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  • 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
# 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/
include: http://rainboard.laas.fr/project/dynamic_graph_bridge/.gitlab-ci.yml
.gitmodules
View file @ c2c3026d
[submodule "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 @ 86cfdc71
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 3.1)
# Project properties
set(PROJECT_ORG stack-of-tasks)
set(PROJECT_NAME dynamic_graph_bridge)
set(PROJECT_DESCRIPTION "Dynamic graph bridge library")
set(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
# Project options
option(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
cmake_minimum_required(VERSION 2.4.6)
# Project configuration
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/boost.cmake)
INCLUDE(cmake/eigen.cmake)
include(cmake/boost.cmake)
include(cmake/ros.cmake)
include(cmake/GNUInstallDirs.cmake)
include(cmake/python.cmake)
include(cmake/test.cmake)
project(dynamic_graph_bridge)
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 "https://github.com/stack-of-tasks/dynamic_graph_bridge")
set(PROJECT_SUFFIX "-v3")
SET(DOXYGEN_USE_MATHJAX YES)
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 ${CATKIN_DEPENDS_LIBRARIES} ros_interpreter)
ENDIF(BUILD_PYTHON_INTERFACE)
SET(CATKIN_ENABLE_TESTING OFF)
# Project definition
compute_project_args(PROJECT_ARGS LANGUAGES CXX)
project(${PROJECT_NAME} ${PROJECT_ARGS})
# Project dependencies
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 ${CATKIN_REQUIRED_COMPONENTS})
find_package(realtime_tools)
set(CXX_DISABLE_WERROR False)
set(CUSTOM_HEADER_DIR dynamic_graph_bridge)
# Main Library
set(${PROJECT_NAME}_HEADERS
include/dynamic_graph_bridge/ros_init.hh
include/dynamic_graph_bridge/sot_loader.hh
include/dynamic_graph_bridge/sot_loader_basic.hh
)
IF(BUILD_PYTHON_INTERFACE)
set(${PROJECT_NAME}_HEADERS ${${PROJECT_NAME}_HEADERS}
include/dynamic_graph_bridge/ros_interpreter.hh )
ENDIF(BUILD_PYTHON_INTERFACE)
SEARCH_FOR_EIGEN()
SEARCH_FOR_BOOST()
SETUP_PROJECT()
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_required_dependency(roscpp)
add_required_dependency(tf)
add_required_dependency("realtime_tools >= 1.8")
add_required_dependency(tf2_bullet)
ADD_REQUIRED_DEPENDENCY("dynamic-graph >= 3.0.0")
ADD_REQUIRED_DEPENDENCY("sot-core >= 3.0.0")
add_required_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
)
pkg_config_use_dependency(ros_bridge tf2_bullet)
pkg_config_use_dependency(ros_bridge dynamic_graph_bridge_msgs)
install(TARGETS ros_bridge 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)
pkg_config_use_dependency(${NAME} dynamic-graph)
pkg_config_use_dependency(${NAME} sot-core)
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)
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 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)
# 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)
pkg_config_use_dependency(geometric_simu tf)
pkg_config_use_dependency(geometric_simu roscpp)
pkg_config_use_dependency(geometric_simu dynamic-graph)
target_link_libraries(geometric_simu ros_bridge tf ${Boost_LIBRARIES} ${CMAKE_DL_LIBS})
# Sot loader library
add_library(sot_loader src/sot_loader.cpp src/sot_loader_basic.cpp)
pkg_config_use_dependency(sot_loader dynamic-graph)
pkg_config_use_dependency(sot_loader sot-core)
target_link_libraries(sot_loader ${Boost_LIBRARIES} roscpp ros_bridge tf)
install(TARGETS sot_loader DESTINATION lib)
include/${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>)
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)
# 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 ${CATKIN_DEPENDS_LIBRARIES}
)
# Add libraries in pc file generated by cmake submodule
PKG_CONFIG_APPEND_LIBS(ros_bridge sot_loader)
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(TARGETS geometric_simu DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
install(FILES manifest.xml DESTINATION ${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/)
# install ros executables
install(PROGRAMS scripts/robot_pose_publisher scripts/run_command
scripts/tf_publisher DESTINATION share/${PROJECT_NAME})
SETUP_PROJECT_FINALIZE()
# Install package information
install(FILES manifest.xml package.xml DESTINATION share/${PROJECT_NAME})
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://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/)
[![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)
[![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/)
[![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
dynamic-graph real-time control architecture.
cmake @ 57c46b2d
Subproject commit 99aafa43694125e67046bdc91c7b6485b5b6ca45
Subproject commit 57c46b2d7b26bb0c25f8f98cfc2a9868e03be603
doc/Doxyfile.extra.in
View file @ c2c3026d
INPUT = @PROJECT_SOURCE_DIR@/include \
@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
# define ROS_INIT_HH
# include <ros/ros.h>
#define ROS_INIT_HH
#include <ros/ros.h>
namespace dynamicgraph
{
ros::NodeHandle& rosInit (bool createAsyncSpinner=false, bool createMultiThreadSpinner=true);
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 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 ();
/// \brief Return multi threaded spinner or throw an exception if spinner
/// creation has been disabled at startup.
ros::MultiThreadedSpinner& mtSpinner();
} // end of namespace dynamicgraph.
} // end of namespace dynamicgraph.
#endif //! ROS_INIT_HH
#endif //! ROS_INIT_HH
include/dynamic_graph_bridge/ros_interpreter.hh
View file @ c2c3026d
#ifndef DYNAMIC_GRAPH_BRIDGE_INTERPRETER_HH
# define DYNAMIC_GRAPH_BRIDGE_INTERPRETER_HH
# include <ros/ros.h>
# 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
#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_msgs/RunCommand.h>
#include <dynamic_graph_bridge_msgs/RunPythonFile.h>
#include <dynamic-graph/python/interpreter.hh>
#include <dynamic_graph_bridge/fwd.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
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 @@
*
* 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 ------------------------------------------------------------- */
......@@ -29,21 +18,25 @@
// 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/program_options.hpp>
#include <boost/thread/thread.hpp>
// ROS includes
#include <sensor_msgs/JointState.h>
#include <tf2_ros/transform_broadcaster.h>
#include "ros/ros.h"
#include "std_srvs/Empty.h"
#include <sensor_msgs/JointState.h>
#include <tf/transform_broadcaster.h>
// Sot Framework includes
#include <sot/core/debug.hh>
// Sot Framework includes
#include <sot/core/abstract-sot-external-interface.hh>
#include <sot/core/debug.hh>
// Dynamic-graph-bridge includes.
#include <dynamic_graph_bridge/sot_loader_basic.hh>
......@@ -51,20 +44,15 @@
namespace po = boost::program_options;
namespace dgs = dynamicgraph::sot;
class SotLoader: public SotLoaderBasic
{
protected:
class SotLoader : public SotLoaderBasic {
protected:
/// Map of sensor readings
std::map <std::string,dgs::SensorValues> sensorsIn_;
std::map<std::string, dgs::SensorValues> sensorsIn_;
/// Map of control values
std::map<std::string,dgs::ControlValues> controlValues_;
std::map<std::string, dgs::ControlValues> controlValues_;
/// Angular values read by encoders
std::vector <double> angleEncoder_;
std::vector<double> angleEncoder_;
/// Angular values sent to motors
std::vector<double> angleControl_;
/// Forces read by force sensors
......@@ -74,26 +62,24 @@ protected:
/// Attitude of the robot computed by extended Kalman filter.
std::vector<double> baseAtt_;
/// Accelerations read by Accelerometers
std::vector <double> accelerometer_;
std::vector<double> accelerometer_;
/// Angular velocity read by gyrometers
std::vector <double> gyrometer_;
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_;
//Robot Pose Publisher
tf::TransformBroadcaster freeFlyerPublisher_;
tf::Transform freeFlyerPose_;
public:
public:
SotLoader();
~SotLoader();
......@@ -105,17 +91,13 @@ public:
void oneIteration();
// \brief Fill the sensors value for the SoT.
void fillSensors(std::map<std::string,
dgs::SensorValues> & sensorsIn);
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);
void readControl(std::map<std::string, dgs::ControlValues> &controlValues);
// \brief Prepare the SoT framework.
void setup();
};
#endif /* SOT_LOADER_HH_ */
include/dynamic_graph_bridge/sot_loader_basic.hh
View file @ c2c3026d
......@@ -4,17 +4,6 @@
*
* 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 ------------------------------------------------------------- */
......@@ -29,38 +18,40 @@
// 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/program_options.hpp>
// ROS includes
#include <sensor_msgs/JointState.h>
#include "ros/ros.h"
#include "std_srvs/Empty.h"
#include <sensor_msgs/JointState.h>
// Sot Framework includes
#include <sot/core/debug.hh>
// Sot Framework includes
#include <sot/core/abstract-sot-external-interface.hh>
#include <sot/core/debug.hh>
namespace po = boost::program_options;
namespace dgs = dynamicgraph::sot;
class SotLoaderBasic {
protected:
protected:
// Dynamic graph is stopped.
bool dynamic_graph_stopped_;
/// \brief the sot-hrp2 controller
dgs::AbstractSotExternalInterface * sotController_;
dgs::AbstractSotExternalInterface* sotController_;
po::variables_map vm_;
std::string dynamicLibraryName_;
/// \brief Handle on the SoT library.
void * sotRobotControllerLibrary_;
void* sotRobotControllerLibrary_;
/// \brief Map between SoT state vector and some joint_state_links
XmlRpc::XmlRpcValue stateVectorMap_;
......@@ -71,7 +62,6 @@ protected:
/// \brief Coefficient between parallel joints and the state vector.
std::vector<double> coefficient_parallel_joints_;
/// Advertises start_dynamic_graph services
ros::ServiceServer service_start_;
......@@ -80,7 +70,7 @@ protected:
// Joint state publication.
ros::Publisher joint_pub_;
// Joint state to be published.
sensor_msgs::JointState joint_state_;
......@@ -88,12 +78,12 @@ protected:
int nbOfJoints_;
parallel_joints_to_state_vector_t::size_type nbOfParallelJoints_;
public:
public:
SotLoaderBasic();
~SotLoaderBasic() {};
~SotLoaderBasic(){};
// \brief Read user input to extract the path of the SoT dynamic library.
int parseOptions(int argc, char *argv[]);
int parseOptions(int argc, char* argv[]);
/// \brief Load the SoT device corresponding to the robot.
void Initialization();
......@@ -102,16 +92,15 @@ public:
void CleanUp();
// \brief Create a thread for ROS.
virtual void initializeRosNode(int argc, char *argv[]);
virtual void initializeRosNode(int argc, char* argv[]);
// \brief Callback function when starting dynamic graph.
bool start_dg(std_srvs::Empty::Request& request,
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);
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();
......@@ -120,13 +109,10 @@ public:
int initPublication();
// \brief Get Status of dg.
bool isDynamicGraphStopped()
{ return dynamic_graph_stopped_; }
bool isDynamicGraphStopped() { return dynamic_graph_stopped_; }
// \brief Specify the name of the dynamic library.
void setDynamicLibraryName(std::string &afilename);
void setDynamicLibraryName(std::string& afilename);
};
#endif /* _SOT_LOADER_BASIC_HH_ */
package.xml
View file @ c2c3026d
<package format="2">
<name>dynamic_graph_bridge</name>
<version>3.0.8</version>
<version>3.4.5</version>
<description>
ROS bindings for dynamic graph.
</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>
<license>LGPL</license>
......@@ -16,18 +16,17 @@
<rosdoc config="rosdoc.yaml" />
</export>
<buildtool_depend>catkin</buildtool_depend>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>std_msgs</build_depend>
<build_depend>std_srvs</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>geometry_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>message_generation</build_depend>
<build_depend>message_runtime</build_depend>
<build_depend>tf2_bullet</build_depend>
<build_depend>dynamic-graph</build_depend>
<build_depend>dynamic-graph-python</build_depend>
<build_depend>sot-core</build_depend>
......@@ -39,11 +38,10 @@
<exec_depend>roscpp</exec_depend>
<exec_depend>geometry_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>message_generation</exec_depend>
<exec_depend>message_runtime</exec_depend>
<exec_depend>tf2_bullet</exec_depend>
<exec_depend>dynamic-graph</exec_depend>
<exec_depend>dynamic-graph-python</exec_depend>
<exec_depend>sot-core</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
import tf
import sensor_msgs.msg
frame = ''
childFrame = ''
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])
# DEPRECATED. Robot Pose is already being published
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)
tfbr.sendTransform(translation, rotation, rospy.Time.now(), childFrame, frame)
if __name__ == "__main__":
rospy.init_node("robot_pose_publisher", anonymous=True)
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")
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()
scripts/run_command
View file @ c2c3026d
......@@ -2,7 +2,7 @@
import rospy
import dynamic_graph
import dynamic_graph # noqa: F401
import dynamic_graph_bridge_msgs.srv
import sys
import code
......@@ -18,7 +18,8 @@ except ImportError:
print("Module readline not available.")
# Enable a History
HISTFILE="%s/.pyhistory" % os.environ["HOME"]
HISTFILE = "%s/.pyhistory" % os.environ["HOME"]
def savehist():
readline.write_history_file(HISTFILE)
......@@ -29,30 +30,31 @@ class RosShell(InteractiveConsole):
self.cache = ""
InteractiveConsole.__init__(self)
rospy.loginfo('waiting for service...')
rospy.wait_for_service('run_command')
rospy.loginfo("waiting for service...")
rospy.wait_for_service("run_command")
self.client = rospy.ServiceProxy(
'run_command', dynamic_graph_bridge_msgs.srv.RunCommand, True)
rospy.wait_for_service('run_script')
"run_command", dynamic_graph_bridge_msgs.srv.RunCommand, True
)
rospy.wait_for_service("run_script")
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.parse_and_bind("tab: complete")
# Read the existing history if there is one
if os.path.exists(HISTFILE):
readline.read_history_file(HISTFILE)
# Set maximum number of items that will be written to the history file
readline.set_history_length(300)
import atexit
atexit.register(savehist)
atexit.register(savehist)
def runcode(self, code, retry = True):
def runcode(self, code, retry=True):
source = self.cache[:-1]
self.cache = ""
if source != "":
......@@ -60,50 +62,53 @@ class RosShell(InteractiveConsole):
if not self.client:
print("Connection to remote server lost. Reconnecting...")
self.client = rospy.ServiceProxy(
'run_command', dynamic_graph_bridge_msgs.srv.RunCommand, True)
"run_command", dynamic_graph_bridge_msgs.srv.RunCommand, True
)
if retry:
print("Retrying previous command...")
self.cache = source
return self.runcode(code, False)
response = self.client(str(source))
if response.standardoutput != "":
print response.standardoutput[:-1]
print(response.standardoutput[:-1])
if response.standarderror != "":
print response.standarderror[:-1]
print(response.standarderror[:-1])
elif response.result != "None":
print response.result
except rospy.ServiceException, e:
print(response.result)
except rospy.ServiceException:
print("Connection to remote server lost. Reconnecting...")
self.client = rospy.ServiceProxy(
'run_command', dynamic_graph_bridge_msgs.srv.RunCommand, True)
"run_command", dynamic_graph_bridge_msgs.srv.RunCommand, True
)
if retry:
print("Retrying previous command...")
self.cache = source
self.runcode(code, False)
def runsource(self, source, filename = '<input>', symbol = 'single'):
def runsource(self, source, filename="<input>", symbol="single"):
try:
c = code.compile_command(source, filename, symbol)
if c:
return self.runcode(c)
else:
return True
except SyntaxError, OverflowError:
except (SyntaxError, OverflowError):
self.showsyntaxerror()
self.cache = ""
return False
def push(self,line):
def push(self, line):
self.cache += line + "\n"
return InteractiveConsole.push(self,line)
return InteractiveConsole.push(self, line)
if __name__ == '__main__':
if __name__ == "__main__":
import optparse
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)
parser = optparse.OptionParser(
usage='\n\t%prog [options]')
parser = optparse.OptionParser(usage="\n\t%prog [options]")
(options, args) = parser.parse_args(sys.argv[1:])
sh = RosShell()
......@@ -118,6 +123,6 @@ if __name__ == '__main__':
if not response:
print("Error while file parsing ")
else:
print("Provided file does not exist: %s"%(infile))
print("Provided file does not exist: %s" % (infile))
else:
sh.interact("Interacting with remote server.")
scripts/tf_publisher
View file @ c2c3026d
......@@ -6,6 +6,8 @@
# through dynamic_graph_bridge.
#
import logging
import rospy
import tf
......@@ -13,15 +15,15 @@ import geometry_msgs.msg
def main():
rospy.init_node('tf_publisher', anonymous=True)
rospy.init_node("tf_publisher", anonymous=True)
frame = rospy.get_param('~frame', '')
childFrame = rospy.get_param('~child_frame', '')
topic = rospy.get_param('~topic', '')
rateSeconds = rospy.get_param('~rate', 5)
frame = rospy.get_param("~frame", "")
childFrame = rospy.get_param("~child_frame", "")
topic = rospy.get_param("~topic", "")
rateSeconds = rospy.get_param("~rate", 5)
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
rate = rospy.Rate(rateSeconds)
......@@ -35,11 +37,10 @@ def main():
ok = False
while not rospy.is_shutdown() and not ok:
try:
tl.waitForTransform(childFrame, frame,
rospy.Time(), rospy.Duration(0.1))
tl.waitForTransform(childFrame, frame, rospy.Time(), rospy.Duration(0.1))
ok = True
except tf.Exception, e:
rospy.logwarn("waiting for tf transform")
except tf.Exception:
logging.warning("waiting for tf transform")
ok = False
while not rospy.is_shutdown():
......@@ -60,4 +61,5 @@ def main():
pub.publish(transform)
rate.sleep()
main()