release: version 7.4.0

Version 7.4.0 brings Analog and Digital IO State types as a new feature to the `state_representation` module.

.devcontainer/devcontainer.json

@@ -1,22 +1,17 @@
 {
     "name": "control libraries",
-    "remoteUser": "ros2",
+    "remoteUser": "developer",
     "build": {
-        "dockerfile": "../Dockerfile.ci",
+        "dockerfile": "../Dockerfile",
         "context": "..",
-        "target": "development",
-        "args": {
-            "ROS2_VERSION": "humble",
-            "PINOCCHIO_TESTS": "OFF"
-        }
+        "target": "development"
     },
     "workspaceMount": "source=${localWorkspaceFolder},target=/src,type=bind,consistency=cached",
     "workspaceFolder": "/src",
     "customizations": {
         "vscode": {
             "extensions": [
-                "ms-vscode.cpptools-extension-pack",
-                "eamodio.gitlens"
+                "ms-vscode.cpptools-extension-pack"
             ]
         }
     }

.dockerignore

@@ -1 +1,3 @@
-source/*build*
+./build*
+./docs/
+./.*

.github/workflows/build-release.yaml

@@ -46,7 +46,7 @@ jobs:
         with:
           image_name: aica-technology/control-libraries
           image_tags: ${{ steps.merge-tags.outputs.list }}
-          dockerfile_path: Dockerfile.ci
+          dockerfile_path: Dockerfile
           token: ${{ secrets.GITHUB_TOKEN }}
 
   multi-arch:

.vscode/settings.json

@@ -1,5 +1,5 @@
 {
     "cmake.sourceDirectory": "/src/source",
     "cmake.configureArgs": [ "-DBUILD_TESTING=ON" ],
-    "C_Cpp.clang_format_style": "file:/home/ros2/.clang-format"
+    "C_Cpp.clang_format_style": "file:/guidelines/.clang-format"
 }

CHANGELOG.md

@@ -1,6 +1,8 @@
 # CHANGELOG
 
-Release Versions:
+Release Versions
+
+- [7.4.0](#740)
 - [7.3.0](#730)
 - [7.2.0](#720)
 - [7.1.1](#711)
@@ -10,6 +12,23 @@ Release Versions:
 - [6.3.0](#630)
 - [6.2.0](#620)
 
+## 7.4.0
+
+Version 7.4.0 brings Analog and Digital IO State types as a new feature to the `state_representation` module.
+
+### Features
+
+`AnalogIOState` and `DigitalIOState` classes have been added as new state types in `state_representation`.
+
+### Full changelog
+
+- feat: add IO states to state representation (py) (#173)
+- feat: add IO states to state representation (proto) (#172)
+- feat: add IO states to state representation (cpp) (#158)
+- build: update dockerfiles (#153)
+- build: copy python packages into /usr instead of ~ros2 to avoid permission issues (#155)
+- feat: Add ParameterType conversion functions to go from enum to type label and the inverse (#154)
+
 ## 7.3.0
 
 Version 7.3.0 contains new improvements and a fix to the control libraries.
@@ -64,7 +83,7 @@ minor improvements and fixes to state_representation.
 
 - Update push hooks in build-release.yaml (#127)
 - feat(ci): add prebuilt control-libraries image akin to network-interfaces (#125)
-- Add overloaded `make_shared_parameter` with no parameter  (#123)
+- Add overloaded `make_shared_parameter` with no parameter (#123)
 - Catch out of range exception in `ParameterMap::assert_parameter_valid` (#122)
 - Construct zero matrices in compliant twist controller (#120)
 
@@ -78,6 +97,7 @@ and safe to use.
 **state_representation**
 
 The `State` class has been reworked, with the following breaking changes to the API:
+
 - `State::initialize` has been reworked as `State::reset`.
 - `State::is_compatible` has been removed in favor of the new `State::is_incompatible`.
 - `State::set_empty` and `State::set_filled` have been removed from the public API.
@@ -104,7 +124,7 @@ All header files now use the `.hpp` extension.
 
 **state_representation**
 
-The timestamp of a `State` object is now consistently reset by every non-const method, so that it always indicates the 
+The timestamp of a `State` object is now consistently reset by every non-const method, so that it always indicates the
 time of last modification. The method `State::get_age()` can be used to get the time since last modification in seconds.
 
 The emptiness of a state is handled more consistently, and accessing data on an empty state will now throw an exception.
@@ -123,6 +143,7 @@ of a feedback state is passed through to the command as a feed-forward force or
 **Python**
 
 The Python bindings now include the exceptions for each module. For example:
+
 - `from state_representation.exceptions import EmptyStateError`
 
 The bindings have also been updated to include the breaking changes in `state_representation`.
@@ -156,7 +177,7 @@ A contributor license agreement and signature workflow have been added to protec
 - Update python bindings after Jacobian refactor (#105)
 - Set reference frame of Jacobian with string instead of pose (#103)
 - Refactor Jacobian methods and operators (#101)
-- Remove rows_ and cols_ and improve constructors (#100)
+- Remove rows* and cols* and improve constructors (#100)
 - Revise clproto to remove StateType and timestamp from State message (#104)
 - Raise exception in getters if state is empty (#97)
 - Bind error objects of all library modules with Pybind (#98)
@@ -184,7 +205,7 @@ A contributor license agreement and signature workflow have been added to protec
 - Bind operators of Cartesian states (#60)
 - Fix quaternion differentiation (#58)
 - Refactor operators in CartesianState for addition (#23), subtraction (#33, #40), transformation (#28, #45),
-division (#41) and multiplication (#43)
+  division (#41) and multiplication (#43)
 - Add a Contributor License Agreement (#61)
 - Uniformly sample orientation with UnitRandom (#56)
 - Refactor get/set variable helpers in Cartesian and joint state (#39, #57)
@@ -235,4 +256,4 @@ and granted to AICA under a non-exclusive license agreement. All subsequent cont
 AICA employees and are the property of AICA SA. For a full history of changes prior to version 6.2, refer to
 the original project here:
 
-- https://github.com/epfl-lasa/control-libraries/tree/v6.2.0
+- https://github.com/epfl-lasa/control-libraries/tree/v6.2.0

Dockerfile.ci → Dockerfile

@@ -1,6 +1,23 @@
-ARG ROS2_VERSION=humble
-FROM ghcr.io/aica-technology/ros2-ws:${ROS2_VERSION} as base
-USER ${USER}
+ARG BASE_TAG=22.04
+FROM ubuntu:${BASE_TAG} as base
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update && apt-get install -y \
+    cmake \
+    g++ \
+    git \
+    libgtest-dev \
+    libeigen3-dev \
+    python3-pip \
+    ssh \
+    sudo \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN echo "Set disable_coredump false" >> /etc/sudo.conf
+
+# create the credentials to be able to pull private repos using ssh
+RUN mkdir /root/.ssh/ && ssh-keyscan github.com | tee -a /root/.ssh/known_hosts
 
 FROM base as apt-dependencies
 COPY apt-packages.tx[t] /
@@ -13,7 +30,7 @@ fi
 
 mkdir -p /tmp/apt
 
-sudo apt-get update
+apt-get update
 # We then do a dry-run and parse the output of apt to gather the list of packages to be installed
 # Example output:
 # ```
@@ -44,7 +61,7 @@ xargs -a /apt-packages.txt apt-get install --dry-run \
   | grep -e '^Inst ' \
   | sed -E 's/^Inst (\S+) .*$/\1/' > /tmp/new-packages.txt
 # Then we install apt packages like normal
-xargs -a /apt-packages.txt sudo apt-get install -y
+xargs -a /apt-packages.txt apt-get install -y
 # Finally we use dpkg to get all files installed by those packages and copy them to a new root
 #  - get list of files installed by all the packages
 #  - remove empty lines
@@ -64,7 +81,7 @@ COPY --from=apt-dependencies /tmp/apt /
 ARG TARGETPLATFORM
 ARG CACHEID
 ARG PINOCCHIO_TAG=v2.6.9
-ARG PINOCCHIO_TESTS=ON
+ARG PINOCCHIO_TESTS=OFF
 # FIXME: it would be nicer to have it all in the root CMakelists.txt but:
 #  * `pinocchio` doesn't provide an include directory we can easily plug into `target_include_directories` and thus needs to be installed first
 #  * `pinocchio` uses hacks relying on undocumented CMake quirks which break if you use `FetchContent`
@@ -101,9 +118,39 @@ FROM base as code
 WORKDIR /src
 COPY --from=apt-dependencies /tmp/apt /
 COPY --from=dependencies /tmp/deps /usr
-COPY --chown=${USER}:${USER} . /src
+COPY . /src
 
 FROM code as development
+# create and configure a new user
+ARG UID=1000
+ARG GID=1000
+ENV USER developer
+ENV HOME /home/${USER}
+
+RUN addgroup --gid ${GID} ${USER}
+RUN adduser --gecos "Remote User" --uid ${UID} --gid ${GID} ${USER} && yes | passwd ${USER}
+RUN usermod -a -G dialout ${USER}
+RUN echo "${USER} ALL=(ALL) NOPASSWD: ALL" > /etc/sudoers.d/99_aptget
+RUN chmod 0440 /etc/sudoers.d/99_aptget && chown root:root /etc/sudoers.d/99_aptget
+
+# Configure sshd server settings
+RUN ( \
+    echo 'LogLevel DEBUG2'; \
+    echo 'PubkeyAuthentication yes'; \
+    echo 'Subsystem sftp /usr/lib/openssh/sftp-server'; \
+  ) > /etc/ssh/sshd_config_development \
+  && mkdir /run/sshd
+
+# Configure sshd entrypoint to authorise the new user for ssh access and
+# optionally update UID and GID when invoking the container with the entrypoint script
+COPY ./docker/sshd_entrypoint.sh /sshd_entrypoint.sh
+RUN chmod 744 /sshd_entrypoint.sh
+
+RUN chown -R ${USER}:${USER} /src
+RUN mkdir /guidelines && cd /guidelines \
+  && wget https://raw.githubusercontent.com/aica-technology/.github/v0.9.0/guidelines/.clang-format
+
+USER ${USER}
 
 FROM code as build
 ARG TARGETPLATFORM
@@ -132,17 +179,16 @@ COPY --from=install /tmp/cl /usr
 COPY --chown=${USER}:${USER} ./python /python
 RUN --mount=type=cache,target=${HOME}/.cache,id=pip-${TARGETPLATFORM}-${CACHEID},uid=1000 \
   python3 -m pip install --prefix=/tmp/python /python
-RUN mkdir -p /tmp/python-home/${USER}/.local/lib/python3.10/ \
-  && mv /tmp/python/local/lib/python3.10/dist-packages/ /tmp/python-home/${USER}/.local/lib/python3.10/site-packages/
+RUN mv /tmp/python/local /tmp/python-usr
 
 FROM base as python-stubs
 ARG TARGETPLATFORM
 ARG CACHEID
 COPY --from=apt-dependencies /tmp/apt /
 COPY --from=dependencies /tmp/deps /usr
 COPY --from=install /tmp/cl /usr
-COPY --from=python /tmp/python-home /home
-RUN sudo pip install pybind11-stubgen
+COPY --from=python /tmp/python-usr /usr
+RUN pip install pybind11-stubgen
 RUN --mount=type=cache,target=${HOME}/.cache,id=pip-${TARGETPLATFORM}-${CACHEID},uid=1000 \
 <<HEREDOC
 for PKG in state_representation dynamical_systems robot_model controllers clproto; do
@@ -170,12 +216,11 @@ EoF
   fi
 done
 HEREDOC
-RUN mkdir -p /tmp/python-home/${USER}/.local/lib/python3.10/ \
-  && mv /tmp/python/local/lib/python3.10/dist-packages/ /tmp/python-home/${USER}/.local/lib/python3.10/site-packages/
+RUN mv /tmp/python/local /tmp/python-usr
 
 FROM scratch as production
 COPY --from=apt-dependencies /tmp/apt /
 COPY --from=dependencies /tmp/deps /usr
 COPY --from=install /tmp/cl /usr
-COPY --from=python /tmp/python-home /home
-COPY --from=python-stubs /tmp/python-home /home
+COPY --from=python /tmp/python-usr /usr
+COPY --from=python-stubs /tmp/python-usr /usr

VERSION

@@ -1 +1 @@
-7.3.0
+7.4.0

demos/CMakeLists.txt

@@ -15,7 +15,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-find_package(control_libraries 7.3.0 CONFIG REQUIRED)
+find_package(control_libraries 7.4.0 CONFIG REQUIRED)
 
 set(DEMOS_SCRIPTS
   task_space_control_loop

docker/sshd_entrypoint.sh

@@ -30,6 +30,9 @@ while [ "$#" -gt 0 ]; do
   esac
 done
 
+# define the home directory of the specified user
+HOME="/home/${USERNAME}"
+
 # update the USER_ID and GROUP_ID of the specified user
 if [ -n "${USER_ID}" ] && [ -n "${GROUP_ID}" ]; then
   groupmod -g "${GROUP_ID}" "${USERNAME}"
@@ -38,12 +41,15 @@ fi
 
 if [ -n "${PUBLIC_KEY}" ]; then
   # authorise the specified user for ssh login
-  HOME="/home/${USERNAME}"
   mkdir -p "${HOME}"/.ssh
   echo "${PUBLIC_KEY}" >"${HOME}"/.ssh/authorized_keys
   chmod -R 755 "${HOME}"/.ssh
   chown -R "${USERNAME}:${USERNAME}" "${HOME}"/.ssh
 fi
 
+# save all environment variables to a file (except those listed below) and source it when the specified user logs in
+env | egrep -v "^(HOME=|USER=|MAIL=|LC_ALL=|LS_COLORS=|LANG=|HOSTNAME=|PWD=|TERM=|SHLVL=|LANGUAGE=|_=)" >> /etc/environment
+echo "source /etc/environment" | cat - "${HOME}/.bashrc" > tmp && mv tmp "${HOME}/.bashrc"
+
 # start the ssh server
 /usr/sbin/sshd -D -e -f /etc/ssh/sshd_config_development

doxygen/doxygen.conf

@@ -38,7 +38,7 @@ PROJECT_NAME           = "Control Libraries"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER = 7.3.0
+PROJECT_NUMBER = 7.4.0
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

protocol/clproto_cpp/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.15)
 
-project(clproto VERSION 7.3.0)
+project(clproto VERSION 7.4.0)
 
 # Default to C99
 if(NOT CMAKE_C_STANDARD)

protocol/clproto_cpp/include/clproto.hpp

@@ -69,7 +69,9 @@ enum MessageType {
   JOINT_TORQUES_MESSAGE = 13,
   SHAPE_MESSAGE = 14,
   ELLIPSOID_MESSAGE = 15,
-  PARAMETER_MESSAGE = 16
+  PARAMETER_MESSAGE = 16,
+  DIGITAL_IO_STATE_MESSAGE = 17,
+  ANALOG_IO_STATE_MESSAGE = 18
 };
 
 /**

protocol/clproto_cpp/include/clproto/encoders.hpp

@@ -3,6 +3,8 @@
 #include <google/protobuf/repeated_field.h>
 
 #include <state_representation/State.hpp>
+#include <state_representation/AnalogIOState.hpp>
+#include <state_representation/DigitalIOState.hpp>
 #include <state_representation/space/SpatialState.hpp>
 #include <state_representation/space/cartesian/CartesianState.hpp>
 #include <state_representation/space/Jacobian.hpp>
@@ -62,6 +64,8 @@ state_representation::proto::Quaterniond encoder(const Eigen::Quaterniond& quate
 state_representation::proto::CartesianState encoder(const state_representation::CartesianState& cartesian_state);
 state_representation::proto::Jacobian encoder(const state_representation::Jacobian& jacobian);
 state_representation::proto::JointState encoder(const state_representation::JointState& joint_state);
+state_representation::proto::AnalogIOState encoder(const state_representation::AnalogIOState& analog_io_state);
+state_representation::proto::DigitalIOState encoder(const state_representation::DigitalIOState& digital_io_state);
 
 /*
  * Definitions for templated RepeatedField methods