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Merge branch 'devel' into devel
2 parents 461af7f + ac02067 commit c4e8ebe

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‎.clang-format

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‎.git-blame-ignore-revs

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# pre-commit run -a (Guilhem Saurel, 2022-07-28)
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a81119ab9e0c26da6ef91e40cd96c2fa6642525f

‎.gitlab-ci.yml

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include: http://rainboard.laas.fr/project/roscontrol_sot/.gitlab-ci.yml
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include: https://rainboard.laas.fr/project/roscontrol_sot/.gitlab-ci.yml

‎.gitlab-ci.yml.backup

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cache:
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paths:
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- ccache
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.robotpkg-roscontrol-sot: &robotpkg-roscontrol-sot
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variables:
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ROBOTPKG: roscontrol-sot
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- make install
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- cd work.$(hostname)/$(make show-var VARNAME=DISTNAME)
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- make test
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except:
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- gh-pages
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@@ -41,17 +41,17 @@ robotpkg-roscontrol-sot-14.04:
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- cd build
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- export CCACHE_BASEDIR=${PWD}
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- export CCACHE_DIR=${PWD}/ccache
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- apt-get update
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- apt-get install -y ros-indigo-twist-mux ros-indigo-joy-teleop ros-indigo-moveit-ros-move-group ros-indigo-humanoid-nav-msgs ros-indigo-four-wheel-steering-msgs
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- apt-get update
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- apt-get install -y ros-indigo-twist-mux ros-indigo-joy-teleop ros-indigo-moveit-ros-move-group ros-indigo-humanoid-nav-msgs ros-indigo-four-wheel-steering-msgs
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image: ${IMAGE}:14.04
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robotpkg-roscontrol-sot-16.04:
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before_script:
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- mkdir -p build/ccache
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- cd build
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- export CCACHE_BASEDIR=${PWD}
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- export CCACHE_DIR=${PWD}/ccache
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- apt-get update
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- apt-get update
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- apt-get install -y ros-kinetic-twist-mux ros-kinetic-joy-teleop ros-kinetic-moveit-ros-move-group ros-kinetic-humanoid-nav-msgs ros-kinetic-four-wheel-steering-msgs ros-kinetic-urdf-geometry-parser
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script:
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- cd /root/robotpkg
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except:
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- gh-pages
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image: ${IMAGE}:16.04
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robotpkg-roscontrol-sot-dubnium:
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<<: *robotpkg-roscontrol-sot
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before_script:
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- make install
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- cd work.*/${PROJECT}*/
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except:
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- gh-pages
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image: ${IMAGE}:dubnium
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- gh-pages
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image: ${IMAGE}:dubnium

‎.pre-commit-config.yaml

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ci:
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autoupdate_branch: 'devel'
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repos:
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- repo: https://github.com/pre-commit/mirrors-clang-format
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rev: v14.0.6
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hooks:
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- id: clang-format
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args: [--style=Google]
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- repo: https://github.com/pre-commit/pre-commit-hooks
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rev: v4.3.0
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hooks:
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- id: check-added-large-files
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- id: check-ast
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- id: check-executables-have-shebangs
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- id: check-json
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- id: check-merge-conflict
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- id: check-symlinks
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- id: check-toml
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- id: check-yaml
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- id: debug-statements
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- id: destroyed-symlinks
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- id: detect-private-key
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- id: end-of-file-fixer
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- id: fix-byte-order-marker
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- id: mixed-line-ending
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- id: trailing-whitespace
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- repo: https://github.com/psf/black
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rev: 22.6.0
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hooks:
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- id: black
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- repo: https://github.com/PyCQA/flake8
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rev: 4.0.1
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hooks:
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- id: flake8
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- repo: https://github.com/cheshirekow/cmake-format-precommit
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rev: v0.6.13
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hooks:
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- id: cmake-format

‎CMakeLists.txt

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# Copyright (C) 2017-2020 LAAS-CNRS
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#
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# Author: Olivier Stasse
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# Author: Guilhem Saurel
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# Author: Olivier Stasse Author: Guilhem Saurel
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#
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CMAKE_MINIMUM_REQUIRED(VERSION 3.1)
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cmake_minimum_required(VERSION 3.1)
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# Project properties
9-
SET(PROJECT_ORG stack-of-tasks)
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SET(PROJECT_DESCRIPTION roscontrol_sot)
11-
SET(PROJECT_NAME roscontrol_sot)
12-
SET(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
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set(PROJECT_ORG stack-of-tasks)
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set(PROJECT_DESCRIPTION roscontrol_sot)
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set(PROJECT_NAME roscontrol_sot)
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set(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
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# Project options
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# Project configuration
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SET(CXX_DISABLE_WERROR True)
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SET(PROJECT_USE_CMAKE_EXPORT TRUE)
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set(CXX_DISABLE_WERROR True)
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set(PROJECT_USE_CMAKE_EXPORT TRUE)
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# JRL-cmakemodule setup
21-
INCLUDE(cmake/base.cmake)
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INCLUDE(cmake/boost.cmake)
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INCLUDE(cmake/python.cmake)
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INCLUDE(cmake/ros.cmake)
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include(cmake/base.cmake)
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include(cmake/boost.cmake)
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include(cmake/ros.cmake)
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# Project definition
27-
COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
28-
PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
29-
CHECK_MINIMAL_CXX_STANDARD(11 ENFORCE)
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compute_project_args(PROJECT_ARGS LANGUAGES CXX)
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project(${PROJECT_NAME} ${PROJECT_ARGS})
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check_minimal_cxx_standard(11 ENFORCE)
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# Project dependencies
32-
FINDPYTHON()
33-
SEARCH_FOR_BOOST_PYTHON()
30+
add_project_dependency(dynamic-graph-python 4.0.6 REQUIRED)
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add_project_dependency(dynamic_graph_bridge REQUIRED)
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add_project_dependency(sot-core REQUIRED)
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add_project_dependency(pinocchio REQUIRED)
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include(cmake/python.cmake) # TODO: overwriting eigenpy/python.cmake
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add_project_dependency(control_toolbox REQUIRED)
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add_required_dependency(bullet)
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add_required_dependency(urdfdom)
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37-
find_package(catkin REQUIRED COMPONENTS
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pal_hardware_interfaces
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controller_interface
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controller_manager
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pal_common_msgs
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roscpp
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std_msgs
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control_msgs
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sensor_msgs
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realtime_tools
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rospy
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)
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find_package(
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catkin REQUIRED
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COMPONENTS pal_hardware_interfaces
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controller_interface
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controller_manager
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pal_common_msgs
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roscpp
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std_msgs
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control_msgs
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sensor_msgs
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realtime_tools
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rospy)
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find_package(temperature_sensor_controller)
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ADD_PROJECT_DEPENDENCY(dynamic-graph-python 4.0.0 REQUIRED)
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ADD_PROJECT_DEPENDENCY(dynamic_graph_bridge REQUIRED)
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ADD_PROJECT_DEPENDENCY(sot-core REQUIRED )
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ADD_PROJECT_DEPENDENCY(pinocchio REQUIRED)
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ADD_PROJECT_DEPENDENCY(control_toolbox REQUIRED)
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# Detect the controller interface version to switch code
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if(controller_interface_FOUND)
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if(${controller_interface_VERSION} VERSION_GREATER "0.2.5")
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endif()
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endif()
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# Detect if temperature sensor controller package is found
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# if yes then it is a PAL Robotics Forked code.
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# Detect if temperature sensor controller package is found if yes then it is a
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# PAL Robotics Forked code.
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add_library(rcsot_controller
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src/roscontrol-sot-controller.cpp
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src/log.cpp
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)
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target_include_directories(rcsot_controller SYSTEM PUBLIC
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${catkin_INCLUDE_DIRS}
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$<INSTALL_INTERFACE:include>)
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target_link_libraries(rcsot_controller
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${catkin_LIBRARIES}
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${bullet_LIBRARIES}
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sot-core::sot-core
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dynamic_graph_bridge::sot_loader
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${control_toolbox_LIBRARIES})
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add_library(rcsot_controller src/roscontrol-sot-controller.cpp src/log.cpp)
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target_include_directories(
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rcsot_controller SYSTEM PUBLIC ${catkin_INCLUDE_DIRS}
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$<INSTALL_INTERFACE:include>)
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target_link_libraries(
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rcsot_controller ${catkin_LIBRARIES} ${bullet_LIBRARIES} sot-core::sot-core
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dynamic_graph_bridge::sot_loader ${control_toolbox_LIBRARIES})
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if(temperature_sensor_controller_FOUND)
84-
target_compile_definitions(rcsot_controller PUBLIC TEMPERATURE_SENSOR_CONTROLLER)
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message("temperature_sensor_controller_LIBRARIES: ${temperature_sensor_controller_LIBRARIES}")
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target_include_directories(rcsot_controller SYSTEM PUBLIC ${temperature_sensor_controller_INCLUDE_DIRS})
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target_link_libraries(rcsot_controller ${temperature_sensor_controller_LIBRARIES})
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target_compile_definitions(rcsot_controller
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PUBLIC TEMPERATURE_SENSOR_CONTROLLER)
77+
message(
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"temperature_sensor_controller_LIBRARIES: ${temperature_sensor_controller_LIBRARIES}"
79+
)
80+
target_include_directories(
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rcsot_controller SYSTEM
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PUBLIC ${temperature_sensor_controller_INCLUDE_DIRS})
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target_link_libraries(rcsot_controller
84+
${temperature_sensor_controller_LIBRARIES})
8885
endif()
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90-
IF(SUFFIX_SO_VERSION)
91-
SET_TARGET_PROPERTIES(rcsot_controller PROPERTIES SOVERSION ${PROJECT_VERSION})
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ENDIF(SUFFIX_SO_VERSION)
87+
if(SUFFIX_SO_VERSION)
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set_target_properties(rcsot_controller PROPERTIES SOVERSION
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${PROJECT_VERSION})
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endif(SUFFIX_SO_VERSION)
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IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
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INSTALL(TARGETS rcsot_controller EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
96-
ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
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if(NOT INSTALL_PYTHON_INTERFACE_ONLY)
93+
install(
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TARGETS rcsot_controller
95+
EXPORT ${TARGETS_EXPORT_NAME}
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DESTINATION lib)
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endif(NOT INSTALL_PYTHON_INTERFACE_ONLY)
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98-
ADD_EXECUTABLE(roscontrol-sot-parse-log src/roscontrol-sot-parse-log.cc)
99-
install(TARGETS roscontrol-sot-parse-log EXPORT ${TARGETS_EXPORT_NAME} DESTINATION bin)
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add_executable(roscontrol-sot-parse-log src/roscontrol-sot-parse-log.cc)
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install(
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TARGETS roscontrol-sot-parse-log
102+
EXPORT ${TARGETS_EXPORT_NAME}
103+
DESTINATION bin)
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101105
foreach(dir config launch)
102106
install(DIRECTORY ${dir} DESTINATION share/${PROJECT_NAME})
103107
endforeach(dir)
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105-
ADD_SUBDIRECTORY(tests)
106-
INSTALL(FILES package.xml DESTINATION share/${PROJECT_NAME})
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add_subdirectory(tests)
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install(FILES package.xml DESTINATION share/${PROJECT_NAME})

‎README.md

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[![License](https://img.shields.io/badge/License-BSD%202--Clause-green.svg)](https://opensource.org/licenses/BSD-2-Clause)
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[![Build Status](https://gitlab.laas.fr/stack-of-tasks/roscontrol_sot/badges/master/pipeline.svg)](http://gitlab.laas.fr/stack-of-tasks/roscontrol_sot)
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[![Coverage report](https://gitlab.laas.fr/stack-of-tasks/roscontrol_sot/badges/master/coverage.svg?job=doc-coverage)](http://projects.laas.fr/gepetto/doc/stack-of-tasks/roscontrol_sot/master/coverage/)
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[![Pipeline status](https://gitlab.laas.fr/stack-of-tasks/roscontrol-sot/badges/master/pipeline.svg)](https://gitlab.laas.fr/stack-of-tasks/roscontrol-sot/commits/master)
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[![Coverage report](https://gitlab.laas.fr/stack-of-tasks/roscontrol-sot/badges/master/coverage.svg?job=doc-coverage)](https://gepettoweb.laas.fr/doc/stack-of-tasks/roscontrol-sot/master/coverage/)
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[![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)
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[![pre-commit.ci status](https://results.pre-commit.ci/badge/github/stack-of-tasks/roscontrol-sot/master.svg)](https://results.pre-commit.ci/latest/github/stack-of-tasks/roscontrol-sot)
6+
47

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# Introduction
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This package encapsulates a SoT graph to control a robot in the ros-control framework.

‎cmake

Submodule cmake updated 103 files

‎config/roscontrol_sot_controller_plugins.xml

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</description>
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</class>
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</library>
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‎config/sot_test_params.yaml

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joint_state_controller:
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type: joint_state_controller/JointStateController
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publish_rate: 50
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sot_controller:
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type: sot_controller/RCSotController
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libname: libsot-test-controller.so
@@ -39,4 +39,3 @@ sot_controller:
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dt: 0.001
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jitter: 0.0004
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verbosity_level: 25
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