Add ENABLE_MUJOCO option.

isri-aist · Apr 30, 2024 · 8a2ddaf · 8a2ddaf
1 parent 91faaf7
commit 8a2ddaf
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Showing 5 changed files with 56 additions and 18 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -14,6 +14,7 @@ set(CXX_DISABLE_WERROR ON)
 set(CMAKE_COLOR_DIAGNOSTICS ON)
 
 option(INSTALL_DOCUMENTATION "Generate and install the documentation" OFF)
+option(ENABLE_MUJOCO "Enable MuJoCo tactile sensor" ON)
 option(ENABLE_ESKIN "Enable e-Skin tactile sensor" ON)
 
 include(cmake/base.cmake)
@@ -28,11 +29,19 @@ endif()
 # eigen_conversions
 pkg_check_modules(eigen_conversions REQUIRED IMPORTED_TARGET eigen_conversions)
 
-# mujoco_tactile_sensor_plugin
 find_package(PkgConfig)
-pkg_check_modules(mujoco_tactile_sensor_plugin REQUIRED IMPORTED_TARGET
-                  mujoco_tactile_sensor_plugin)
+
+if(ENABLE_MUJOCO)
+  # mujoco_tactile_sensor_plugin
+  pkg_check_modules(mujoco_tactile_sensor_plugin REQUIRED IMPORTED_TARGET
+                    mujoco_tactile_sensor_plugin)
+  message("-- Enable MuJoCo")
+else()
+  message("-- Disable MuJoCo")
+endif()
+
 if(ENABLE_ESKIN)
+  # eskin_ros_utils
   pkg_check_modules(eskin_ros_utils REQUIRED IMPORTED_TARGET eskin_ros_utils)
   message("-- Enable e-Skin")
 else()

diff --git a/README.md b/README.md
@@ -14,6 +14,7 @@ mc_rtc plugin to use tactile sensor in controller via ROS interface
 ### Dependencies
 - [mc_rtc](https://jrl-umi3218.github.io/mc_rtc)
 - [isri-aist/MujocoTactileSensorPlugin](https://github.com/isri-aist/MujocoTactileSensorPlugin) (Install as a ROS package)
+   - An option to build without dependency on the MuJoCo tactile sensor is also supported.
 - [eSkinRosUtils](https://github.com/isri-aist/eSkinRosUtils)
    - An option to build without dependency on the e-Skin tactile sensor is also supported.
 
@@ -24,7 +25,7 @@ $ mkdir ${HOME}/src && cd ${HOME}/src
 $ git clone [email protected]:isri-aist/McRtcTactileSensorPlugin.git --recursive
 $ cd McRtcTactileSensorPlugin
 $ mkdir build && cd build
-$ cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo # Add "-DENABLE_ESKIN=OFF" option if you do not use e-Skin tactile sensor
+$ cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo # Add "-DENABLE_MUJOCO=OFF" or "-DENABLE_ESKIN=OFF" options if necessary
 $ make
 $ make install
 ```

diff --git a/include/McRtcTactileSensorPlugin/TactileSensorPlugin.h b/include/McRtcTactileSensorPlugin/TactileSensorPlugin.h
@@ -5,10 +5,12 @@
 #include <ros/callback_queue.h>
 #include <ros/ros.h>
 
-#ifdef ENABLE_ESKIN
+#if ENABLE_ESKIN
 #  include <eskin_ros_utils/PatchData.h>
 #endif
-#include <mujoco_tactile_sensor_plugin/TactileSensorData.h>
+#if ENABLE_MUJOCO
+#  include <mujoco_tactile_sensor_plugin/TactileSensorData.h>
+#endif
 #include <variant>
 
 namespace mc_plugin
@@ -61,14 +63,16 @@ struct TactileSensorPlugin : public mc_control::GlobalPlugin
   inline void after(mc_control::MCGlobalController & gc) override{};
 
 protected:
+#if ENABLE_MUJOCO
   /** \brief ROS callback of tactile sensor topic from MuJoCo.
       \param sensorMsg sensor message
       \param sensorIdx sensor index
    */
   void mujocoSensorCallback(const mujoco_tactile_sensor_plugin::TactileSensorData::ConstPtr & sensorMsg,
                             size_t sensorIdx);
+#endif
 
-#ifdef ENABLE_ESKIN
+#if ENABLE_ESKIN
   /** \brief ROS callback of tactile sensor topic from e-Skin.
         \param sensorMsg sensor message
         \param sensorIdx sensor index
@@ -81,12 +85,16 @@ struct TactileSensorPlugin : public mc_control::GlobalPlugin
   std::vector<SensorInfo> sensorInfoList_;
 
   //! Sensor message list
-#ifdef ENABLE_ESKIN
+#if ENABLE_MUJOCO && ENABLE_ESKIN
   std::vector<std::variant<std::nullptr_t,
                            std::shared_ptr<mujoco_tactile_sensor_plugin::TactileSensorData>,
                            std::shared_ptr<eskin_ros_utils::PatchData>>>
-#else
+#elif ENABLE_MUJOCO && !ENABLE_ESKIN
   std::vector<std::variant<std::nullptr_t, std::shared_ptr<mujoco_tactile_sensor_plugin::TactileSensorData>>>
+#elif !ENABLE_MUJOCO && ENABLE_ESKIN
+  std::vector<std::variant<std::nullptr_t, std::shared_ptr<eskin_ros_utils::PatchData>>>
+#else
+  std::vector<std::variant<std::nullptr_t>>
 #endif
       sensorMsgList_;
 

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -2,13 +2,22 @@ set(AUTOLOAD_TactileSensor_PLUGIN
     OFF
     CACHE INTERNAL "Automatically load TactileSensor plugin")
 add_plugin(TactileSensor TactileSensorPlugin.cpp)
-target_link_libraries(
-  TactileSensor PUBLIC PkgConfig::eigen_conversions
-                       PkgConfig::mujoco_tactile_sensor_plugin)
+target_link_libraries(TactileSensor PUBLIC PkgConfig::eigen_conversions)
+
+if(ENABLE_MUJOCO)
+  target_compile_definitions(TactileSensor PUBLIC ENABLE_MUJOCO=1)
+  target_link_libraries(TactileSensor
+                        PUBLIC PkgConfig::mujoco_tactile_sensor_plugin)
+else()
+  target_compile_definitions(TactileSensor PUBLIC ENABLE_MUJOCO=0)
+endif()
+
 if(ENABLE_ESKIN)
-  target_compile_definitions(TactileSensor PUBLIC ENABLE_ESKIN)
+  target_compile_definitions(TactileSensor PUBLIC ENABLE_ESKIN=1)
   target_include_directories(TactileSensor
                              PUBLIC ${eskin_ros_utils_INCLUDE_DIRS})
   target_link_directories(TactileSensor PUBLIC ${eskin_ros_utils_LIBRARY_DIRS})
   target_link_libraries(TactileSensor PUBLIC ${eskin_ros_utils_LIBRARIES})
+else()
+  target_compile_definitions(TactileSensor PUBLIC ENABLE_ESKIN=0)
 endif()
diff --git a/src/TactileSensorPlugin.cpp b/src/TactileSensorPlugin.cpp
@@ -36,11 +36,16 @@ void TactileSensorPlugin::init(mc_control::MCGlobalController & gc, const mc_rtc
       std::string msgTypeStr = sensorConfig("msgType");
       if(msgTypeStr == "mujoco")
       {
+#if ENABLE_MUJOCO
         sensorInfo.msgType = MsgType::Mujoco;
+#else
+        mc_rtc::log::error_and_throw(
+            "[mc_plugin::TactileSensorPlugin] MuJoCo is disabled. Rebuild with the \"-DENABLE_MUJOCO=ON\" option.");
+#endif
       }
       else if(msgTypeStr == "eskin")
       {
-#ifdef ENABLE_ESKIN
+#if ENABLE_ESKIN
         sensorInfo.msgType = MsgType::Eskin;
 #else
         mc_rtc::log::error_and_throw(
@@ -91,14 +96,16 @@ void TactileSensorPlugin::init(mc_control::MCGlobalController & gc, const mc_rtc
   sensorSubList_.clear();
   for(size_t sensorIdx = 0; sensorIdx < sensorInfoList_.size(); sensorIdx++)
   {
+#if ENABLE_MUJOCO
     if(sensorInfoList_[sensorIdx].msgType == MsgType::Mujoco)
     {
       sensorSubList_.push_back(nh_->subscribe<mujoco_tactile_sensor_plugin::TactileSensorData>(
           sensorInfoList_[sensorIdx].topicName, 1,
           std::bind(&TactileSensorPlugin::mujocoSensorCallback, this, std::placeholders::_1, sensorIdx)));
     }
-#ifdef ENABLE_ESKIN
-    else // if(sensorInfoList_[sensorIdx].msgType == MsgType::Eskin)
+#endif
+#if ENABLE_ESKIN
+    if(sensorInfoList_[sensorIdx].msgType == MsgType::Eskin)
     {
       sensorSubList_.push_back(nh_->subscribe<eskin_ros_utils::PatchData>(
           sensorInfoList_[sensorIdx].topicName, 1,
@@ -138,6 +145,7 @@ void TactileSensorPlugin::before(mc_control::MCGlobalController & gc)
     {
       // Do nothing
     }
+#if ENABLE_MUJOCO
     else if(std::holds_alternative<std::shared_ptr<mujoco_tactile_sensor_plugin::TactileSensorData>>(
                 sensorMsgList_[sensorIdx]))
     {
@@ -163,7 +171,8 @@ void TactileSensorPlugin::before(mc_control::MCGlobalController & gc)
       sva::PTransformd tactileToForceTrans = forceSensorPose * tactileSensorPose.inv();
       wrench = tactileToForceTrans.dualMul(wrench);
     }
-#ifdef ENABLE_ESKIN
+#endif
+#if ENABLE_ESKIN
     else if(std::holds_alternative<std::shared_ptr<eskin_ros_utils::PatchData>>(sensorMsgList_[sensorIdx]))
     {
       const auto & sensorMsg = std::get<std::shared_ptr<eskin_ros_utils::PatchData>>(sensorMsgList_[sensorIdx]);
@@ -194,14 +203,16 @@ void TactileSensorPlugin::before(mc_control::MCGlobalController & gc)
   }
 }
 
+#if ENABLE_MUJOCO
 void TactileSensorPlugin::mujocoSensorCallback(
     const mujoco_tactile_sensor_plugin::TactileSensorData::ConstPtr & sensorMsg,
     size_t sensorIdx)
 {
   sensorMsgList_[sensorIdx] = std::make_shared<mujoco_tactile_sensor_plugin::TactileSensorData>(*sensorMsg);
 }
+#endif
 
-#ifdef ENABLE_ESKIN
+#if ENABLE_ESKIN
 void TactileSensorPlugin::eskinSensorCallback(const eskin_ros_utils::PatchData::ConstPtr & sensorMsg, size_t sensorIdx)
 {
   sensorMsgList_[sensorIdx] = std::make_shared<eskin_ros_utils::PatchData>(*sensorMsg);