boost_VERSION_MACRO GREATER 107299)
# Silence a warning about a deprecated use of boost bind by boost >= 1.73
# without dropping support for boost < 1.73
ADD_DEFINITIONS(-DBOOST_BIND_GLOBAL_PLACEHOLDERS)
ENDIF()
ENDIF(BUILD_PYTHON_INTERFACE)
find_package(catkin REQUIRED COMPONENTS ${CATKIN_REQUIRED_COMPONENTS})
ADD_PROJECT_DEPENDENCY(sot-core REQUIRED)
# Main Library
set(${PROJECT_NAME}_HEADERS
include/${PROJECT_NAME}/fwd.hh
include/${PROJECT_NAME}/ros_init.hh
include/${PROJECT_NAME}/sot_loader.hh
include/${PROJECT_NAME}/sot_loader_basic.hh
include/${PROJECT_NAME}/ros_interpreter.hh
src/converter.hh
src/sot_to_ros.hh
)
SET(${PROJECT_NAME}_SOURCES
src/ros_init.cpp
src/sot_to_ros.cpp
src/ros_parameter.cpp
)
ADD_LIBRARY(ros_bridge SHARED
${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_HEADERS})
TARGET_INCLUDE_DIRECTORIES(ros_bridge SYSTEM PUBLIC ${catkin_INCLUDE_DIRS})
TARGET_INCLUDE_DIRECTORIES(ros_bridge PUBLIC $<INSTALL_INTERFACE:include>
PRIVATE ${PROJECT_SOURCE_DIR}/ros1/include)
TARGET_LINK_LIBRARIES(ros_bridge
${catkin_LIBRARIES}
sot-core::sot-core
pinocchio::pinocchio
dynamic_graph_bridge_msgs::dynamic_graph_bridge_msgs
)
IF(SUFFIX_SO_VERSION)
SET_TARGET_PROPERTIES(ros_bridge PROPERTIES SOVERSION ${PROJECT_VERSION})
ENDIF(SUFFIX_SO_VERSION)
IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
INSTALL(TARGETS ros_bridge EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
add_subdirectory(src)
add_subdirectory(tests)
#install ros executables
install(PROGRAMS
scripts/robot_pose_publisher
scripts/run_command
scripts/tf_publisher
DESTINATION share/${PROJECT_NAME}
)
# we also need to install the header files
install(DIRECTORY include/ DESTINATION include)
ros1/include/dynamic_graph_bridge/fwd.hh deleted 100644 → 0
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/*
* Copyright CNRS 2021
*
* Author: Florent Lamiraux
*
* This file is part of sot-core.
*/
#ifndef DYNAMIC_GRAPH_BRIDGE_FWD_HH
#define DYNAMIC_GRAPH_BRIDGE_FWD_HH
#include <dynamic-graph/python/fwd.hh>
namespace dynamicgraph {
// classes defined in sot-core
class Interpreter;
typedef shared_ptr<Interpreter> InterpreterPtr_t;
}// namespace dynamicgraph
#endif // DYNAMIC_GRAPH_PYTHON_FWD_HH
ros1/include/dynamic_graph_bridge/ros_init.hh deleted 100644 → 0
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#ifndef ROS_INIT_HH
#define ROS_INIT_HH
#include <ros/ros.h>
namespace dynamicgraph {
ros::NodeHandle& rosInit(bool createAsyncSpinner = false, bool createMultiThreadSpinner = true);
/// \brief Return spinner or throw an exception if spinner
/// creation has been disabled at startup.
ros::AsyncSpinner& spinner();
/// \brief Return multi threaded spinner or throw an exception if spinner
/// creation has been disabled at startup.
ros::MultiThreadedSpinner& mtSpinner();
} // end of namespace dynamicgraph.
#endif //! ROS_INIT_HH
ros1/include/dynamic_graph_bridge/ros_interpreter.hh deleted 100644 → 0
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#ifndef DYNAMIC_GRAPH_BRIDGE_INTERPRETER_HH
#define DYNAMIC_GRAPH_BRIDGE_INTERPRETER_HH
#pragma GCC diagnostic push
#pragma GCC system_header
#include <ros/ros.h>
#pragma GCC diagnostic pop
#include <dynamic_graph_bridge/fwd.hh>
#include <dynamic_graph_bridge_msgs/RunCommand.h>
#include <dynamic_graph_bridge_msgs/RunPythonFile.h>
#include <dynamic-graph/python/interpreter.hh>
namespace dynamicgraph {
/// \brief This class wraps the implementation of the runCommand
/// service.
///
/// This takes as input a ROS node handle and do not handle the
/// callback so that the service behavior can be controlled from
/// the outside.
class Interpreter {
public:
typedef boost::function<bool(dynamic_graph_bridge_msgs::RunCommand::Request&,
dynamic_graph_bridge_msgs::RunCommand::Response&)>
runCommandCallback_t;
typedef boost::function<bool(dynamic_graph_bridge_msgs::RunPythonFile::Request&,
dynamic_graph_bridge_msgs::RunPythonFile::Response&)>
runPythonFileCallback_t;
explicit Interpreter(ros::NodeHandle& nodeHandle);
/// \brief Method to start python interpreter and deal with messages.
/// \param Command string to execute, result, stdout, stderr strings.
void runCommand(const std::string& command, std::string& result, std::string& out, std::string& err);
/// \brief Method to parse python scripts.
/// \param Input file name to parse.
void runPythonFile(std::string ifilename);
/// Initialize service run_command
void startRosService();
protected:
/// \brief Run a Python command and return result, stderr and stdout.
bool runCommandCallback(dynamic_graph_bridge_msgs::RunCommand::Request& req,
dynamic_graph_bridge_msgs::RunCommand::Response& res);
/// \brief Run a Python file.
bool runPythonFileCallback(dynamic_graph_bridge_msgs::RunPythonFile::Request& req,
dynamic_graph_bridge_msgs::RunPythonFile::Response& res);
private:
python::Interpreter interpreter_;
ros::NodeHandle& nodeHandle_;
ros::ServiceServer runCommandSrv_;
ros::ServiceServer runPythonFileSrv_;
};
} // end of namespace dynamicgraph.
#endif //! DYNAMIC_GRAPH_BRIDGE_INTERPRETER_HH
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#ifndef _ROS_DYNAMIC_GRAPH_PARAMETER_
#define _ROS_DYNAMIC_GRAPH_PARAMETER_
namespace dynamicgraph {
bool parameter_server_read_robot_description();
}
#endif /* _ROS_DYNAMIC_GRAPH_PARAMETER_ */
ros1/include/dynamic_graph_bridge/sot_loader.hh deleted 100644 → 0
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/*
* Copyright 2016,
* Olivier Stasse,
*
* CNRS
*
*/
/* -------------------------------------------------------------------------- */
/* --- INCLUDES ------------------------------------------------------------- */
/* -------------------------------------------------------------------------- */
#ifndef _SOT_LOADER_HH_
#define _SOT_LOADER_HH_
// System includes
#include <cassert>
// STL includes
#include <map>
// Pinocchio includes
#include <pinocchio/fwd.hpp>
// Boost includes
#include <boost/program_options.hpp>
#include <boost/foreach.hpp>
#include <boost/format.hpp>
#include <boost/thread/thread.hpp>
// ROS includes
#include "ros/ros.h"
#include "std_srvs/Empty.h"
#include <sensor_msgs/JointState.h>
#include <tf2_ros/transform_broadcaster.h>
// Sot Framework includes
#include <sot/core/debug.hh>
#include <sot/core/abstract-sot-external-interface.hh>
// Dynamic-graph-bridge includes.
#include <dynamic_graph_bridge/sot_loader_basic.hh>
namespace po = boost::program_options;
namespace dgs = dynamicgraph::sot;
class SotLoader : public SotLoaderBasic {
protected:
/// Map of sensor readings
std::map<std::string, dgs::SensorValues> sensorsIn_;
/// Map of control values
std::map<std::string, dgs::ControlValues> controlValues_;
/// Angular values read by encoders
std::vector<double> angleEncoder_;
/// Angular values sent to motors
std::vector<double> angleControl_;
/// Forces read by force sensors
std::vector<double> forces_;
/// Torques
std::vector<double> torques_;
/// Attitude of the robot computed by extended Kalman filter.
std::vector<double> baseAtt_;
/// Accelerations read by Accelerometers
std::vector<double> accelerometer_;
/// Angular velocity read by gyrometers
std::vector<double> gyrometer_;
/// URDF string description of the robot.
std::string robot_desc_string_;
/// The thread running dynamic graph
boost::thread thread_;
// \brief Start control loop
virtual void startControlLoop();
// Robot Pose Publisher
tf2_ros::TransformBroadcaster freeFlyerPublisher_;
geometry_msgs::TransformStamped freeFlyerPose_;
public:
SotLoader();
~SotLoader();
// \brief Create a thread for ROS and start the control loop.
void initializeRosNode(int argc, char *argv[]);
// \brief Compute one iteration of control.
// Basically calls fillSensors, the SoT and the readControl.
void oneIteration();
// \brief Fill the sensors value for the SoT.
void fillSensors(std::map<std::string, dgs::SensorValues> &sensorsIn);
// \brief Read the control computed by the SoT framework.
void readControl(std::map<std::string, dgs::ControlValues> &controlValues);
// \brief Prepare the SoT framework.
void setup();
};
#endif /* SOT_LOADER_HH_ */
ros1/include/dynamic_graph_bridge/sot_loader_basic.hh deleted 100644 → 0
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/*
* Copyright 2016,
* Olivier Stasse,
*
* CNRS
*
*/
/* -------------------------------------------------------------------------- */
/* --- INCLUDES ------------------------------------------------------------- */
/* -------------------------------------------------------------------------- */
#ifndef _SOT_LOADER_BASIC_HH_
#define _SOT_LOADER_BASIC_HH_
// System includes
#include <cassert>
// STL includes
#include <map>
// Pinocchio includes
#include <pinocchio/fwd.hpp>
// Boost includes
#include <boost/program_options.hpp>
#include <boost/foreach.hpp>
#include <boost/format.hpp>
// ROS includes
#include "ros/ros.h"
#include "std_srvs/Empty.h"
#include <sensor_msgs/JointState.h>
// Sot Framework includes
#include <sot/core/debug.hh>
#include <sot/core/abstract-sot-external-interface.hh>
namespace po = boost::program_options;
namespace dgs = dynamicgraph::sot;
class SotLoaderBasic {
protected:
// Dynamic graph is stopped.
bool dynamic_graph_stopped_;
/// \brief the sot-hrp2 controller
dgs::AbstractSotExternalInterface* sotController_;
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_;
/// \brief List of parallel joints from the state vector.
typedef std::vector<int> parallel_joints_to_state_vector_t;
parallel_joints_to_state_vector_t parallel_joints_to_state_vector_;
/// \brief Coefficient between parallel joints and the state vector.
std::vector<double> coefficient_parallel_joints_;
/// Advertises start_dynamic_graph services
ros::ServiceServer service_start_;
/// Advertises stop_dynamic_graph services
ros::ServiceServer service_stop_;
// Joint state publication.
ros::Publisher joint_pub_;
// Joint state to be published.
sensor_msgs::JointState joint_state_;
// Number of DOFs according to KDL.
int nbOfJoints_;
parallel_joints_to_state_vector_t::size_type nbOfParallelJoints_;
public:
SotLoaderBasic();
~SotLoaderBasic(){};
// \brief Read user input to extract the path of the SoT dynamic library.
int parseOptions(int argc, char* argv[]);
/// \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[]);
// \brief Callback function when starting dynamic graph.
bool start_dg(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response);
// \brief Callback function when stopping dynamic graph.
bool stop_dg(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response);
// \brief Read the state vector description based upon the robot links.
int readSotVectorStateParam();
// \brief Init publication of joint states.
int initPublication();
// \brief Get Status of dg.
bool isDynamicGraphStopped() { return dynamic_graph_stopped_; }
// \brief Specify the name of the dynamic library.
void setDynamicLibraryName(std::string& afilename);
};
#endif /* _SOT_LOADER_BASIC_HH_ */
ros1/scripts/robot_pose_publisher deleted 100755 → 0
+ 0
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View file @ 6b8de80e
#!/usr/bin/env python
#
# Listens to TransformStamped messages and publish them to tf
#
import rospy
import tf
import sensor_msgs.msg
frame = ''
childFrame = ''
#DEPRECATED. Robot Pose is already being published
def pose_broadcaster(msg):
translation = msg.position[0:3];
rotation = tf.transformations.quaternion_from_euler(msg.position[3], msg.position[4], msg.position[5])
tfbr = tf.TransformBroadcaster()
tfbr.sendTransform(translation, rotation,
rospy.Time.now(), childFrame, frame)
if __name__ == '__main__':
rospy.init_node('robot_pose_publisher', anonymous=True)
frame = rospy.get_param('~frame', 'odom')
childFrame = rospy.get_param('~child_frame', 'base_link')
topic = rospy.get_param('~topic', 'joint_states')
rospy.Subscriber(topic, sensor_msgs.msg.JointState, pose_broadcaster)
rospy.spin()
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