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kr_mav_controllers migrated to ROS2 humble #163

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merged 5 commits into from
Mar 25, 2024
Merged

kr_mav_controllers migrated to ROS2 humble #163

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cc30c14
kr_mav_controllers ROS2 humble compatible
pranavpshah Mar 13, 2024
64981e4
Disable failing cpplint tests that conflict with coding style
fcladera Mar 13, 2024
cdde203
cpplint compliant changes
pranavpshah Mar 13, 2024
2aa814e
refined comments
pranavpshah Mar 14, 2024
e5fbc6c
removed colcon test block
pranavpshah Mar 15, 2024
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2 changes: 2 additions & 0 deletions .github/workflows/cpplint.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,8 @@ jobs:
,-whitespace/braces\
,-whitespace/parens\
,-whitespace/newline\
,-build/header_guard\
,-readability/todo\
,-build/c++11"
# -readability/braces\
# ,-whitespace/comments\
Expand Down
113 changes: 44 additions & 69 deletions kr_mav_controllers/CMakeLists.txt
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@@ -1,83 +1,58 @@
cmake_minimum_required(VERSION 3.10)
project(kr_mav_controllers)

# set default build type
if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE RelWithDebInfo)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()

set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
add_compile_options(-Wall)

find_package(catkin REQUIRED COMPONENTS
dynamic_reconfigure
geometry_msgs
kr_mav_msgs
nav_msgs
nodelet
roscpp
std_msgs
tf
)
find_package(Eigen3 REQUIRED NO_MODULE)

generate_dynamic_reconfigure_options(cfg/SO3.cfg)

catkin_package(
INCLUDE_DIRS
LIBRARIES
CATKIN_DEPENDS
dynamic_reconfigure
geometry_msgs
kr_mav_msgs
nav_msgs
nodelet
roscpp
std_msgs
tf
DEPENDS
EIGEN3
)

add_library(kr_mav_so3_control src/SO3Control.cpp src/so3_control_nodelet.cpp src/so3_trpy_control.cpp)
target_include_directories(kr_mav_so3_control PUBLIC include ${catkin_INCLUDE_DIRS})
target_link_libraries(kr_mav_so3_control PUBLIC ${catkin_LIBRARIES} Eigen3::Eigen)
add_dependencies(kr_mav_so3_control ${catkin_EXPORTED_TARGETS} ${${PROJECT_NAME}_EXPORTED_TARGETS})

# TODO: PID control has not been updated for new messages add_library(kr_mav_pid_control src/PIDControl.cpp
# src/pid_control_nodelet.cpp) add_dependencies(kr_mav_pid_control ${catkin_EXPORTED_TARGETS})
# target_link_libraries(kr_mav_pid_control ${catkin_LIBRARIES})

install(
TARGETS kr_mav_so3_control
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(kr_mav_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)

include_directories(include)

add_library(kr_mav_pid_control SHARED src/pid_control_component.cpp src/PIDControl.cpp)
ament_target_dependencies(kr_mav_pid_control rclcpp rclcpp_components kr_mav_msgs nav_msgs std_msgs tf2 tf2_geometry_msgs)
target_link_libraries(kr_mav_pid_control Eigen3::Eigen)
rclcpp_components_register_nodes(kr_mav_pid_control "PIDControlComponent")

add_library(kr_mav_so3_control SHARED src/so3_control_component.cpp src/SO3Control.cpp src/so3_trpy_control.cpp)
ament_target_dependencies(kr_mav_so3_control rclcpp rclcpp_components kr_mav_msgs nav_msgs std_msgs geometry_msgs tf2 tf2_geometry_msgs)
target_link_libraries(kr_mav_so3_control Eigen3::Eigen)
rclcpp_components_register_nodes(kr_mav_so3_control "SO3ControlComponent")
rclcpp_components_register_nodes(kr_mav_so3_control "SO3TRPYControlComponent")

install(TARGETS
kr_mav_pid_control
kr_mav_so3_control
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)

# install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
install(FILES nodelet_plugin.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
if(BUILD_TESTING)
find_package(ament_cmake_gtest REQUIRED)
find_package(launch_testing_ament_cmake REQUIRED)

if(CATKIN_ENABLE_TESTING)
find_package(catkin REQUIRED COMPONENTS
roscpp
include_directories(include)
ament_add_gtest_executable(so3_control_component_test test/so3_control_component_test.cpp)
ament_target_dependencies(so3_control_component_test
std_msgs
nav_msgs
kr_mav_msgs
rostest
nav_msgs
rclcpp
)

include_directories(include ${catkin_INCLUDE_DIRS})
include_directories(${GTEST_INCLUDE_DIRS})

add_executable(so3_control_nodelet_test test/so3_control_nodelet_test.cpp)
# add_rostest_gtest(so3_control_nodelet_test test/so3_control_nodelet.test test/so3_control_nodelet_test.cpp)
target_link_libraries(so3_control_nodelet_test ${catkin_LIBRARIES} ${GTEST_LIBRARIES})

add_rostest(test/so3_control_nodelet.test)
add_launch_test(test/launch/so3_control_component_test.test.py TIMEOUT 80 ARGS "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")

endif()

ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
ament_package()
14 changes: 14 additions & 0 deletions kr_mav_controllers/README.md
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@@ -0,0 +1,14 @@
kr_mav_controllers
=============

Package for SO3 Controllers.

## Build Package
```
colcon build --packages-select kr_mav_controllers
```

## Run Tests
```
colcon test --packages-select kr_mav_controllers && colcon test-result --all --verbose
```
51 changes: 0 additions & 51 deletions kr_mav_controllers/cfg/SO3.cfg
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This file was deleted.

8 changes: 4 additions & 4 deletions kr_mav_controllers/include/kr_mav_controllers/PIDControl.hpp
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
#ifndef PID_CONTROL_H
#define PID_CONTROL_H
#ifndef PID_CONTROL_HPP
#define PID_CONTROL_HPP

#include <Eigen/Geometry>

Expand All @@ -22,7 +22,7 @@ class PIDControl

const Eigen::Vector4f &getControls(void);

EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
EIGEN_MAKE_ALIGNED_OPERATOR_NEW

private:
// Inputs for the controller
Expand All @@ -39,4 +39,4 @@ class PIDControl
Eigen::Vector4f trpy_;
};

#endif
#endif // PID_CONTROL_HPP
8 changes: 4 additions & 4 deletions ...s/include/kr_mav_controllers/SO3Control.h → ...include/kr_mav_controllers/SO3Control.hpp
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
#ifndef SO3_CONTROL_H
#define SO3_CONTROL_H
#ifndef SO3_CONTROL_HPP
#define SO3_CONTROL_HPP

#include <Eigen/Geometry>

Expand Down Expand Up @@ -27,7 +27,7 @@ class SO3Control
const Eigen::Quaternionf &getComputedOrientation();
const Eigen::Vector3f &getComputedAngularVelocity();

EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
EIGEN_MAKE_ALIGNED_OPERATOR_NEW

private:
// Inputs for the controller
Expand All @@ -48,4 +48,4 @@ class SO3Control
Eigen::Vector3f pos_int_b_;
};

#endif
#endif // SO3_CONTROL_HPP
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