Unverified Commit bcbf2974 authored by Guilhem Saurel's avatar Guilhem Saurel Committed by GitHub
Browse files

Merge pull request #6 from nim65s/devel

Packaging for the v1.0.6 Release
parents 8087ec7a c4a85e51
Pipeline #3370 passed with stage
in 5 minutes and 48 seconds
# Copyright 2016, Thomas Moulard, Olivier Stasse, JRL, CNRS/AIST # Copyright 2016, Thomas Moulard, Olivier Stasse, JRL, CNRS/AIST
# #
# This file is part of sot-talos.
# sot-talos 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.
#
# sot-talos 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 Lesser Public License for more details. You should have
# received a copy of the GNU Lesser General Public License along with
# sot-talos. If not, see <http://www.gnu.org/licenses/>.
CMAKE_MINIMUM_REQUIRED(VERSION 2.6) CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
...@@ -19,12 +7,12 @@ INCLUDE(cmake/base.cmake) ...@@ -19,12 +7,12 @@ INCLUDE(cmake/base.cmake)
INCLUDE(cmake/boost.cmake) INCLUDE(cmake/boost.cmake)
INCLUDE(cmake/eigen.cmake) INCLUDE(cmake/eigen.cmake)
INCLUDE(cmake/lapack.cmake) INCLUDE(cmake/lapack.cmake)
INCLUDE(cmake/cpack.cmake)
INCLUDE(cmake/ros.cmake) INCLUDE(cmake/ros.cmake)
SET(PROJECT_NAMESPACE stack-of-tasks)
SET(PROJECT_NAME sot-talos) SET(PROJECT_NAME sot-talos)
SET(PROJECT_DESCRIPTION "dynamic-graph package for Talos robot") SET(PROJECT_DESCRIPTION "dynamic-graph package for Talos robot")
SET(PROJECT_URL "http://github.com/stack-of-tasks/sot-talos") SET(PROJECT_URL "http://github.com/${PROJECT_NAMESPACE}/${PROJECT_NAME}")
SET(CUSTOM_HEADER_DIR "${PROJECT_NAME}") SET(CUSTOM_HEADER_DIR "${PROJECT_NAME}")
...@@ -40,7 +28,7 @@ SETUP_PROJECT() ...@@ -40,7 +28,7 @@ SETUP_PROJECT()
# Search for dependencies. # Search for dependencies.
ADD_REQUIRED_DEPENDENCY("pinocchio") ADD_REQUIRED_DEPENDENCY("pinocchio >= 2.0.0")
ADD_REQUIRED_DEPENDENCY("dynamic-graph >= 3.0.0") ADD_REQUIRED_DEPENDENCY("dynamic-graph >= 3.0.0")
ADD_REQUIRED_DEPENDENCY("sot-core >= 4.0.0") ADD_REQUIRED_DEPENDENCY("sot-core >= 4.0.0")
...@@ -87,23 +75,23 @@ IF(TALOS_DATA_FOUND) ...@@ -87,23 +75,23 @@ IF(TALOS_DATA_FOUND)
# Configure files using motions from pyrene-motions package # Configure files using motions from pyrene-motions package
FOREACH(py_filename appli-test-simple-seq-play ) FOREACH(py_filename appli-test-simple-seq-play )
CONFIGURE_FILE( CONFIGURE_FILE(
${PROJECT_SOURCE_DIR}/tests/${py_filename}.py.cmake ${PROJECT_SOURCE_DIR}/tests/${py_filename}.py.cmake
${PROJECT_BINARY_DIR}/tests/${py_filename}.py ${PROJECT_BINARY_DIR}/tests/${py_filename}.py
) )
INSTALL(FILES INSTALL(FILES
${PROJECT_BINARY_DIR}/tests/${py_filename}.py ${PROJECT_BINARY_DIR}/tests/${py_filename}.py
DESTINATION DESTINATION
${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/tests ${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/tests
) )
ENDFOREACH(py_filename) ENDFOREACH(py_filename)
# Install python files starting the application # Install python files starting the application
FOREACH(py_filename test-simple-seq-play ) FOREACH(py_filename test-simple-seq-play )
INSTALL(FILES INSTALL(FILES
${PROJECT_SOURCE_DIR}/tests/${py_filename}.py ${PROJECT_SOURCE_DIR}/tests/${py_filename}.py
DESTINATION DESTINATION
${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/tests ${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/tests
) )
ENDFOREACH(py_filename) ENDFOREACH(py_filename)
ENDIF(PYRENE_MOTIONS_FOUND) ENDIF(PYRENE_MOTIONS_FOUND)
...@@ -117,4 +105,3 @@ IF(TALOS_DATA_FOUND) ...@@ -117,4 +105,3 @@ IF(TALOS_DATA_FOUND)
ENDIF(TALOS_DATA_FOUND) ENDIF(TALOS_DATA_FOUND)
SETUP_PROJECT_FINALIZE() SETUP_PROJECT_FINALIZE()
SETUP_PROJECT_CPACK()
Subproject commit 6ccc9f9b2a2ff510ae7754c515c72f8e38410447 Subproject commit 1d9aeca25e970d2d967fd5be0fb93fe961db121b
...@@ -87,7 +87,8 @@ class Talos(AbstractHumanoidRobot): ...@@ -87,7 +87,8 @@ class Talos(AbstractHumanoidRobot):
from pinocchio.robot_wrapper import RobotWrapper from pinocchio.robot_wrapper import RobotWrapper
import pinocchio as se3 import pinocchio as se3
from dynamic_graph.sot.dynamics_pinocchio import fromSotToPinocchio from dynamic_graph.sot.dynamics_pinocchio import fromSotToPinocchio
pinocchioRobot = RobotWrapper(urdfPath, urdfDir, se3.JointModelFreeFlyer()) pinocchioRobot = RobotWrapper()
pinocchioRobot.initFromURDF(urdfPath, urdfDir, se3.JointModelFreeFlyer())
self.pinocchioModel = pinocchioRobot.model self.pinocchioModel = pinocchioRobot.model
self.pinocchioData = pinocchioRobot.data self.pinocchioData = pinocchioRobot.data
......
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