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Merge pull request #794 from mqcmd196/ros-o
ros-o support
2 parents 395e2a7 + d344b4c commit 41a0e3c

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9 files changed

+136
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‎.github/workflows/config.yml‎

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@@ -93,3 +93,105 @@ jobs:
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ROS_PARALLEL_TEST_JOBS: "-j4"
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CATKIN_TOOLS_BUILD_OPTIONS: "-iv --summarize --no-status"
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BUILD_PKGS : ${{ matrix.BUILD_PKGS }}
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# ROS-O setup for v4hn https://github.com/v4hn/ros-o-builder/blob/jammy-one/README.md#install-instructions
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# ROS-O setup for techfak https://ros.packages.techfak.net/
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# note that v4hn uses ROS_DISTRO=one and techfak uses ROS_DISTRO
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ros-o:
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runs-on: ubuntu-latest
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strategy:
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fail-fast: false
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matrix:
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include:
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- DISTRO: ubuntu:22.04
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ROS_ONE_VARIANT: techfak
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ROS_REPOSITORY_URL: "deb [trusted=yes] https://ros.packages.techfak.net jammy-testing main"
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ROSDEP_PACKAGE_MAPPING: "yaml https://ros.packages.techfak.net/ros-one.yaml ubuntu"
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- DISTRO: ubuntu:24.04
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ROS_ONE_VARIANT: techfak
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ROS_REPOSITORY_URL: "deb [trusted=yes] https://ros.packages.techfak.net noble-testing main"
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ROSDEP_PACKAGE_MAPPING: "yaml https://ros.packages.techfak.net/ros-one.yaml ubuntu"
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container: ${{ matrix.DISTRO }}
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env:
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DEBIAN_FRONTEND : noninteractive
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steps:
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- name: Chcekout Source
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uses: actions/[email protected]
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- name: Setup ROS-O deb repository
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run: |
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set -x
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apt update && apt install -qq -y ca-certificates git
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echo ${{ matrix.ROS_REPOSITORY_URL }} | tee /etc/apt/sources.list.d/ros-o-builder.list
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##
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# https://github.com/v4hn/ros-deb-builder-action/blob/b7c0ed93fde3a86b5b1027bf8f7145cad6067c90/prepare.sh#L27-L28
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# Canonical dropped the Debian ROS packages from 24.04 for political reasons. Wow.
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if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "v4hn" && "${{ matrix.DISTRO }}" == "ubuntu:24.04" ]]; then apt install -y software-properties-common retry && retry -d 50,10,30,300 -t 12 add-apt-repository -y ppa:v-launchpad-jochen-sprickerhof-de/ros; fi
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##
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apt update
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if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "v4hn" ]]; then
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apt install -qq -y python3-rosdep2
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fi
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if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "techfak" ]]; then
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# Do not install python3-rosdep2, which is an outdated version of rosdep shipped via the Ubuntu repositories (instead of ROS)!
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apt install -qq -y python3-rosdep
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rosdep init
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fi
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echo ${{ matrix.ROSDEP_PACKAGE_MAPPING }} | tee /etc/ros/rosdep/sources.list.d/1-ros-o-builder.list
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rosdep update
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shell: bash
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- name: Setup catkin-tools
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run: |
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set -x
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# setup catkin tools
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apt install -qq -y python3-pip
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if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "v4hn" ]]; then
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pip3 install catkin-tools==0.9.4
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apt install -qq -y catkin
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fi
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if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "techfak" ]]; then
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apt install -qq -y ros-one-catkin python3-catkin-tools
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fi
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# setup build tools
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apt install -qq -y cmake build-essential ros-one-rosbash
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shell: bash
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- name: Setup Workspace
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run: |
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source /opt/ros/one/setup.bash
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set -x
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# setup workspace
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mkdir -p ~/ws/src
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cd ~/ws/src
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ln -sf $GITHUB_WORKSPACE .
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rosdep install -qq -r -y --from-path . --ignore-src || echo "OK"
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# check all system packages are able to install, because ROS-O build deb files that needs all packages
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PIP_BREAK_SYSTEM_PACKAGES=1 rosdep install -qq --simulate -y --from-path . --ignore-src -t exec -t buildtool_export -t buildtool -t build -t build_export | tee rosdep-install.sh
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# catkin_tools is not available on v4hn/jammy
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if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "v4hn" ]]; then sed -i '/python3-catkin-tools/s/^/#/' rosdep-install.sh; fi
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sed 's/apt-get install/apt-get -y install/;/install ros-one/s/^/#/;/pip3 install/s/^/#/' rosdep-install.sh | bash -xe
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shell: bash
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- name: Compile Packages
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run: |
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source /opt/ros/one/setup.bash
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set -x
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cd ~/ws/
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catkin build --no-status -sv ${{ matrix.CATKIN_OPTIONS }} --cmake-args -DCATKIN_ENABLE_TESTING=OFF -DCMAKE_VERBOSE_MAKEFILE:BOOL=ON ${{ matrix.CMAKE_OPTIONS }}
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shell: bash
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- name: Test Packages
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run: |
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source /opt/ros/one/setup.bash
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set -x
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cd ~/ws/
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rosdep install -qq -r -y --from-path . --ignore-src || echo "OK"
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catkin build --force-cmake --no-status -sv ${{ matrix.CATKIN_OPTIONS }} --cmake-args -DCATKIN_ENABLE_TESTING=ON -DCMAKE_VERBOSE_MAKEFILE:BOOL=ON ${{ matrix.CMAKE_OPTIONS }}
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catkin test --no-status -sv ${{ matrix.CATKIN_OPTIONS }} --cmake-args -DCATKIN_ENABLE_TESTING=OFF -DCMAKE_VERBOSE_MAKEFILE:BOOL=ON ${{ matrix.CMAKE_OPTIONS }}
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catkin_test_results --verbose --all
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shell: bash

‎eus_qp/CMakeLists.txt‎

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@@ -20,14 +20,17 @@ catkin_package()
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add_executable(euq_qp_test src/example.cpp)
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add_library(eus_qp SHARED src/qp_lib.cpp)
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add_rostest(test/test_contact_wrench_opt.test)
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add_rostest(test/test_model_predictive_control.test)
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add_rostest(test/test_cfr_cwc_calculation.test)
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add_rostest(optmotiongen/test/test-sample-inverse-kinematics.test)
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add_rostest(optmotiongen/test/test-sample-inverse-kinematics-statics.test)
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add_rostest(optmotiongen/test/test-samplerobot.test)
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add_rostest(optmotiongen/test/test-sample-torque-gradient.test)
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add_rostest(optmotiongen/test/test-load-euslisp-files.test)
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if(CATKIN_ENABLE_TESTING)
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add_rostest(test/test_contact_wrench_opt.test)
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add_rostest(test/test_model_predictive_control.test)
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add_rostest(test/test_cfr_cwc_calculation.test)
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add_rostest(optmotiongen/test/test-sample-inverse-kinematics.test)
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add_rostest(optmotiongen/test/test-sample-inverse-kinematics-statics.test)
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add_rostest(optmotiongen/test/test-samplerobot.test)
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add_rostest(optmotiongen/test/test-sample-torque-gradient.test)
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add_rostest(optmotiongen/test/test-load-euslisp-files.test)
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endif()
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install(DIRECTORY euslisp test
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USE_SOURCE_PERMISSIONS

‎eus_qpoases/CMakeLists.txt‎

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@@ -9,7 +9,7 @@ ExternalProject_Add(qpoases
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GIT_REPOSITORY https://github.com/coin-or/qpOASES
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GIT_TAG releases/3.0.1
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TIMEOUT 30
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PATCH_COMMAND patch -s -p0 < ${PROJECT_SOURCE_DIR}/patch/UseShareLibrary.patch
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PATCH_COMMAND patch -s -p0 --forward < ${PROJECT_SOURCE_DIR}/patch/UseShareLibrary.patch || true # # If there is no --forward, the build process hangs because the patch command waits interactively for input on whether a file that has already been patched can be patched again. If there is no || true , the patch command returns non-zero status.
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CMAKE_ARGS -DCMAKE_BUILD_TYPE=Release
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BUILD_COMMAND make -j
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BUILD_IN_SOURCE 1
@@ -36,7 +36,9 @@ set_target_properties(eus_qpoases PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${PROJECT_
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add_dependencies(eus_qpoases qpoases)
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target_link_libraries(eus_qpoases qpOASES)
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add_rostest(test/eus_qpoases.test)
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if(CATKIN_ENABLE_TESTING)
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add_rostest(test/eus_qpoases.test)
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endif()
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install(DIRECTORY lib/
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USE_SOURCE_PERMISSIONS

‎eus_qpoases/src/eus_qpoases.cpp‎

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@@ -272,7 +272,7 @@ extern "C" {
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double* state_min_vector, double* state_max_vector,
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double* inequality_matrix, double* inequality_min_vector, double* inequality_max_vector,
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int state_len, int inequality_len, PrintLevel print_level, double* ret_status) {
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solve_qpoases_qp_common(ret,
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return solve_qpoases_qp_common(ret,
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eval_weight_matrix, eval_coeff_vector,
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state_min_vector, state_max_vector,
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inequality_matrix, inequality_min_vector, inequality_max_vector,
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double* state_min_vector, double* state_max_vector,
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double* inequality_matrix, double* inequality_min_vector, double* inequality_max_vector,
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int state_len, int inequality_len, PrintLevel print_level, double* ret_status) {
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solve_qpoases_qp_common(ret,
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return solve_qpoases_qp_common(ret,
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NULL, eval_coeff_vector,
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state_min_vector, state_max_vector,
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inequality_matrix, inequality_min_vector, inequality_max_vector,
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double* state_min_vector, double* state_max_vector,
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double* inequality_matrix, double* inequality_min_vector, double* inequality_max_vector,
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int state_len, int inequality_len, PrintLevel print_level, double* ret_status) {
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solve_qpoases_qp_with_hotstart_common(ret,
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return solve_qpoases_qp_with_hotstart_common(ret,
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eval_weight_matrix, eval_coeff_vector,
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state_min_vector, state_max_vector,
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inequality_matrix, inequality_min_vector, inequality_max_vector,
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double* state_min_vector, double* state_max_vector,
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double* inequality_matrix, double* inequality_min_vector, double* inequality_max_vector,
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int state_len, int inequality_len, PrintLevel print_level, double* ret_status) {
311-
solve_qpoases_qp_with_hotstart_common(ret,
311+
return solve_qpoases_qp_with_hotstart_common(ret,
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NULL, eval_coeff_vector,
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state_min_vector, state_max_vector,
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inequality_matrix, inequality_min_vector, inequality_max_vector,
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double* state_min_vector, double* state_max_vector,
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double* inequality_matrix, double* inequality_min_vector, double* inequality_max_vector,
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int state_len, int inequality_len, PrintLevel print_level, double* ret_status) {
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solve_qpoases_sqp_with_hotstart_common(ret,
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return solve_qpoases_sqp_with_hotstart_common(ret,
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eval_weight_matrix, eval_coeff_vector,
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state_min_vector, state_max_vector,
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inequality_matrix, inequality_min_vector, inequality_max_vector,
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double* state_min_vector, double* state_max_vector,
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double* inequality_matrix, double* inequality_min_vector, double* inequality_max_vector,
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int state_len, int inequality_len, PrintLevel print_level, double* ret_status) {
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solve_qpoases_sqp_with_hotstart_common(ret,
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return solve_qpoases_sqp_with_hotstart_common(ret,
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NULL, eval_coeff_vector,
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state_min_vector, state_max_vector,
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inequality_matrix, inequality_min_vector, inequality_max_vector,

‎eus_teleop/package.xml‎

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<?xml version="1.0"?>
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<package format="2">
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<package format="3">
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<name>eus_teleop</name>
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<version>0.1.18</version>
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<description>The eus_teleop package</description>
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<build_depend>std_msgs</build_depend>
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<exec_depend>actionlib_msgs</exec_depend>
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<exec_depend>baxter_core_msgs</exec_depend>
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<exec_depend>baxtereus</exec_depend>
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<exec_depend>influxdb_store</exec_depend>
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<exec_depend condition="$ROS_DISTRO != one">baxter_core_msgs</exec_depend>
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<exec_depend condition="$ROS_DISTRO != one">baxtereus</exec_depend>
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<exec_depend condition="$ROS_DISTRO != one">influxdb_store</exec_depend>
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<exec_depend>jsk_interactive_marker</exec_depend>
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<exec_depend>jsk_topic_tools</exec_depend>
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<exec_depend>libuvc_camera</exec_depend>
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<exec_depend>message_runtime</exec_depend>
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<exec_depend>pr2eus</exec_depend>
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<exec_depend>roseus</exec_depend>
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<exec_depend>sensor_msgs</exec_depend>
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<exec_depend>softhand_ros</exec_depend>
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<exec_depend condition="$ROS_DISTRO != one">softhand_ros</exec_depend>
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<exec_depend>std_msgs</exec_depend>
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<exec_depend>topic_tools</exec_depend>
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<exec_depend>video_stream_opencv</exec_depend>
31-
<exec_depend>vive_ros</exec_depend>
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<exec_depend>pr2_moveit_config</exec_depend>
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<exec_depend condition="$ROS_DISTRO != one">vive_ros</exec_depend>
32+
<exec_depend condition="$ROS_DISTRO != one">pr2_moveit_config</exec_depend>
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<export>
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</export>

‎jsk_footstep_planner/CMakeLists.txt‎

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@@ -106,4 +106,6 @@ install(TARGETS jsk_footstep_planner sample_astar sample_simple_graph
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install(DIRECTORY include/${PROJECT_NAME}/
107107
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
108108

109-
add_rostest(test/test_footstep_planning_eus_client.test)
109+
if(CATKIN_ENABLE_TESTING)
110+
add_rostest(test/test_footstep_planning_eus_client.test)
111+
endif()

‎jsk_footstep_planner/include/jsk_footstep_planner/footstep_state.h‎

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#include <jsk_footstep_msgs/Footstep.h>
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42+
#include <pcl/common/transforms.h>
4243
#include <pcl/kdtree/kdtree_flann.h>
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#include <pcl/filters/crop_box.h>
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#include <pcl/sample_consensus/method_types.h>

‎jsk_footstep_planner/include/jsk_footstep_planner/grid_path_planner.h‎

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#include <jsk_footstep_planner/CollisionBoundingBoxInfo.h>
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// pcl
19+
#include <pcl/common/common.h>
1920
#include <pcl/kdtree/kdtree_flann.h>
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// grid path planning

‎jsk_footstep_planner/include/jsk_footstep_planner/pointcloud_model_generator.h‎

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#ifndef JSK_FOOTSTEP_PLANNER_POINTCLOUD_MODEL_GENERATOR_H_
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#define JSK_FOOTSTEP_PLANNER_POINTCLOUD_MODEL_GENERATOR_H_
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40+
#include <boost/shared_ptr.hpp>
4041
#include <pcl/point_types.h>
4142
#include <pcl/point_cloud.h>
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