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  • gsaurel/dynamic_graph_bridge
  • stack-of-tasks/dynamic_graph_bridge
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.git-blame-ignore-revs 0 → 100644
View file @ c2c3026d
# format (Guilhem Saurel, 2022-09-06)
426c21a7f4e5b445d17825235f983e2f8e1a86ec
.gitlab-ci.yml
View file @ c2c3026d
# Please don't edit this file, and use the version generated at include: http://rainboard.laas.fr/project/dynamic_graph_bridge/.gitlab-ci.yml
# http://rainboard.laas.fr/project/dynamic_graph_bridge/.gitlab-ci.yml
variables:
GIT_SUBMODULE_STRATEGY: "recursive"
CCACHE_BASEDIR: "${CI_PROJECT_DIR}"
CCACHE_DIR: "${CI_PROJECT_DIR}/ccache"
cache:
paths:
- ccache
.robotpkg-py-dynamic-graph-bridge-v3: &robotpkg-py-dynamic-graph-bridge-v3
except:
- gh-pages
script:
- mkdir -p ccache
- cd /root/robotpkg/wip
- git pull
- cd py-dynamic-graph-bridge-v3
- make checkout MASTER_REPOSITORY="dir ${CI_PROJECT_DIR}"
- make install
- cd work.$(hostname)/$(make show-var VARNAME=DISTNAME)
- make test
robotpkg-py-dynamic-graph-bridge-v3-14.04-release:
<<: *robotpkg-py-dynamic-graph-bridge-v3
image: eur0c.laas.fr:5000/stack-of-tasks/dynamic_graph_bridge/py-dynamic-graph-bridge-v3:14.04
robotpkg-py-dynamic-graph-bridge-v3-16.04-release:
<<: *robotpkg-py-dynamic-graph-bridge-v3
image: eur0c.laas.fr:5000/stack-of-tasks/dynamic_graph_bridge/py-dynamic-graph-bridge-v3:16.04
robotpkg-py-dynamic-graph-bridge-v3-18.04-release:
<<: *robotpkg-py-dynamic-graph-bridge-v3
image: eur0c.laas.fr:5000/stack-of-tasks/dynamic_graph_bridge/py-dynamic-graph-bridge-v3:18.04
doc-coverage:
<<: *robotpkg-py-dynamic-graph-bridge-v3
image: eur0c.laas.fr:5000/stack-of-tasks/dynamic_graph_bridge/py-dynamic-graph-bridge-v3:16.04
before_script:
- echo -e 'CXXFLAGS+= --coverage\nLDFLAGS+= --coverage\nPKG_DEFAULT_OPTIONS= debug' >> /opt/openrobots/etc/robotpkg.conf
after_script:
- cd /root/robotpkg/wip/py-dynamic-graph-bridge-v3
- cd work.$(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/
.gitmodules
View file @ c2c3026d
[submodule "cmake"] [submodule "cmake"]
path = cmake path = cmake
url = git://github.com/jrl-umi3218/jrl-cmakemodules.git url = https://github.com/jrl-umi3218/jrl-cmakemodules.git
.pre-commit-config.yaml 0 → 100644
View file @ c2c3026d
ci:
autoupdate_branch: 'devel'
repos:
- repo: https://github.com/pre-commit/mirrors-clang-format
rev: v14.0.6
hooks:
- id: clang-format
args: [--style=Google]
- repo: https://github.com/pre-commit/pre-commit-hooks
rev: v4.3.0
hooks:
- id: check-added-large-files
- id: check-ast
- id: check-executables-have-shebangs
- id: check-json
- id: check-merge-conflict
- id: check-symlinks
- id: check-toml
- id: check-yaml
- id: debug-statements
- id: destroyed-symlinks
- id: detect-private-key
- id: end-of-file-fixer
- id: fix-byte-order-marker
- id: mixed-line-ending
- id: trailing-whitespace
- repo: https://github.com/psf/black
rev: 22.8.0
hooks:
- id: black
- repo: https://github.com/PyCQA/flake8
rev: 5.0.4
hooks:
- id: flake8
- repo: https://github.com/cheshirekow/cmake-format-precommit
rev: v0.6.13
hooks:
- id: cmake-format
.travis.yml deleted 100644 → 0
View file @ 396bf158
sudo: required
services:
- docker
before_install:
- docker build -t dyngb-trusty -f ./travis_custom/Dockerfile .
- docker run -t -d --name dyngb-trusty-test dyngb-trusty
- docker exec dyngb-trusty-test sudo mkdir -p /catkin_ws_dyngb/src
- docker exec dyngb-trusty-test sudo sh -c "cd /catkin_ws_dyngb/src;. /opt/ros/indigo/setup.sh;catkin_init_workspace"
- docker exec dyngb-trusty-test sudo git clone --recursive https://github.com/stack-of-tasks/dynamic_graph_bridge.git /catkin_ws_dyngb/src/dynamic_graph_bridge
script:
- docker exec dyngb-trusty-test sudo sh -c "cd /catkin_ws_dyngb;. /opt/ros/indigo/setup.sh;. /home/docker/setup-opt-robotpkg.sh;catkin_make"
CMakeLists.txt
View file @ c2c3026d
# Copyright (C) 2008-2013 LAAS-CNRS, JRL AIST-CNRS. # Copyright (C) 2008-2020 LAAS-CNRS, JRL AIST-CNRS.
# #
# Author: Florent Lamiraux, Nirmal Giftsun # Author: Florent Lamiraux, Nirmal Giftsun, Guilhem Saurel
# #
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program. If not, see <http://www.gnu.org/licenses/>.
# Catkin part
cmake_minimum_required(VERSION 2.4.6)
if(COMMAND cmake_policy) cmake_minimum_required(VERSION 3.1)
cmake_policy(SET CMP0003 NEW)
endif(COMMAND cmake_policy)
SET(PROJECT_ORG stack-of-tasks) # Project properties
set(PROJECT_DESCRIPTION "Dynamic graph bridge library") set(PROJECT_ORG stack-of-tasks)
set(PROJECT_NAME dynamic_graph_bridge) set(PROJECT_NAME dynamic_graph_bridge)
set(PROJECT_URL "https://github.com/stack-of-tasks/dynamic_graph_bridge") set(PROJECT_DESCRIPTION "Dynamic graph bridge library")
set(PROJECT_SUFFIX "-v3") set(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
# Export CMake Target
SET(PROJECT_USE_CMAKE_EXPORT TRUE)
# Disable failing compilation when a compilation error appears # Project options
set(CXX_DISABLE_WERROR False) option(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
# Make sure that every header is generated in dynamic-graph # Project configuration
SET(CUSTOM_HEADER_DIR ${PROJECT_NAME}) set(PROJECT_USE_CMAKE_EXPORT TRUE)
set(CUSTOM_HEADER_DIR ${PROJECT_NAME})
set(CXX_DISABLE_WERROR FALSE)
set(DOXYGEN_USE_MATHJAX YES)
set(CATKIN_ENABLE_TESTING OFF)
# JRL-cmakemodule setup
include(cmake/base.cmake) include(cmake/base.cmake)
include(cmake/boost.cmake)
# Specify the project.
cmake_policy(SET CMP0048 NEW)
PROJECT(${PROJECT_NAME}
LANGUAGES
CXX
VERSION
${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}.${PROJECT_VERSION_PATCH}
)
INCLUDE(cmake/boost.cmake)
INCLUDE(cmake/eigen.cmake)
include(cmake/ros.cmake) include(cmake/ros.cmake)
include(cmake/GNUInstallDirs.cmake)
include(cmake/python.cmake)
include(cmake/test.cmake)
SET(CATKIN_REQUIRED_COMPONENTS
roscpp std_msgs message_generation std_srvs geometry_msgs sensor_msgs
tf tf2_bullet)
SET(CATKIN_DEPENDS_LIBRARIES ros_bridge sot_loader)
## LAAS cmake submodule part
SET(DOXYGEN_USE_MATHJAX YES) # Project definition
compute_project_args(PROJECT_ARGS LANGUAGES CXX)
# Add option build python interface project(${PROJECT_NAME} ${PROJECT_ARGS})
OPTION (BUILD_PYTHON_INTERFACE "Build the python binding" ON)
# Project dependencies
set(CUSTOM_HEADER_DIR dynamic_graph_bridge) set(CATKIN_REQUIRED_COMPONENTS
roscpp
std_msgs
message_generation
std_srvs
geometry_msgs
sensor_msgs
tf2_ros
realtime_tools)
if(BUILD_PYTHON_INTERFACE)
add_project_dependency(dynamic-graph-python 4.0.0 REQUIRED)
string(REGEX REPLACE "-" "_" PY_NAME ${PROJECT_NAME})
set(CATKIN_REQUIRED_COMPONENTS ${CATKIN_REQUIRED_COMPONENTS} rospy)
endif(BUILD_PYTHON_INTERFACE)
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(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()
find_package(catkin REQUIRED COMPONENTS ${CATKIN_REQUIRED_COMPONENTS})
# Main Library
set(${PROJECT_NAME}_HEADERS set(${PROJECT_NAME}_HEADERS
include/dynamic_graph_bridge/ros_init.hh include/${PROJECT_NAME}/fwd.hh
include/dynamic_graph_bridge/sot_loader.hh include/${PROJECT_NAME}/ros_init.hh
include/dynamic_graph_bridge/sot_loader_basic.hh include/${PROJECT_NAME}/sot_loader.hh
) include/${PROJECT_NAME}/sot_loader_basic.hh
include/${PROJECT_NAME}/ros_interpreter.hh
IF(BUILD_PYTHON_INTERFACE) src/converter.hh
set(${PROJECT_NAME}_HEADERS ${${PROJECT_NAME}_HEADERS} src/sot_to_ros.hh)
include/dynamic_graph_bridge/ros_interpreter.hh )
ENDIF(BUILD_PYTHON_INTERFACE) set(${PROJECT_NAME}_SOURCES src/ros_init.cpp src/sot_to_ros.cpp
src/ros_parameter.cpp)
IF(BUILD_PYTHON_INTERFACE)
FINDPYTHON() add_library(ros_bridge SHARED ${${PROJECT_NAME}_SOURCES}
STRING(REGEX REPLACE "-" "_" PY_NAME ${PROJECT_NAME}) ${${PROJECT_NAME}_HEADERS})
target_include_directories(ros_bridge SYSTEM PUBLIC ${catkin_INCLUDE_DIRS})
ADD_PROJECT_DEPENDENCY(dynamic-graph-python REQUIRED ) target_include_directories(ros_bridge PUBLIC $<INSTALL_INTERFACE:include>)
SET(CATKIN_REQUIRED_COMPONENTS ${CATKIN_REQUIRED_COMPONENTS} rospy) target_link_libraries(
SET(CATKIN_DEPENDS_LIBRARIES ${CATKIN_DEPENDS_LIBRARIES} ros_interpreter) ros_bridge ${catkin_LIBRARIES} sot-core::sot-core pinocchio::pinocchio
ENDIF(BUILD_PYTHON_INTERFACE) dynamic_graph_bridge_msgs::dynamic_graph_bridge_msgs)
SET(CATKIN_ENABLE_TESTING OFF) if(SUFFIX_SO_VERSION)
set_target_properties(ros_bridge PROPERTIES SOVERSION ${PROJECT_VERSION})
MESSAGE(STATUS "CATKIN_REQUIRED_COMPONENTS: ${CATKIN_REQUIRED_COMPONENTS}") endif(SUFFIX_SO_VERSION)
# Add catkin components
find_package(catkin REQUIRED if(NOT INSTALL_PYTHON_INTERFACE_ONLY)
COMPONENTS ${CATKIN_REQUIRED_COMPONENTS}) install(
find_package(realtime_tools) TARGETS ros_bridge
EXPORT ${TARGETS_EXPORT_NAME}
DESTINATION lib)
SEARCH_FOR_EIGEN() endif(NOT INSTALL_PYTHON_INTERFACE_ONLY)
SEARCH_FOR_BOOST()
SETUP_PROJECT_PACKAGE_FINALIZE()
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_BINARY_DIR}/bin)
set(LIBRARY_OUTPUT_PATH ${PROJECT_BINARY_DIR}/lib)
set(CMAKE_INSTALL_RPATH "${LIBRARY_OUTPUT_PATH}")
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${LIBRARY_OUTPUT_PATH}")
set(PKG_CONFIG_ADDITIONAL_VARIABLES
${PKG_CONFIG_ADDITIONAL_VARIABLES}
plugindirname
plugindir
)
# Add dependency to SoT specific packages.
SET(SOT_PKGNAMES
dynamic_graph_bridge_msgs)
#add_project_dependency(realtime_tools 1.8 REQUIRED)
ADD_PROJECT_DEPENDENCY(dynamic-graph 3.0.0 REQUIRED)
ADD_PROJECT_DEPENDENCY(sot-core REQUIRED)
ADD_PROJECT_dependency(dynamic_graph_bridge_msgs)
foreach(sot_pkgname ${SOT_PKGNAMES})
add_required_dependency(${sot_pkgname})
pkg_check_modules(SOT_${sot_pkgname} REQUIRED ${sot_pkgname})
endforeach(sot_pkgname)
# Build ros_bridge library
add_library(ros_bridge
src/converter.hh
include/dynamic_graph_bridge/ros_init.hh src/ros_init.cpp
src/sot_to_ros.hh src/sot_to_ros.cpp
)
MESSAGE(STATUS "catkin_INCLUDE_DIRS: ${catkin_INCLUDE_DIRS}")
include_directories(${catkin_INCLUDE_DIRS})
target_include_directories(ros_bridge
PUBLIC
$<BUILD_INTERFACE:${CMAKE_BUILD_DIR}/include>
$<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/include>
$<BUILD_INTERFACE:${EIGEN3_INCLUDE_DIR}>
$<BUILD_INTERFACE:${PYTHON_INCLUDE_DIRS}>
INTERFACE ${EIGEN3_INCLUDE_DIR}
$<INSTALL_INTERFACE:include>
)
#target_link_libraries(ros_bridge tf2_bullet)
target_link_libraries(ros_bridge
dynamic-graph::dynamic-graph)
target_link_libraries(ros_bridge
dynamic-graph::dynamic-graph)
MESSAGE(STATUS "catkin_LIBRARIES: ${catkin_LIBRARIES}")
target_link_libraries(ros_bridge
${catkin_LIBRARIES} )
install(TARGETS ros_bridge
EXPORT ${TARGETS_EXPORT_NAME}
DESTINATION lib)
# Add ros_bridge in the dynamic-graph-bridge pkg-config file.
# Make sure rpath are preserved during the install as ROS dependencies
# are not installed.
set_target_properties(ros_bridge PROPERTIES BUILD_WITH_INSTALL_RPATH True
LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib)
macro(compile_plugin NAME)
message(lib path ${LIBRARY_OUTPUT_PATH})
file(MAKE_DIRECTORY "${LIBRARY_OUTPUT_PATH}/dynamic_graph/ros/${NAME}")
add_library(${NAME} SHARED src/${NAME}.cpp src/${NAME}.hh)
# Headers
target_include_directories(${NAME}
PUBLIC
$<BUILD_INTERFACE:${CMAKE_BUILD_DIR}/include>
$<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/include>
$<BUILD_INTERFACE:${EIGEN3_INCLUDE_DIR}>
$<BUILD_INTERFACE:${PYTHON_INCLUDE_DIRS}>
INTERFACE ${EIGEN3_INCLUDE_DIR}
$<INSTALL_INTERFACE:include>
)
# Libraries
target_link_libraries(${NAME} dynamic-graph::dynamic-graph)
target_link_libraries(${NAME} sot-core::sot-core)
target_link_libraries(${NAME} ${CATKIN_DEPENDS_LIBRARIES})
add_dependencies(${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)
endmacro()
# Build Sot Entities
set(listplugins
ros_publish ros_subscribe ros_queued_subscribe ros_tf_listener ros_time)
foreach(aplugin ${listplugins})
compile_plugin(${aplugin})
endforeach()
target_link_libraries(ros_publish ros_bridge)
IF(BUILD_PYTHON_INTERFACE)
foreach(NAME ${listplugins})
dynamic_graph_python_module("ros/${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)
endforeach()
# 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)
#pkg_config_use_dependency(ros_interpreter dynamic-graph-python)
add_dependencies(ros_interpreter ros_bridge)
target_link_libraries(ros_interpreter roscpp)
target_link_libraries(ros_interpreter
dynamic-graph::dynamic-graph)
target_link_libraries(ros_interpreter sot-core::sot-core)
target_link_libraries(ros_interpreter
dynamic-graph-python::dynamic-graph-python)
target_link_libraries(ros_interpreter realtime_tools)
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)
ENDIF(BUILD_PYTHON_INTERFACE)
MESSAGE(STATUS "CATKIN_DEPENDS_LIBRARIES: ${CATKIN_DEPENDS_LIBRARIES}")
# 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)
target_link_libraries(geometric_simu dynamic-graph::dynamic-graph)
target_link_libraries(geometric_simu ros_bridge tf ${Boost_LIBRARIES}
${CMAKE_DL_LIBS})
target_link_libraries(geometric_simu ${CATKIN_DEPENDS_LIBRARIES})
# Sot loader library
add_library(sot_loader src/sot_loader.cpp src/sot_loader_basic.cpp)
target_link_libraries(sot_loader dynamic-graph::dynamic-graph)
target_link_libraries(sot_loader sot-core::sot-core)
target_link_libraries(sot_loader ${Boost_LIBRARIES} )
install(TARGETS sot_loader DESTINATION lib)
add_subdirectory(src) add_subdirectory(src)
add_subdirectory(tests) add_subdirectory(tests)
# Deal with the ROS part. # install ros executables
add_service_files( FILES RunPythonFile.srv ) install(PROGRAMS scripts/robot_pose_publisher scripts/run_command
generate_messages( DEPENDENCIES std_msgs ) scripts/tf_publisher DESTINATION share/${PROJECT_NAME})
# This is necessary so that the pc file generated by catking is similar to
# the on done directly by jrl-cmake-modules
catkin_package(INCLUDE_DIRS include
CATKIN_DEPENDS
message_runtime roscpp realtime_tools tf2_bullet ${SOT_PKGNAMES} tf
LIBRARIES ${CATKIN_DEPENDS_LIBRARIES}
)
# Add libraries in pc file generated by cmake submodule
PKG_CONFIG_APPEND_LIBS(ros_bridge sot_loader)
# In the python interface needs to be build.
IF(BUILD_PYTHON_INTERFACE)
PKG_CONFIG_APPEND_LIBS(ros_interpreter)
#install ros executables
install(PROGRAMS
${CMAKE_SOURCE_DIR}/scripts/robot_pose_publisher
${CMAKE_SOURCE_DIR}/scripts/run_command
${CMAKE_SOURCE_DIR}/scripts/tf_publisher
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
# Service file.
install(FILES ./srv/RunPythonFile.srv
DESTINATION
${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/srv)
ENDIF(BUILD_PYTHON_INTERFACE)
message(cmake_install_bindir " is ${CMAKE_INSTALL_BINDIR} ")
# Install the geometrical simulation node
install(TARGETS geometric_simu
EXPORT ${TARGETS_EXPORT_NAME}
DESTINATION
${CATKIN_PACKAGE_SHARE_DESTINATION})
# Install package information # Install package information
install(FILES manifest.xml install(FILES manifest.xml package.xml DESTINATION share/${PROJECT_NAME})
DESTINATION
${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/)
SETUP_PROJECT_PACKAGE_FINALIZE()
README.md
View file @ c2c3026d
dynamic-graph bindings # Dynamic Graph bindings
======================
[![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://gitlab.laas.fr/stack-of-tasks/dynamic_graph_bridge/badges/master/pipeline.svg)](https://gitlab.laas.fr/stack-of-tasks/dynamic_graph_bridge/commits/master)
[![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://gitlab.laas.fr/stack-of-tasks/dynamic_graph_bridge/badges/master/coverage.svg?job=doc-coverage)](https://gepettoweb.laas.fr/doc/stack-of-tasks/dynamic_graph_bridge/master/coverage/)
[![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/) [![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)
[![pre-commit.ci status](https://results.pre-commit.ci/badge/github/stack-of-tasks/dynamic_graph_bridge/master.svg)](https://results.pre-commit.ci/latest/github/stack-of-tasks/dynamic_graph_bridge)
This ROS package binds together the ROS framework with the This ROS package binds together the ROS framework with the
dynamic-graph real-time control architecture. dynamic-graph real-time control architecture.
cmake @ 57c46b2d
Subproject commit 046c3be5553c4ea340eb672d0289627f0c07b1a4 Subproject commit 57c46b2d7b26bb0c25f8f98cfc2a9868e03be603
doc/Doxyfile.extra.in
View file @ c2c3026d
INPUT = @PROJECT_SOURCE_DIR@/include \ INPUT = @PROJECT_SOURCE_DIR@/include \
@PROJECT_SOURCE_DIR@/doc @PROJECT_SOURCE_DIR@/doc
include/dynamic_graph_bridge/fwd.hh 0 → 100644
View file @ c2c3026d
/*
* 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/fwd.hh>
namespace dynamicgraph {
// classes defined in sot-core
class Interpreter;
typedef std::shared_ptr<Interpreter> InterpreterPtr_t;
} // namespace dynamicgraph
#endif // DYNAMIC_GRAPH_PYTHON_FWD_HH
include/dynamic_graph_bridge/ros_init.hh
View file @ c2c3026d
#ifndef ROS_INIT_HH #ifndef ROS_INIT_HH
#define ROS_INIT_HH #define ROS_INIT_HH
#pragma GCC diagnostic push
#pragma GCC system_header
#include <ros/ros.h> #include <ros/ros.h>
#pragma GCC diagnostic pop
namespace dynamicgraph { namespace dynamicgraph {
ros::NodeHandle& rosInit(bool createAsyncSpinner = false, ros::NodeHandle& rosInit(bool createAsyncSpinner = false,
......
include/dynamic_graph_bridge/ros_interpreter.hh
View file @ c2c3026d
#ifndef DYNAMIC_GRAPH_BRIDGE_INTERPRETER_HH #ifndef DYNAMIC_GRAPH_BRIDGE_INTERPRETER_HH
#define DYNAMIC_GRAPH_BRIDGE_INTERPRETER_HH #define DYNAMIC_GRAPH_BRIDGE_INTERPRETER_HH
#pragma GCC diagnostic push
#pragma GCC system_header
#include <ros/ros.h> #include <ros/ros.h>
#pragma GCC diagnostic pop
#include <dynamic_graph_bridge_msgs/RunCommand.h> #include <dynamic_graph_bridge_msgs/RunCommand.h>
#include <dynamic_graph_bridge_msgs/RunPythonFile.h> #include <dynamic_graph_bridge_msgs/RunPythonFile.h>
#include <dynamic-graph/python/interpreter.hh> #include <dynamic-graph/python/interpreter.hh>
#include <dynamic_graph_bridge/fwd.hh>
namespace dynamicgraph { namespace dynamicgraph {
/// \brief This class wraps the implementation of the runCommand /// \brief This class wraps the implementation of the runCommand
......
include/dynamic_graph_bridge/ros_parameter.hh 0 → 100644
View file @ c2c3026d
#ifndef _ROS_DYNAMIC_GRAPH_PARAMETER_
#define _ROS_DYNAMIC_GRAPH_PARAMETER_
namespace dynamicgraph {
bool parameter_server_read_robot_description();
}
#endif /* _ROS_DYNAMIC_GRAPH_PARAMETER_ */
include/dynamic_graph_bridge/sot_loader.hh
View file @ c2c3026d
...@@ -4,17 +4,6 @@ ...@@ -4,17 +4,6 @@
* *
* CNRS * CNRS
* *
* This file is part of dynamic-graph-bridge.
* dynamic-graph-bridge is free software: you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public License
* as published by the Free Software Foundation, either version 3 of
* the License, or (at your option) any later version.
* dynamic-graph-bridge is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty
* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details. You should
* have received a copy of the GNU Lesser General Public License along
* with dynamic-graph-bridge. If not, see <http://www.gnu.org/licenses/>.
*/ */
/* -------------------------------------------------------------------------- */ /* -------------------------------------------------------------------------- */
/* --- INCLUDES ------------------------------------------------------------- */ /* --- INCLUDES ------------------------------------------------------------- */
...@@ -29,25 +18,25 @@ ...@@ -29,25 +18,25 @@
// STL includes // STL includes
#include <map> #include <map>
// Pinocchio includes
#include <pinocchio/fwd.hpp>
// Boost includes // Boost includes
#include <boost/program_options.hpp>
#include <boost/foreach.hpp> #include <boost/foreach.hpp>
#include <boost/format.hpp> #include <boost/format.hpp>
#include <boost/program_options.hpp>
#include <boost/thread/thread.hpp> #include <boost/thread/thread.hpp>
// ROS includes // ROS includes
#pragma GCC diagnostic push #include <sensor_msgs/JointState.h>
#pragma GCC system_header #include <tf2_ros/transform_broadcaster.h>
#include "ros/ros.h"
#pragma GCC diagnostic pop
#include "ros/ros.h"
#include "std_srvs/Empty.h" #include "std_srvs/Empty.h"
#include <sensor_msgs/JointState.h>
#include <tf/transform_broadcaster.h>
// Sot Framework includes // Sot Framework includes
#include <sot/core/debug.hh>
#include <sot/core/abstract-sot-external-interface.hh> #include <sot/core/abstract-sot-external-interface.hh>
#include <sot/core/debug.hh>
// Dynamic-graph-bridge includes. // Dynamic-graph-bridge includes.
#include <dynamic_graph_bridge/sot_loader_basic.hh> #include <dynamic_graph_bridge/sot_loader_basic.hh>
...@@ -87,8 +76,8 @@ class SotLoader : public SotLoaderBasic { ...@@ -87,8 +76,8 @@ class SotLoader : public SotLoaderBasic {
virtual void startControlLoop(); virtual void startControlLoop();
// Robot Pose Publisher // Robot Pose Publisher
tf::TransformBroadcaster freeFlyerPublisher_; tf2_ros::TransformBroadcaster freeFlyerPublisher_;
tf::Transform freeFlyerPose_; geometry_msgs::TransformStamped freeFlyerPose_;
public: public:
SotLoader(); SotLoader();
......
include/dynamic_graph_bridge/sot_loader_basic.hh
View file @ c2c3026d
...@@ -4,17 +4,6 @@ ...@@ -4,17 +4,6 @@
* *
* CNRS * CNRS
* *
* This file is part of dynamic_graph_bridge.
* dynamic_graph_bridge is free software: you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public License
* as published by the Free Software Foundation, either version 3 of
* the License, or (at your option) any later version.
* dynamic_graph_bridge is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty
* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details. You should
* have received a copy of the GNU Lesser General Public License along
* with sot-core. If not, see <http://www.gnu.org/licenses/>.
*/ */
/* -------------------------------------------------------------------------- */ /* -------------------------------------------------------------------------- */
/* --- INCLUDES ------------------------------------------------------------- */ /* --- INCLUDES ------------------------------------------------------------- */
...@@ -29,19 +18,23 @@ ...@@ -29,19 +18,23 @@
// STL includes // STL includes
#include <map> #include <map>
// Pinocchio includes
#include <pinocchio/fwd.hpp>
// Boost includes // Boost includes
#include <boost/program_options.hpp>
#include <boost/foreach.hpp> #include <boost/foreach.hpp>
#include <boost/format.hpp> #include <boost/format.hpp>
#include <boost/program_options.hpp>
// ROS includes // ROS includes
#include <sensor_msgs/JointState.h>
#include "ros/ros.h" #include "ros/ros.h"
#include "std_srvs/Empty.h" #include "std_srvs/Empty.h"
#include <sensor_msgs/JointState.h>
// Sot Framework includes // Sot Framework includes
#include <sot/core/debug.hh>
#include <sot/core/abstract-sot-external-interface.hh> #include <sot/core/abstract-sot-external-interface.hh>
#include <sot/core/debug.hh>
namespace po = boost::program_options; namespace po = boost::program_options;
namespace dgs = dynamicgraph::sot; namespace dgs = dynamicgraph::sot;
......
package.xml
View file @ c2c3026d
<package format="2"> <package format="2">
<name>dynamic_graph_bridge</name> <name>dynamic_graph_bridge</name>
<version>3.0.8</version> <version>3.4.5</version>
<description> <description>
ROS bindings for dynamic graph. ROS bindings for dynamic graph.
</description> </description>
<maintainer email="hpp@laas.fr">hpp@laas.fr</maintainer> <maintainer email="guilhem.saurel@laas.fr">guilhem.saurel@laas.fr</maintainer>
<author email="hpp@laas.fr">hpp@laas.fr</author> <author email="hpp@laas.fr">hpp@laas.fr</author>
<license>LGPL</license> <license>LGPL</license>
...@@ -16,21 +16,20 @@ ...@@ -16,21 +16,20 @@
<rosdoc config="rosdoc.yaml" /> <rosdoc config="rosdoc.yaml" />
</export> </export>
<buildtool_depend>catkin</buildtool_depend> <buildtool_depend>catkin</buildtool_depend>
<build_depend>std_msgs</build_depend> <build_depend>std_msgs</build_depend>
<build_depend>std_srvs</build_depend> <build_depend>std_srvs</build_depend>
<build_depend>roscpp</build_depend> <build_depend>roscpp</build_depend>
<build_depend>geometry_msgs</build_depend> <build_depend>geometry_msgs</build_depend>
<build_depend>sensor_msgs</build_depend> <build_depend>sensor_msgs</build_depend>
<build_depend>tf</build_depend> <build_depend>tf2_ros</build_depend>
<build_depend>realtime_tools</build_depend> <build_depend>realtime_tools</build_depend>
<build_depend>message_generation</build_depend> <build_depend>message_generation</build_depend>
<build_depend>message_runtime</build_depend> <build_depend>message_runtime</build_depend>
<build_depend>tf2_bullet</build_depend> <build_depend>dynamic-graph</build_depend>
<build_depend>dynamic_graph</build_depend> <build_depend>dynamic-graph-python</build_depend>
<build_depend>dynamic_graph_python</build_depend> <build_depend>sot-core</build_depend>
<build_depend>sot_core</build_depend>
<build_depend>sot-dynamic-pinocchio</build_depend> <build_depend>sot-dynamic-pinocchio</build_depend>
<build_depend>dynamic_graph_bridge_msgs</build_depend> <build_depend>dynamic_graph_bridge_msgs</build_depend>
...@@ -39,13 +38,12 @@ ...@@ -39,13 +38,12 @@
<exec_depend>roscpp</exec_depend> <exec_depend>roscpp</exec_depend>
<exec_depend>geometry_msgs</exec_depend> <exec_depend>geometry_msgs</exec_depend>
<exec_depend>sensor_msgs</exec_depend> <exec_depend>sensor_msgs</exec_depend>
<exec_depend>tf</exec_depend> <exec_depend>tf2_ros</exec_depend>
<exec_depend>realtime_tools</exec_depend> <exec_depend>realtime_tools</exec_depend>
<exec_depend>message_generation</exec_depend> <exec_depend>message_generation</exec_depend>
<exec_depend>message_runtime</exec_depend> <exec_depend>message_runtime</exec_depend>
<exec_depend>tf2_bullet</exec_depend> <exec_depend>dynamic-graph</exec_depend>
<exec_depend>dynamic_graph</exec_depend> <exec_depend>dynamic-graph-python</exec_depend>
<exec_depend>dynamic_graph_python</exec_depend>
<exec_depend>sot-core</exec_depend> <exec_depend>sot-core</exec_depend>
<exec_depend>sot-dynamic-pinocchio</exec_depend> <exec_depend>sot-dynamic-pinocchio</exec_depend>
<exec_depend>dynamic_graph_bridge_msgs</exec_depend> <exec_depend>dynamic_graph_bridge_msgs</exec_depend>
......
pyproject.toml 0 → 100644
View file @ c2c3026d
[tool.black]
exclude = "cmake"
scripts/robot_pose_publisher
View file @ c2c3026d
...@@ -8,23 +8,26 @@ import rospy ...@@ -8,23 +8,26 @@ import rospy
import tf import tf
import sensor_msgs.msg import sensor_msgs.msg
frame = '' frame = ""
childFrame = '' childFrame = ""
#DEPRECATED. Robot Pose is already being published
def pose_broadcaster(msg): def pose_broadcaster(msg):
translation = msg.position[0:3]; # DEPRECATED. Robot Pose is already being published
rotation = tf.transformations.quaternion_from_euler(msg.position[3], msg.position[4], msg.position[5]) translation = msg.position[0:3]
rotation = tf.transformations.quaternion_from_euler(
msg.position[3], msg.position[4], msg.position[5]
)
tfbr = tf.TransformBroadcaster() tfbr = tf.TransformBroadcaster()
tfbr.sendTransform(translation, rotation, tfbr.sendTransform(translation, rotation, rospy.Time.now(), childFrame, frame)
rospy.Time.now(), childFrame, frame)
if __name__ == "__main__":
rospy.init_node("robot_pose_publisher", anonymous=True)
if __name__ == '__main__': frame = rospy.get_param("~frame", "odom")
rospy.init_node('robot_pose_publisher', anonymous=True) childFrame = rospy.get_param("~child_frame", "base_link")
topic = rospy.get_param("~topic", "joint_states")
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.Subscriber(topic, sensor_msgs.msg.JointState, pose_broadcaster)
rospy.spin() rospy.spin()
scripts/run_command
View file @ c2c3026d
...@@ -2,7 +2,7 @@ ...@@ -2,7 +2,7 @@
import rospy import rospy
import dynamic_graph import dynamic_graph # noqa: F401
import dynamic_graph_bridge_msgs.srv import dynamic_graph_bridge_msgs.srv
import sys import sys
import code import code
...@@ -18,7 +18,8 @@ except ImportError: ...@@ -18,7 +18,8 @@ except ImportError:
print("Module readline not available.") print("Module readline not available.")
# Enable a History # Enable a History
HISTFILE="%s/.pyhistory" % os.environ["HOME"] HISTFILE = "%s/.pyhistory" % os.environ["HOME"]
def savehist(): def savehist():
readline.write_history_file(HISTFILE) readline.write_history_file(HISTFILE)
...@@ -29,30 +30,31 @@ class RosShell(InteractiveConsole): ...@@ -29,30 +30,31 @@ class RosShell(InteractiveConsole):
self.cache = "" self.cache = ""
InteractiveConsole.__init__(self) InteractiveConsole.__init__(self)
rospy.loginfo('waiting for service...') rospy.loginfo("waiting for service...")
rospy.wait_for_service('run_command') rospy.wait_for_service("run_command")
self.client = rospy.ServiceProxy( self.client = rospy.ServiceProxy(
'run_command', dynamic_graph_bridge_msgs.srv.RunCommand, True) "run_command", dynamic_graph_bridge_msgs.srv.RunCommand, True
rospy.wait_for_service('run_script') )
rospy.wait_for_service("run_script")
self.scriptClient = rospy.ServiceProxy( self.scriptClient = rospy.ServiceProxy(
'run_script', dynamic_graph_bridge_msgs.srv.RunPythonFile, True) "run_script", dynamic_graph_bridge_msgs.srv.RunPythonFile, True
)
readline.set_completer(DGCompleter(self.client).complete) readline.set_completer(DGCompleter(self.client).complete)
readline.parse_and_bind("tab: complete") readline.parse_and_bind("tab: complete")
# Read the existing history if there is one # Read the existing history if there is one
if os.path.exists(HISTFILE): if os.path.exists(HISTFILE):
readline.read_history_file(HISTFILE) readline.read_history_file(HISTFILE)
# Set maximum number of items that will be written to the history file # Set maximum number of items that will be written to the history file
readline.set_history_length(300) readline.set_history_length(300)
import atexit import atexit
atexit.register(savehist)
atexit.register(savehist)
def runcode(self, code, retry = True): def runcode(self, code, retry=True):
source = self.cache[:-1] source = self.cache[:-1]
self.cache = "" self.cache = ""
if source != "": if source != "":
...@@ -60,50 +62,53 @@ class RosShell(InteractiveConsole): ...@@ -60,50 +62,53 @@ class RosShell(InteractiveConsole):
if not self.client: if not self.client:
print("Connection to remote server lost. Reconnecting...") print("Connection to remote server lost. Reconnecting...")
self.client = rospy.ServiceProxy( self.client = rospy.ServiceProxy(
'run_command', dynamic_graph_bridge_msgs.srv.RunCommand, True) "run_command", dynamic_graph_bridge_msgs.srv.RunCommand, True
)
if retry: if retry:
print("Retrying previous command...") print("Retrying previous command...")
self.cache = source self.cache = source
return self.runcode(code, False) return self.runcode(code, False)
response = self.client(str(source)) response = self.client(str(source))
if response.standardoutput != "": if response.standardoutput != "":
print response.standardoutput[:-1] print(response.standardoutput[:-1])
if response.standarderror != "": if response.standarderror != "":
print response.standarderror[:-1] print(response.standarderror[:-1])
elif response.result != "None": elif response.result != "None":
print response.result print(response.result)
except rospy.ServiceException, e: except rospy.ServiceException:
print("Connection to remote server lost. Reconnecting...") print("Connection to remote server lost. Reconnecting...")
self.client = rospy.ServiceProxy( self.client = rospy.ServiceProxy(
'run_command', dynamic_graph_bridge_msgs.srv.RunCommand, True) "run_command", dynamic_graph_bridge_msgs.srv.RunCommand, True
)
if retry: if retry:
print("Retrying previous command...") print("Retrying previous command...")
self.cache = source self.cache = source
self.runcode(code, False) self.runcode(code, False)
def runsource(self, source, filename = '<input>', symbol = 'single'): def runsource(self, source, filename="<input>", symbol="single"):
try: try:
c = code.compile_command(source, filename, symbol) c = code.compile_command(source, filename, symbol)
if c: if c:
return self.runcode(c) return self.runcode(c)
else: else:
return True return True
except SyntaxError, OverflowError: except (SyntaxError, OverflowError):
self.showsyntaxerror() self.showsyntaxerror()
self.cache = "" self.cache = ""
return False return False
def push(self,line): def push(self, line):
self.cache += line + "\n" self.cache += line + "\n"
return InteractiveConsole.push(self,line) return InteractiveConsole.push(self, line)
if __name__ == '__main__':
if __name__ == "__main__":
import optparse import optparse
import os.path import os.path
rospy.init_node('run_command', argv=sys.argv)
rospy.init_node("run_command", argv=sys.argv)
sys.argv = rospy.myargv(argv=None) sys.argv = rospy.myargv(argv=None)
parser = optparse.OptionParser( parser = optparse.OptionParser(usage="\n\t%prog [options]")
usage='\n\t%prog [options]')
(options, args) = parser.parse_args(sys.argv[1:]) (options, args) = parser.parse_args(sys.argv[1:])
sh = RosShell() sh = RosShell()
...@@ -118,6 +123,6 @@ if __name__ == '__main__': ...@@ -118,6 +123,6 @@ if __name__ == '__main__':
if not response: if not response:
print("Error while file parsing ") print("Error while file parsing ")
else: else:
print("Provided file does not exist: %s"%(infile)) print("Provided file does not exist: %s" % (infile))
else: else:
sh.interact("Interacting with remote server.") sh.interact("Interacting with remote server.")
scripts/tf_publisher
View file @ c2c3026d
...@@ -6,6 +6,8 @@ ...@@ -6,6 +6,8 @@
# through dynamic_graph_bridge. # through dynamic_graph_bridge.
# #
import logging
import rospy import rospy
import tf import tf
...@@ -13,15 +15,15 @@ import geometry_msgs.msg ...@@ -13,15 +15,15 @@ import geometry_msgs.msg
def main(): def main():
rospy.init_node('tf_publisher', anonymous=True) rospy.init_node("tf_publisher", anonymous=True)
frame = rospy.get_param('~frame', '') frame = rospy.get_param("~frame", "")
childFrame = rospy.get_param('~child_frame', '') childFrame = rospy.get_param("~child_frame", "")
topic = rospy.get_param('~topic', '') topic = rospy.get_param("~topic", "")
rateSeconds = rospy.get_param('~rate', 5) rateSeconds = rospy.get_param("~rate", 5)
if not frame or not childFrame or not topic: if not frame or not childFrame or not topic:
logpy.error("frame, childFrame and topic are required parameters") logging.error("frame, childFrame and topic are required parameters")
return return
rate = rospy.Rate(rateSeconds) rate = rospy.Rate(rateSeconds)
...@@ -35,11 +37,10 @@ def main(): ...@@ -35,11 +37,10 @@ def main():
ok = False ok = False
while not rospy.is_shutdown() and not ok: while not rospy.is_shutdown() and not ok:
try: try:
tl.waitForTransform(childFrame, frame, tl.waitForTransform(childFrame, frame, rospy.Time(), rospy.Duration(0.1))
rospy.Time(), rospy.Duration(0.1))
ok = True ok = True
except tf.Exception, e: except tf.Exception:
rospy.logwarn("waiting for tf transform") logging.warning("waiting for tf transform")
ok = False ok = False
while not rospy.is_shutdown(): while not rospy.is_shutdown():
...@@ -60,4 +61,5 @@ def main(): ...@@ -60,4 +61,5 @@ def main():
pub.publish(transform) pub.publish(transform)
rate.sleep() rate.sleep()
main() main()