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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
include: http://rainboard.laas.fr/project/dynamic-graph-bridge/.gitlab-ci.yml include: http://rainboard.laas.fr/project/dynamic_graph_bridge/.gitlab-ci.yml
.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 @ ee113b8d
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
# #
# Catkin part cmake_minimum_required(VERSION 3.1)
# Project properties
cmake_minimum_required(VERSION 2.8.0) set(PROJECT_ORG stack-of-tasks)
set(PROJECT_NAMESPACE 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/${PROJECT_NAMESPACE}/${PROJECT_NAME}") set(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
set(PROJECT_SUFFIX "-v3")
include(cmake/base.cmake)
INCLUDE(cmake/boost.cmake)
INCLUDE(cmake/eigen.cmake)
include(cmake/ros.cmake)
include(cmake/python.cmake)
include(cmake/test.cmake)
set(CUSTOM_HEADER_DIR dynamic_graph_bridge) # Project options
option(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
CMAKE_POLICY(SET CMP0048 OLD) # Project configuration
project(${PROJECT_NAME} CXX) 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)
SET(CATKIN_REQUIRED_COMPONENTS roscpp std_msgs message_generation std_srvs geometry_msgs sensor_msgs tf2_ros) # JRL-cmakemodule setup
SET(CATKIN_DEPENDS_LIBRARIES ros_bridge sot_loader) include(cmake/base.cmake)
include(cmake/boost.cmake)
## LAAS cmake submodule part include(cmake/ros.cmake)
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(catkin REQUIRED COMPONENTS ${CATKIN_REQUIRED_COMPONENTS})
find_package(realtime_tools)
set(CXX_DISABLE_WERROR False) # Main Library
set(${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)
SEARCH_FOR_EIGEN()
SEARCH_FOR_BOOST() add_library(ros_bridge SHARED ${${PROJECT_NAME}_SOURCES}
${${PROJECT_NAME}_HEADERS})
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_BINARY_DIR}/bin) target_include_directories(ros_bridge SYSTEM PUBLIC ${catkin_INCLUDE_DIRS})
set(LIBRARY_OUTPUT_PATH ${PROJECT_BINARY_DIR}/lib) target_include_directories(ros_bridge PUBLIC $<INSTALL_INTERFACE:include>)
set(CMAKE_INSTALL_RPATH "${LIBRARY_OUTPUT_PATH}") target_link_libraries(
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${LIBRARY_OUTPUT_PATH}") ros_bridge ${catkin_LIBRARIES} sot-core::sot-core pinocchio::pinocchio
set(PKG_CONFIG_ADDITIONAL_VARIABLES dynamic_graph_bridge_msgs::dynamic_graph_bridge_msgs)
${PKG_CONFIG_ADDITIONAL_VARIABLES}
plugindirname if(SUFFIX_SO_VERSION)
plugindir set_target_properties(ros_bridge PROPERTIES SOVERSION ${PROJECT_VERSION})
) endif(SUFFIX_SO_VERSION)
# Add dependency to SoT specific packages. if(NOT INSTALL_PYTHON_INTERFACE_ONLY)
SET(SOT_PKGNAMES install(
dynamic_graph_bridge_msgs) TARGETS ros_bridge
EXPORT ${TARGETS_EXPORT_NAME}
add_required_dependency(roscpp) DESTINATION lib)
add_required_dependency(tf2_ros) endif(NOT INSTALL_PYTHON_INTERFACE_ONLY)
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 tf2_ros)
pkg_config_use_dependency(geometric_simu roscpp)
pkg_config_use_dependency(geometric_simu dynamic-graph)
target_link_libraries(geometric_simu ros_bridge tf2_ros ${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 ${Boost_LIBRARIES} roscpp ros_bridge tf2_ros)
install(TARGETS sot_loader DESTINATION lib)
add_subdirectory(src) add_subdirectory(src)
add_subdirectory(tests) add_subdirectory(tests)
# Deal with the ROS part. # install ros executables
add_service_files( FILES RunPythonFile.srv ) install(PROGRAMS scripts/robot_pose_publisher scripts/run_command
generate_messages( DEPENDENCIES std_msgs ) scripts/tf_publisher DESTINATION share/${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(CATKIN_DEPENDS message_runtime roscpp realtime_tools tf2_bullet ${SOT_PKGNAMES} tf2_ros
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 package information
install(TARGETS geometric_simu DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) install(FILES manifest.xml package.xml DESTINATION share/${PROJECT_NAME})
install(FILES manifest.xml DESTINATION ${CMAKE_INSTALL_PREFIX}/share/${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://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 63efaecd7c1fa3f9c190b5365561c38ea33f3236 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
...@@ -3,7 +3,8 @@ ...@@ -3,7 +3,8 @@
#include <ros/ros.h> #include <ros/ros.h>
namespace dynamicgraph { namespace dynamicgraph {
ros::NodeHandle& rosInit(bool createAsyncSpinner = false, bool createMultiThreadSpinner = true); ros::NodeHandle& rosInit(bool createAsyncSpinner = false,
bool createMultiThreadSpinner = true);
/// \brief Return spinner or throw an exception if spinner /// \brief Return spinner or throw an exception if spinner
/// creation has been disabled at startup. /// creation has been disabled at startup.
......
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
...@@ -14,19 +20,22 @@ namespace dynamicgraph { ...@@ -14,19 +20,22 @@ namespace dynamicgraph {
/// the outside. /// the outside.
class Interpreter { class Interpreter {
public: public:
typedef boost::function<bool(dynamic_graph_bridge_msgs::RunCommand::Request&, typedef boost::function<bool(
dynamic_graph_bridge_msgs::RunCommand::Response&)> dynamic_graph_bridge_msgs::RunCommand::Request&,
dynamic_graph_bridge_msgs::RunCommand::Response&)>
runCommandCallback_t; runCommandCallback_t;
typedef boost::function<bool(dynamic_graph_bridge_msgs::RunPythonFile::Request&, typedef boost::function<bool(
dynamic_graph_bridge_msgs::RunPythonFile::Response&)> dynamic_graph_bridge_msgs::RunPythonFile::Request&,
dynamic_graph_bridge_msgs::RunPythonFile::Response&)>
runPythonFileCallback_t; runPythonFileCallback_t;
explicit Interpreter(ros::NodeHandle& nodeHandle); explicit Interpreter(ros::NodeHandle& nodeHandle);
/// \brief Method to start python interpreter and deal with messages. /// \brief Method to start python interpreter and deal with messages.
/// \param Command string to execute, result, stdout, stderr strings. /// \param Command string to execute, result, stdout, stderr strings.
void runCommand(const std::string& command, std::string& result, std::string& out, std::string& err); void runCommand(const std::string& command, std::string& result,
std::string& out, std::string& err);
/// \brief Method to parse python scripts. /// \brief Method to parse python scripts.
/// \param Input file name to parse. /// \param Input file name to parse.
...@@ -41,8 +50,9 @@ class Interpreter { ...@@ -41,8 +50,9 @@ class Interpreter {
dynamic_graph_bridge_msgs::RunCommand::Response& res); dynamic_graph_bridge_msgs::RunCommand::Response& res);
/// \brief Run a Python file. /// \brief Run a Python file.
bool runPythonFileCallback(dynamic_graph_bridge_msgs::RunPythonFile::Request& req, bool runPythonFileCallback(
dynamic_graph_bridge_msgs::RunPythonFile::Response& res); dynamic_graph_bridge_msgs::RunPythonFile::Request& req,
dynamic_graph_bridge_msgs::RunPythonFile::Response& res);
private: private:
python::Interpreter interpreter_; python::Interpreter interpreter_;
......
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
...@@ -18,21 +18,25 @@ ...@@ -18,21 +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
#include "ros/ros.h"
#include "std_srvs/Empty.h"
#include <sensor_msgs/JointState.h> #include <sensor_msgs/JointState.h>
#include <tf2_ros/transform_broadcaster.h> #include <tf2_ros/transform_broadcaster.h>
#include "ros/ros.h"
#include "std_srvs/Empty.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>
......
include/dynamic_graph_bridge/sot_loader_basic.hh
View file @ c2c3026d
...@@ -18,19 +18,23 @@ ...@@ -18,19 +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;
...@@ -91,10 +95,12 @@ class SotLoaderBasic { ...@@ -91,10 +95,12 @@ class SotLoaderBasic {
virtual void initializeRosNode(int argc, char* argv[]); virtual void initializeRosNode(int argc, char* argv[]);
// \brief Callback function when starting dynamic graph. // \brief Callback function when starting dynamic graph.
bool start_dg(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response); bool start_dg(std_srvs::Empty::Request& request,
std_srvs::Empty::Response& response);
// \brief Callback function when stopping dynamic graph. // \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. // \brief Read the state vector description based upon the robot links.
int readSotVectorStateParam(); int readSotVectorStateParam();
......
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>
...@@ -16,7 +16,7 @@ ...@@ -16,7 +16,7 @@
<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>
...@@ -27,7 +27,6 @@ ...@@ -27,7 +27,6 @@
<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>
...@@ -43,7 +42,6 @@ ...@@ -43,7 +42,6 @@
<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>
......
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()