Merged in feature/ocs2_anymal_perception (pull request #690)

Feature/ocs2 anymal perception

Approved-by: Farbod Farshidian

.gitattributes

@@ -0,0 +1 @@
+jenkins-pipeline merge-ours

jenkins-pipeline

@@ -3,6 +3,8 @@ ciPipeline("--ros-distro noetic --publish-doxygen --recipes onnxruntime raisimli
             --dependencies '[email protected]:leggedrobotics/hpp-fcl.git;master;git'\
                            '[email protected]:leggedrobotics/pinocchio.git;master;git'\
                            '[email protected]:leggedrobotics/ocs2_robotic_assets.git;main;git'\
+                           '[email protected]:leggedrobotics/elevation_mapping_cupy.git;main;git'\
+                           '[email protected]:ANYbotics/grid_map.git;master;git'\
             --ignore ocs2_doc")
 
 node {

ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal/CMakeLists.txt

@@ -0,0 +1,4 @@
+cmake_minimum_required(VERSION 3.0)
+project(ocs2_anymal)
+find_package(catkin REQUIRED)
+catkin_metapackage()

ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal/package.xml

@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>ocs2_anymal</name>
+  <version>0.0.0</version>
+  <description>The ocs2_anymal metapackage</description>
+
+  <maintainer email="[email protected]">Farbod Farshidian</maintainer>
+  <maintainer email="[email protected]">Jan Carius</maintainer>
+  <maintainer email="[email protected]">Ruben Grandia</maintainer>
+
+  <license>TODO</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <exec_depend>ocs2_anymal_mpc</exec_depend>
+  <exec_depend>ocs2_anymal_loopshaping_mpc</exec_depend>
+
+  <export>
+    <metapackage />
+  </export>
+
+</package>

ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal_commands/CMakeLists.txt

@@ -0,0 +1,141 @@
+cmake_minimum_required(VERSION 3.0)
+project(ocs2_anymal_commands)
+
+find_package(catkin REQUIRED COMPONENTS
+  roslib
+  ocs2_ros_interfaces
+  ocs2_robotic_tools
+  ocs2_switched_model_interface
+  grid_map_filters_rsl
+)
+
+## Eigen3
+find_package(Eigen3 3.3 REQUIRED NO_MODULE)
+
+find_package(Boost REQUIRED COMPONENTS
+  filesystem
+)
+
+# Generate compile_commands.json for clang tools
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
+###################################
+## catkin specific configuration ##
+###################################
+catkin_package(
+  INCLUDE_DIRS 
+    include
+    ${EIGEN3_INCLUDE_DIRS}
+  LIBRARIES
+    ${PROJECT_NAME}
+  CATKIN_DEPENDS
+    ocs2_ros_interfaces
+    ocs2_robotic_tools
+    ocs2_switched_model_interface
+  DEPENDS
+    Boost
+)
+
+###########
+## Build ##
+###########
+
+include_directories(
+  include
+  ${EIGEN3_INCLUDE_DIRS}
+  ${catkin_INCLUDE_DIRS}
+)
+
+# Declare a C++ library
+add_library(${PROJECT_NAME}
+  src/LoadMotions.cpp
+  src/ModeSequenceKeyboard.cpp
+  src/MotionCommandController.cpp
+  src/MotionCommandDummy.cpp
+  src/MotionCommandInterface.cpp
+  src/PoseCommandToCostDesiredRos.cpp
+  src/ReferenceExtrapolation.cpp
+  src/TerrainAdaptation.cpp
+  )
+add_dependencies(${PROJECT_NAME}
+  ${${PROJECT_NAME}_EXPORTED_TARGETS}
+  ${catkin_EXPORTED_TARGETS}
+  )
+target_link_libraries(${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+  )
+target_compile_options(${PROJECT_NAME} PUBLIC ${OCS2_CXX_FLAGS})
+
+# Declare a C++ Executable
+add_executable(target_command_node
+  src/AnymalPoseCommandNode.cpp
+  )
+add_dependencies(target_command_node
+  ${${PROJECT_NAME}_EXPORTED_TARGETS}
+  ${catkin_EXPORTED_TARGETS}
+  )
+target_link_libraries(target_command_node
+  ${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+  )
+target_compile_options(target_command_node PRIVATE ${OCS2_CXX_FLAGS})
+
+add_executable(gait_command_node
+  src/AnymalGaitNode.cpp
+)
+add_dependencies(gait_command_node
+  ${${PROJECT_NAME}_EXPORTED_TARGETS}
+  ${catkin_EXPORTED_TARGETS}
+)
+target_link_libraries(gait_command_node
+  ${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+)
+target_compile_options(gait_command_node PRIVATE ${OCS2_CXX_FLAGS})
+
+add_executable(motion_command_node
+  src/AnymalMotionCommandNode.cpp
+  )
+add_dependencies(motion_command_node
+  ${${PROJECT_NAME}_EXPORTED_TARGETS}
+  ${catkin_EXPORTED_TARGETS}
+  )
+target_link_libraries(motion_command_node
+  ${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+  )
+target_compile_options(motion_command_node PRIVATE ${OCS2_CXX_FLAGS})
+
+#############
+## Install ##
+#############
+
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+install(TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  )
+install(TARGETS target_command_node gait_command_node motion_command_node
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+install(DIRECTORY config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+#############
+## Testing ##
+#############
+
+catkin_add_gtest(test_${PROJECT_NAME}
+  test/testLoadMotions.cpp
+  test/testReferenceExtrapolation.cpp
+  test/testTerrainAdaptation.cpp
+)
+target_link_libraries(test_${PROJECT_NAME}
+  ${PROJECT_NAME}
+  -lstdc++fs
+  gtest_main
+)