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Humble fixes #4

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3f817c3
Fix std error
Dec 9, 2022
a7c1749
Fix cast
Dec 9, 2022
1055e43
More fixes
Dec 9, 2022
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2 changes: 1 addition & 1 deletion ocs2_core/include/ocs2_core/integration/TrapezoidalIntegration.h
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Original file line number Diff line number Diff line change
Expand Up @@ -40,7 +40,7 @@ SCALAR_T trapezoidalIntegration(const std::vector<SCALAR_T>& timeTrajectory, con
}

SCALAR_T areaUnderCurve = 0.0;
for (size_t k = 1; k < timeTrajectory.size(); k++) {
for (std::size_t k = 1; k < timeTrajectory.size(); k++) {
areaUnderCurve += 0.5 * (valueTrajectory[k] + valueTrajectory[k - 1]) * (timeTrajectory[k] - timeTrajectory[k - 1]);
} // end of k loop

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7 changes: 6 additions & 1 deletion ocs2_pinocchio/ocs2_centroidal_model/CMakeLists.txt
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Expand Up @@ -15,7 +15,8 @@ find_package(ocs2_core REQUIRED)
find_package(ocs2_robotic_tools REQUIRED)
find_package(ocs2_pinocchio_interface REQUIRED)
find_package(OpenMP REQUIRED)

find_package(urdf)
find_package(urdfdom)
find_package(Boost REQUIRED COMPONENTS
system
filesystem
Expand Down Expand Up @@ -66,6 +67,8 @@ ament_target_dependencies(${PROJECT_NAME}
ocs2_pinocchio_interface
ocs2_core
ocs2_robotic_tools
urdf
urdfdom
)

set_target_properties(${PROJECT_NAME}
Expand Down Expand Up @@ -111,6 +114,8 @@ ament_export_dependencies(ocs2_core)
ament_export_dependencies(ocs2_robotic_tools)
ament_export_dependencies(ocs2_thirdparty)
ament_export_dependencies(ocs2_pinocchio_interface)
ament_export_dependencies(urdf)
ament_export_dependencies(urdfdom)

#############
## Testing ##
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6 changes: 6 additions & 0 deletions ocs2_pinocchio/ocs2_pinocchio_interface/CMakeLists.txt
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Expand Up @@ -21,6 +21,8 @@ find_package(ocs2_robotic_tools REQUIRED)
find_package(ocs2_oc REQUIRED)
find_package(ocs2_thirdparty REQUIRED)
find_package(OpenMP REQUIRED)
find_package(urdf REQUIRED)
find_package(urdfdom REQUIRED)

find_package(Boost REQUIRED COMPONENTS
system
Expand Down Expand Up @@ -77,6 +79,8 @@ ament_target_dependencies(${PROJECT_NAME}
ocs2_core
ocs2_oc
ocs2_robotic_tools
urdf
urdfdom
)

target_link_libraries(${PROJECT_NAME}
Expand Down Expand Up @@ -127,6 +131,8 @@ ament_export_targets(

ament_export_dependencies(ocs2_core)
ament_export_dependencies(ocs2_robotic_tools)
ament_export_dependencies(urdf)
ament_export_dependencies(urdfdom)

############
# Testing ##
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2 changes: 2 additions & 0 deletions ocs2_pinocchio/ocs2_pinocchio_interface/package.xml
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Expand Up @@ -15,6 +15,8 @@
<depend>ocs2_core</depend>
<depend>ocs2_oc</depend>
<depend>ocs2_robotic_tools</depend>
<depend>urdf</depend>
<depend>urdfdom</depend>
<depend>pinocchio</depend>

<export>
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2 changes: 2 additions & 0 deletions ocs2_robotic_examples/ocs2_legged_robot_ros/CMakeLists.txt
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Expand Up @@ -46,6 +46,7 @@ set(AMENT_PACKAGE_DEPENDENCIES
tf2
tf2_ros
urdf
urdfdom
kdl_parser
rclcpp
robot_state_publisher
Expand Down Expand Up @@ -307,6 +308,7 @@ ament_export_dependencies(ocs2_centroidal_model)
ament_export_dependencies(ocs2_ros_interfaces)
ament_export_dependencies(tf2)
ament_export_dependencies(urdf)
ament_export_dependencies(urdfdom)
ament_export_dependencies(kdl_parser)
ament_export_dependencies(robot_state_publisher)
ament_export_dependencies(visualization_msgs)
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3 changes: 1 addition & 2 deletions ocs2_robotic_examples/ocs2_legged_robot_ros/src/visualization/LeggedRobotVisualizer.cpp
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Expand Up @@ -163,8 +163,7 @@ void LeggedRobotVisualizer::publishTrajectory(const std::vector<SystemObservatio
scalar_t frameDuration = speed * (system_observation_array[k + 1].time - system_observation_array[k].time);
scalar_t publishDuration = timedExecutionInSeconds([&]() { publishObservation(nodeHandle_->now(), system_observation_array[k]); });
if (frameDuration > publishDuration) {
rclcpp::Duration dur(frameDuration - publishDuration);
rclcpp::sleep_for(std::chrono::nanoseconds(dur.nanoseconds()));
rclcpp::sleep_for(std::chrono::nanoseconds(int((frameDuration - publishDuration)*1e9)));
}
}
}
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5 changes: 2 additions & 3 deletions ocs2_ros_interfaces/src/mrt/MRT_ROS_Dummy_Loop.cpp
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Expand Up @@ -52,7 +52,7 @@ MRT_ROS_Dummy_Loop::MRT_ROS_Dummy_Loop(MRT_ROS_Interface& mrt, scalar_t mrtDesir
/******************************************************************************************************/
void MRT_ROS_Dummy_Loop::run(const SystemObservation& initObservation, const TargetTrajectories& initTargetTrajectories) {
RCLCPP_INFO_STREAM(LOGGER, "Waiting for the initial policy ...");
const scalar_t timeStep = (1.0 / mrtDesiredFrequency_);
const double timeStep = (1.0 / mrtDesiredFrequency_);
// Reset MPC node
mrt_.resetMpcNode(initTargetTrajectories);

Expand All @@ -61,8 +61,7 @@ void MRT_ROS_Dummy_Loop::run(const SystemObservation& initObservation, const Tar
mrt_.spinMRT();
mrt_.setCurrentObservation(initObservation);

int16_t sleeptime = rclcpp::Duration(timeStep).nanoseconds();
rclcpp::sleep_for(std::chrono::nanoseconds(sleeptime));
rclcpp::sleep_for(std::chrono::nanoseconds(int(timeStep * 1e9)));
}
RCLCPP_INFO_STREAM(LOGGER, "Initial policy has been received.");

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