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* add mock system * fix description * update bringup * move mock robot * add pyrobot (pytroller-based) * add pytroller to VCS * add pytroller logic * pyrobot: add config + spawner to hk1d_bringup * add rotation Z inertia in URDF * lining pytroller * add pre-commit exclude * linting mock robot
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161 changes: 161 additions & 0 deletions
161
hk1d_mock_component_controllers/hk1d_mock_pyrobot/CMakeLists.txt
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,161 @@ | ||
| cmake_minimum_required(VERSION 3.16) | ||
| project(hk1d_mock_pyrobot LANGUAGES CXX) | ||
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| if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)") | ||
| add_compile_options(-Wall -Wextra -Wpedantic -Wconversion) | ||
| endif() | ||
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||
| set(THIS_PACKAGE_INCLUDE_DEPENDS | ||
| controller_interface | ||
| generate_parameter_library | ||
| hardware_interface | ||
| pluginlib | ||
| rclcpp | ||
| rclcpp_lifecycle | ||
| realtime_tools | ||
| ) | ||
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|
||
| find_package(ament_cmake REQUIRED) | ||
| foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS}) | ||
| find_package(${Dependency} REQUIRED) | ||
| endforeach() | ||
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| find_package(PythonLibs REQUIRED) | ||
| include_directories(${PYTHON_INCLUDE_DIRS}) | ||
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| # Set the parameter header file name | ||
| set(PARAM_INCLUDE_DIR ${CMAKE_CURRENT_BINARY_DIR}/hk1d_mock_pyrobot_parameters/include) | ||
| set(PARAM_HEADER_FILE ${PARAM_INCLUDE_DIR}/hk1d_mock_pyrobot_parameters.hpp) | ||
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| # Make logic build directory | ||
| set(LOGIC_DIR ${CMAKE_CURRENT_BINARY_DIR}/${LIB_NAME}/hk1d_mock_pyrobot_logic) | ||
| set(LOGIC_INCLUDE_DIR ${LOGIC_DIR}/include/hk1d_mock_pyrobot) | ||
| file(MAKE_DIRECTORY ${LOGIC_DIR}) | ||
| file(MAKE_DIRECTORY ${LOGIC_INCLUDE_DIR}) | ||
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| file (REMOVE ${LOGIC_DIR}/hk1d_mock_pyrobot_logic.cpp) | ||
| file (REMOVE ${LOGIC_DIR}/hk1d_mock_pyrobot_logic.h) | ||
| file (REMOVE ${LOGIC_INCLUDE_DIR}/hk1d_mock_pyrobot_logic.h) | ||
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| add_custom_command( | ||
| OUTPUT ${LOGIC_DIR}/hk1d_mock_pyrobot_logic.cpp ${LOGIC_DIR}/hk1d_mock_pyrobot_logic.h | ||
| COMMAND cython3 -3 --cplus ${CMAKE_CURRENT_SOURCE_DIR}/src/hk1d_mock_pyrobot_logic.pyx | ||
| -o ${LOGIC_DIR}/hk1d_mock_pyrobot_logic.cpp -I ${PARAM_INCLUDE_DIR} | ||
| WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/src | ||
| DEPENDS | ||
| ${CMAKE_CURRENT_SOURCE_DIR}/src/hk1d_mock_pyrobot_logic.pyx | ||
| ${CMAKE_CURRENT_SOURCE_DIR}/script/hk1d_mock_pyrobot_logic_impl.py | ||
| ) | ||
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| # Copy the header file into the include directory | ||
| add_custom_command( | ||
| OUTPUT ${LOGIC_INCLUDE_DIR}/hk1d_mock_pyrobot_logic.h | ||
| COMMAND ${CMAKE_COMMAND} -E copy | ||
| ${LOGIC_DIR}/hk1d_mock_pyrobot_logic.h ${LOGIC_INCLUDE_DIR}/hk1d_mock_pyrobot_logic.h | ||
| DEPENDS ${LOGIC_DIR}/hk1d_mock_pyrobot_logic.h | ||
| ) | ||
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| generate_parameter_library( | ||
| hk1d_mock_pyrobot_parameters | ||
| src/hk1d_mock_pyrobot_parameters.yaml | ||
| ) | ||
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| file (REMOVE ${PARAM_INCLUDE_DIR}/hk1d_mock_pyrobot_parameters.pxd) | ||
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| # Generate the pxd for the library | ||
| add_custom_command( | ||
| OUTPUT ${PARAM_INCLUDE_DIR}/hk1d_mock_pyrobot_parameters.pxd | ||
| COMMAND ros2 run pytroller_tools generate_pxd ${PARAM_INCLUDE_DIR}/hk1d_mock_pyrobot_parameters.pxd ${PARAM_HEADER_FILE} | ||
| DEPENDS ${PARAM_HEADER_FILE} | ||
| ) | ||
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| add_library(hk1d_mock_pyrobot SHARED | ||
| src/hk1d_mock_pyrobot.cpp | ||
| ${LOGIC_DIR}/hk1d_mock_pyrobot_logic.cpp | ||
| ${LOGIC_INCLUDE_DIR}/hk1d_mock_pyrobot_logic.h | ||
| ${PARAM_INCLUDE_DIR}/hk1d_mock_pyrobot_parameters.pxd | ||
| ) | ||
| target_compile_features(hk1d_mock_pyrobot PUBLIC cxx_std_17) | ||
| target_include_directories(hk1d_mock_pyrobot PUBLIC | ||
| $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include> | ||
| $<INSTALL_INTERFACE:include/hk1d_mock_pyrobot> | ||
| ) | ||
| target_include_directories(hk1d_mock_pyrobot PUBLIC | ||
| $<BUILD_INTERFACE:${LOGIC_DIR}/include> | ||
| $<INSTALL_INTERFACE:include/hk1d_mock_pyrobot> | ||
| ) | ||
| target_link_libraries(hk1d_mock_pyrobot PUBLIC | ||
| hk1d_mock_pyrobot_parameters | ||
| ${PYTHON_LIBRARIES} | ||
| ) | ||
| ament_target_dependencies(hk1d_mock_pyrobot PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS}) | ||
| # Causes the visibility macros to use dllexport rather than dllimport, | ||
| # which is appropriate when building the dll but not consuming it. | ||
| target_compile_definitions(hk1d_mock_pyrobot PRIVATE "PYTROLLER_BUILDING_DLL") | ||
| pluginlib_export_plugin_description_file(controller_interface controller_plugin.xml) | ||
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| if(BUILD_TESTING) | ||
| find_package(ament_lint_auto REQUIRED) | ||
| find_package(ament_cmake_gmock REQUIRED) | ||
| find_package(controller_manager REQUIRED) | ||
| find_package(hardware_interface REQUIRED) | ||
| find_package(ros2_control_test_assets REQUIRED) | ||
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| ament_lint_auto_find_test_dependencies() | ||
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| # Load test | ||
| add_rostest_with_parameters_gmock( | ||
| test_load_hk1d_mock_pyrobot | ||
| test/test_load_hk1d_mock_pyrobot.cpp | ||
| ${CMAKE_CURRENT_SOURCE_DIR}/test/test_params.yaml | ||
| ) | ||
| target_link_libraries(test_load_hk1d_mock_pyrobot | ||
| hk1d_mock_pyrobot | ||
| ) | ||
| ament_target_dependencies(test_load_hk1d_mock_pyrobot | ||
| controller_manager | ||
| hardware_interface | ||
| ros2_control_test_assets | ||
| ) | ||
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| # Controller test | ||
| add_rostest_with_parameters_gmock( | ||
| test_hk1d_mock_pyrobot | ||
| test/test_hk1d_mock_pyrobot.cpp | ||
| ${CMAKE_CURRENT_SOURCE_DIR}/test/test_params.yaml | ||
| ) | ||
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| target_link_libraries(test_hk1d_mock_pyrobot | ||
| hk1d_mock_pyrobot | ||
| ) | ||
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| ament_target_dependencies(test_load_hk1d_mock_pyrobot | ||
| controller_manager | ||
| hardware_interface | ||
| ) | ||
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| endif() | ||
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| install( | ||
| DIRECTORY ${LOGIC_DIR}/include | ||
| DESTINATION include/hk1d_mock_pyrobot | ||
| ) | ||
| install( | ||
| DIRECTORY include/ | ||
| DESTINATION include/hk1d_mock_pyrobot | ||
| ) | ||
| install( | ||
| TARGETS | ||
| hk1d_mock_pyrobot | ||
| hk1d_mock_pyrobot_parameters | ||
| EXPORT export_hk1d_mock_pyrobot | ||
| RUNTIME DESTINATION bin | ||
| ARCHIVE DESTINATION lib | ||
| LIBRARY DESTINATION lib | ||
| INCLUDES DESTINATION include | ||
| ) | ||
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| ament_export_targets(export_hk1d_mock_pyrobot HAS_LIBRARY_TARGET) | ||
| ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS}) | ||
| ament_package() |
9 changes: 9 additions & 0 deletions
9
hk1d_mock_component_controllers/hk1d_mock_pyrobot/controller_plugin.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,9 @@ | ||
| <library path="hk1d_mock_pyrobot"> | ||
| <class name="hk1d_mock_pyrobot/Hk1DMockPyrobot" | ||
| type="hk1d_mock_pyrobot::Hk1DMockPyrobot" | ||
| base_class_type="controller_interface::ControllerInterface"> | ||
| <description> | ||
| Python controller for ros2_control | ||
| </description> | ||
| </class> | ||
| </library> |
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