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ROS2 port of Legged robot example #1

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Merged
merged 3 commits into from
Aug 12, 2022
Merged

ROS2 port of Legged robot example #1

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0dac030
fix uninitialized private node ptr
senceryazici Aug 12, 2022
0ff5cba
add legged_robot core
senceryazici Aug 12, 2022
316b4f0
add legged_robot_ros
senceryazici Aug 12, 2022
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194 changes: 147 additions & 47 deletions ocs2_robotic_examples/ocs2_legged_robot/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -3,8 +3,40 @@ project(ocs2_legged_robot)

# Generate compile_commands.json for clang tools
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 17)
endif()
set(CMAKE_CXX_STANDARD_REQUIRED ON)

set(CATKIN_PACKAGE_DEPENDENCIES
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()

find_package(ament_cmake REQUIRED)
find_package(ocs2_core REQUIRED)
find_package(ocs2_mpc REQUIRED)
find_package(ocs2_robotic_tools REQUIRED)
find_package(ocs2_oc REQUIRED)
find_package(ocs2_sqp REQUIRED)
find_package(ocs2_thirdparty REQUIRED)
find_package(ocs2_ddp REQUIRED)
find_package(ocs2_msgs REQUIRED)
find_package(ocs2_pinocchio_interface REQUIRED)
find_package(ocs2_centroidal_model REQUIRED)
find_package(ocs2_ros_interfaces REQUIRED)
find_package(ocs2_robotic_assets REQUIRED)
find_package(OpenMP REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(urdf REQUIRED)
find_package(kdl_parser REQUIRED)
find_package(robot_state_publisher REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(std_srvs REQUIRED)

set(AMENT_PACKAGE_DEPENDENCIES
ocs2_core
ocs2_oc
ocs2_ddp
Expand All @@ -14,38 +46,41 @@ set(CATKIN_PACKAGE_DEPENDENCIES
ocs2_pinocchio_interface
ocs2_centroidal_model
ocs2_robotic_assets
ocs2_thirdparty
ocs2_msgs
ocs2_ros_interfaces
rclcpp
kdl_parser
tf2
urdf
robot_state_publisher
tf2_ros
tf2_geometry_msgs
std_srvs
# trajectory_msgs
visualization_msgs
pinocchio
)

find_package(catkin REQUIRED COMPONENTS
${CATKIN_PACKAGE_DEPENDENCIES}
)

find_package(Boost REQUIRED COMPONENTS
system
filesystem
log
log_setup
)

find_package(Eigen3 3.3 REQUIRED NO_MODULE)

find_package(PkgConfig REQUIRED)
pkg_check_modules(pinocchio REQUIRED pinocchio)
if ( EXISTS "/opt/openrobots/lib/libpinocchio.so")
else()
message(FATAL_ERROR "Install Pinocchio first. Instructions: https://stack-of-tasks.github.io/pinocchio/download.html")
endif()

###################################
## catkin specific configuration ##
###################################
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread -fopenmp -std=c++11 -Wfatal-errors")

catkin_package(
INCLUDE_DIRS
include
${EIGEN3_INCLUDE_DIRS}
LIBRARIES
${PROJECT_NAME}
CATKIN_DEPENDS
${CATKIN_PACKAGE_DEPENDENCIES}
DEPENDS
Boost
pinocchio
)
list(APPEND CMAKE_PREFIX_PATH "/opt/openrobots/")
find_package(pinocchio REQUIRED)

###########
## Build ##
Expand All @@ -54,7 +89,7 @@ catkin_package(
# Resolve for the package path at compile time.
configure_file (
"${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/package_path.h.in"
"${PROJECT_BINARY_DIR}/include/${PROJECT_NAME}/package_path.h" @ONLY
"${CMAKE_INSTALL_PREFIX}/include/${PROJECT_NAME}/package_path.h" @ONLY
)

set(FLAGS
Expand Down Expand Up @@ -99,16 +134,30 @@ add_library(${PROJECT_NAME}
src/LeggedRobotInterface.cpp
src/LeggedRobotPreComputation.cpp
)
add_dependencies(${PROJECT_NAME}
${catkin_EXPORTED_TARGETS}

set_target_properties(${PROJECT_NAME}
PROPERTIES INSTALL_RPATH "/opt/openrobots/lib"
)

target_include_directories(${PROJECT_NAME} PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)

target_link_libraries(${PROJECT_NAME}
${catkin_LIBRARIES}
Eigen3::Eigen
${Boost_LIBRARIES}
${pinocchio_LIBRARIES}
dl
)

ament_target_dependencies(
ocs2_legged_robot
${AMENT_PACKAGE_DEPENDENCIES}
)

target_compile_options(${PROJECT_NAME} PUBLIC ${FLAGS})
target_compile_definitions(${PROJECT_NAME} PRIVATE BOOST_LOG_DYN_LINK=true)

#########################
### CLANG TOOLING ###
Expand All @@ -129,36 +178,87 @@ endif(cmake_clang_tools_FOUND)
## Install ##
#############

install(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
# install(TARGETS ${PROJECT_NAME}
# EXPORT export_${PROJECT_NAME}
# ARCHIVE DESTINATION lib
# LIBRARY DESTINATION lib
# RUNTIME DESTINATION bin
# )

install(
TARGETS ${PROJECT_NAME}
EXPORT export_${PROJECT_NAME}
RUNTIME DESTINATION lib/${PROJECT_NAME}
INCLUDES DESTINATION include
)


install(DIRECTORY include/
DESTINATION include
)

install(DIRECTORY config
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
DESTINATION share/${PROJECT_NAME}
)

ament_export_include_directories(include)

ament_export_libraries(${PROJECT_NAME})

ament_export_targets(
export_${PROJECT_NAME}
)

ament_export_dependencies(ocs2_core)
ament_export_dependencies(ocs2_mpc)
ament_export_dependencies(ocs2_robotic_tools)
ament_export_dependencies(ocs2_oc)
ament_export_dependencies(ocs2_thirdparty)
ament_export_dependencies(ocs2_ddp)
ament_export_dependencies(ocs2_msgs)
ament_export_dependencies(ocs2_pinocchio_interface)
ament_export_dependencies(ocs2_centroidal_model)
ament_export_dependencies(ocs2_ros_interfaces)
ament_export_dependencies(tf2)
ament_export_dependencies(urdf)
ament_export_dependencies(kdl_parser)
ament_export_dependencies(robot_state_publisher)
ament_export_dependencies(visualization_msgs)
ament_export_dependencies(nav_msgs)
ament_export_dependencies(std_srvs)

#############
## Testing ##
#############

catkin_add_gtest(${PROJECT_NAME}_test
test/AnymalFactoryFunctions.cpp
test/constraint/testEndEffectorLinearConstraint.cpp
test/constraint/testFrictionConeConstraint.cpp
test/constraint/testZeroForceConstraint.cpp
)
target_include_directories(${PROJECT_NAME}_test PRIVATE
test/include
${PROJECT_BINARY_DIR}/include
)
target_link_libraries(${PROJECT_NAME}_test
gtest_main
${PROJECT_NAME}
${catkin_LIBRARIES}
${Boost_LIBRARIES}
)
target_compile_options(${PROJECT_NAME}_test PRIVATE ${FLAGS})
# if(BUILD_TESTING)

# # Include linting tests
# find_package(ament_lint_auto REQUIRED)
# find_package(ament_cmake_gtest REQUIRED)
# ament_lint_auto_find_test_dependencies()

# # test_time_triggered_rollout
# ament_add_gtest(${PROJECT_NAME}_test
# test/AnymalFactoryFunctions.cpp
# test/constraint/testEndEffectorLinearConstraint.cpp
# test/constraint/testFrictionConeConstraint.cpp
# test/constraint/testZeroForceConstraint.cpp
# )

# target_link_libraries(${PROJECT_NAME}_test
# ${PROJECT_NAME}
# ${Boost_LIBRARIES}
# gtest_main
# )

# target_compile_options(${PROJECT_NAME}_test PRIVATE ${FLAGS})

# target_include_directories(${PROJECT_NAME}_test PUBLIC
# $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/test/include>
# $<INSTALL_INTERFACE:include>
# )
# endif(BUILD_TESTING)

ament_package()

29 changes: 17 additions & 12 deletions ocs2_robotic_examples/ocs2_legged_robot/package.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
<?xml version="1.0"?>
<package format="2">
<?xml version="2.0"?>
<package>
<name>ocs2_legged_robot</name>
<version>0.0.1</version>
<description>The ocs2_legged_robot package</description>
Expand All @@ -12,15 +12,20 @@

<buildtool_depend>ament_cmake</buildtool_depend>

<depend>ocs2_core</depend>
<depend>ocs2_oc</depend>
<depend>ocs2_ddp</depend>
<depend>ocs2_mpc</depend>
<depend>ocs2_sqp</depend>
<depend>ocs2_robotic_assets</depend>
<depend>ocs2_robotic_tools</depend>
<depend>ocs2_pinocchio_interface</depend>
<depend>ocs2_centroidal_model</depend>
<depend>pinocchio</depend>
<build_depend>ocs2_core</build_depend>
<build_depend>ocs2_oc</build_depend>
<build_depend>ocs2_ddp</build_depend>
<build_depend>ocs2_mpc</build_depend>
<build_depend>ocs2_sqp</build_depend>
<build_depend>ocs2_msgs</build_depend>
<build_depend>ocs2_robotic_assets</build_depend>
<build_depend>ocs2_robotic_tools</build_depend>
<build_depend>ocs2_pinocchio_interface</build_depend>
<build_depend>ocs2_ros_interfaces</build_depend>
<build_depend>ocs2_centroidal_model</build_depend>
<build_depend>pinocchio</build_depend>

<export>
<build_type>ament_cmake</build_type>
</export>
</package>
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