Memo-on-catkin-tools-and-vcs-for-the-SoT.org

+#+TITLE: Memo on catkin tools and vcs for the SoT
+
+* Introduction
+This memo explains how to handle super build (set of packages) with catkin tools.
+catkin tools should not confused with catkin_make. They can be installed independently from ROS.
+
+
+* Handling the repositories (VCS)
+
+** Checking out the SoT infra-structure
+
+The set of repositories can be handled using the vcs software
+[https://github.com/dirk-thomas/vcstool]
+
+The repositories for the SoT can be specified in a file sot_talos.repos as follows:
+#+begin_src yaml
+repositories:
+  others/robotpkg_helpers:
+    type: git
+    url: https://github.com/olivier-stasse/robotpkg_helpers.git
+    version: master
+  src/dynamic-graph:
+    type: git
+    url: https://github.com/stack-of-tasks/dynamic-graph.git
+    version: cmake-export
+  src/dynamic-graph-python:
+    type: git
+    url: git@github.com:stack-of-tasks/dynamic-graph-python.git
+    version: cmake-export
+  src/dynamic_graph_bridge:
+    type: git
+    url: https://github.com/stack-of-tasks/dynamic_graph_bridge.git
+    version: cmake-export
+  src/dynamic_graph_bridge_msgs:
+    type: git
+    url: git@github.com:stack-of-tasks/dynamic_graph_bridge_msgs.git
+    version: master
+  src/jrl-walkgen:
+    type: git
+    url: git@github.com:stack-of-tasks/jrl-walkgen.git
+    version: cmake-export
+  src/roscontrol_sot:
+    type: git
+    url: git@github.com:stack-of-tasks/roscontrol_sot.git
+    version: cmake-export
+  src/sot-core:
+    type: git
+    url: https://github.com/stack-of-tasks/sot-core.git
+    version: cmake-export
+  src/sot-dynamic-pinocchio:
+    type: git
+    url: git@github.com:stack-of-tasks/sot-dynamic-pinocchio.git
+    version: cmake-export
+  src/sot-pattern-generator:
+    type: git
+    url: https://github.com/stack-of-tasks/sot-pattern-generator.git
+    version: cmake-export
+  src/sot-talos:
+    type: git
+    url: https://github.com/stack-of-tasks/sot-talos.git
+    version: cmake-export
+  src/sot-talos-balance:
+    type: git
+    url: git@gepgitlab.laas.fr:loco-3d/sot-talos-balance.git
+    version: cmake-export
+  src/sot-tools:
+    type: git
+    url: https://github.com/stack-of-tasks/sot-tools.git
+    version: cmake-export
+  src/sot-torque-control:
+    type: git
+    url: git@github.com:stack-of-tasks/sot-torque-control.git
+    version: cmake-export
+  src/talos_data:
+    type: git
+    url: git@github.com:stack-of-tasks/talos_data.git
+    version: cmake-export
+  src/talos_metapkg_ros_control_sot:
+    type: git
+    url: https://github.com/stack-of-tasks/talos_metapkg_roscontrol_sot.git
+    version: pal
+  src/tsid:
+    type: git
+    url: https://github.com/olivier-stasse/tsid.git
+    version: cmake-export
+#+end_src
+
+#+begin_src bash
+vcs import < sot_talos.repos
+#+end_src
+
+You can create your own file by going in the src directory of your workspace, and then type:
+#+begin_src bash
+vcs export --repos > sot_talos.repos
+#+end_src
+
+** Getting the current status of the repos
+In the src directory of the workspace
+#+begin_src bash
+vcs status -quiet
+#+end_src 
+
+* Compiling and testing the packages 
+** Setting the cmake args
+For instance we want to force the system to be in debug mode
+and to set some variables we can use the following command:
+#+begin_src bash
+catkin config --install --cmake-args -DCMAKE_BUILD_TYPE=DEBUG
+#+end_src 
+It forces the package to be installed in the install folder,
+and forces all the CMake aware packages to be compiled in DEBUG mode.
+
+A more involved example is the following:
+
+#+begin_src bash
+local_cmake_args="--cmake-args -DCMAKE_BUILD_TYPE=DEBUG "
+local_cmake_args="${local_cmake_args} -DPYTHON_STANDARD_LAYOUT:BOOL=ON"
+local_cmake_args="${local_cmake_args} -DPYTHON_DEB_LAYOUT:BOOL=OFF"
+local_cmake_args="${local_cmake_args} -DSETUPTOOLS_DEB_LAYOUT:BOOL=OFF"
+catkin_config_args="--install -w $HOME/devel-src/sot_bionic_ws"
+catkin_config_args="${catking_config_args} ${local_cmake_args}"
+catkin config ${catkin_config_args} --
+#+end_src 
+
+** Compiling
+*** Compiling everything
+#+begin_src
+catkin build
+#+end_src
+
+*** Compiling a specific package with its dependencies
+For instance the following command is compiling the dynamic-graph-python
+package:
+#+begin_src
+catkin build dynamic-graph-python
+#+end_src
+
+** Clean all the build part
+#+begin_src bash
+catkin clean 
+#+end_src
+
+** Running tests
+Example running the test programs of the package dynamic-graph-python in the workspace root directory:
+#+begin_src bash
+catkin test dynamic-graph-python
+#+end_src
+Note: make sure that the install directory is specified in the environment variables: LD_LIBRARY_PATH, PYTHONPATH for instance.
+
+** Computing coverage
+
+You need to add to the CXX_FLAGS and the LD_FLAGS the value --coverage:
+
+#+begin_src bash
+catkin config --append --cmake-args -DCMAKE_CXX_FLAGS="--coverage" -DCMAKE_LD_FLAGS="--coverage"
+#+end_src
+
+Then run the test:
+#+begin_src bash
+catkin test dynamic-graph-python
+#+end_src
+
+And in the workspace root directory you need to run:
+#+begin_src bash
+gcovr -r .
+#+end_src
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