dynamic-graph bindings

This ROS package binds together the ROS framework with the dynamic-graph real-time control architecture.

ROS 2

Introduction

To use this package you need to be in a ROS 2 workspace.

If you did not have one, you should first create it :

mkdir -p sot_ws/src
cd sot_ws/src

Compile and Install

To build this package after installing all the dependencies:

cd sot_ws
colcon build --merge-install --packages-select dynamic_graph_bridge --cmake-args ' -DPYTHON_STANDARD_LAYOUT:BOOL=ON'

You need to install everything at the same level specifically for the python modules, and in addition it is necessary to install everything with the standard python layout. Note that the same option need to be used for all the packages.

Test

To test it:

colcon test --packages-select dynamic_graph_bridge

This command should create a directory in the log directory:

test_dateoftoday

Inside this directory there is another directory called dynamic_graph_bridge

In this directory the file stdout_stderr.log contains the results of the tests.

If one of the test failed you will see the output in this specific file. To summarize, if you are at the root of your worspace, the file is located here:

./log/test_dateoftoday/dynamic_graph_bridge/stdout_stderr.log