Packaging, Python 2/3 support (Noetic), CI, rename package to whole_body_state_msgs

.travis.yml

@@ -0,0 +1,38 @@
+# This config file for Travis CI utilizes ros-industrial/industrial_ci package.
+# For more info for the package, see https://github.com/ros-industrial/industrial_ci/blob/master/README.rst
+language: generic
+dist: bionic
+services:
+  - docker
+
+# include the following block if the C/C++ build artifacts should get cached by Travis,
+# CCACHE_DIR needs to get set as well to actually fill the cache
+cache:
+  directories:
+    - $HOME/.ccache
+
+git:
+  quiet: true # optional, silences the cloning of the target repository
+
+# configure the build environment(s)
+# https://github.com/ros-industrial/industrial_ci/blob/master/doc/index.rst#variables-you-can-configure
+env:
+  global: # global settings for all jobs
+    - CCACHE_DIR=$HOME/.ccache # enables C/C++ caching in industrial_ci
+    - ROS_REPO=ros-testing # ros
+  matrix:
+    - ROS_DISTRO="kinetic"
+    - ROS_DISTRO="kinetic" PRERELEASE=true
+    - ROS_DISTRO="melodic"
+    - ROS_DISTRO="melodic" PRERELEASE=true
+    - ROS_DISTRO="noetic"
+    - ROS_DISTRO="noetic" PRERELEASE=true
+matrix:
+  allow_failures:
+    - env: ROS_DISTRO="kinetic" PRERELEASE=true
+    - env: ROS_DISTRO="melodic" PRERELEASE=true
+    - env: ROS_DISTRO="noetic" PRERELEASE=true
+install:
+  - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci.git .ci_config -b master
+script:
+  - source .ci_config/travis.sh

CMakeLists.txt

@@ -1,56 +1,44 @@
 CMAKE_MINIMUM_REQUIRED(VERSION 3.1)
-PROJECT(state_msgs)
+PROJECT(whole_body_state_msgs)
 
 # Set up project properties
-SET(PROJECT_NAME state_msgs)
-SET(PROJECT_DESCRIPTION "State ROS messages")
+SET(PROJECT_NAME whole_body_state_msgs)
+SET(PROJECT_DESCRIPTION "Whole-body State ROS messages")
 
-# Print initial message
+# Print initial message - using STATUS so it doesn't trigger as a warning
 MESSAGE(STATUS "${PROJECT_DESCRIPTION}, version ${PROJECT_VERSION}")
-MESSAGE("Copyright (C) 2020 University of Edinburgh")
-MESSAGE("All rights reserved.")
-MESSAGE("Released under the BSD 3-Clause License.")
-
-# Set a default build type to 'Release' if none was specified
-IF(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
-  MESSAGE(STATUS "Setting build type to 'Release' as none was specified.")
-  SET(CMAKE_BUILD_TYPE Release CACHE STRING "Choose the type of build." FORCE)
-  # Set the possible values of build type for cmake-gui
-  SET_PROPERTY(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
-ENDIF()
+MESSAGE(STATUS "Copyright (C) 2020 University of Edinburgh, University of Oxford")
+MESSAGE(STATUS "All rights reserved.")
+MESSAGE(STATUS "Released under the BSD 3-Clause License.")
 
 # Find required packages
 FIND_PACKAGE(catkin REQUIRED COMPONENTS
-  roscpp
   rospy
   std_msgs
   geometry_msgs
-  message_generation)
+  message_generation
+)
 
 catkin_python_setup()
 
 # Define messages to be generated
 add_message_files(
-   DIRECTORY msg
-   FILES
+  DIRECTORY msg
+  FILES
     JointCommand.msg
     CentroidalState.msg
     JointState.msg
     ContactState.msg
     WholeBodyState.msg
     WholeBodyTrajectory.msg
-    WholeBodyController.msg)
+    WholeBodyController.msg
+)
 
 generate_messages(
-   DEPENDENCIES
-   std_msgs
-   geometry_msgs)
-
+  DEPENDENCIES
+    std_msgs
+    geometry_msgs
+)
 
 # Define catkin dependencies
-catkin_package(CATKIN_DEPENDS  roscpp message_runtime std_msgs geometry_msgs)
-
-
-# Installation src
-INSTALL(DIRECTORY src
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+catkin_package(CATKIN_DEPENDS message_runtime std_msgs geometry_msgs)

README.md

@@ -21,7 +21,7 @@ With these basic states, the package describes whole-body states and trajectorie
 
 ## :penguin: Building
 
-The state_msgs is a catkin project which can be built as:
+The whole_body_state_msgs is a catkin project which can be built as:
 
 	cd your_ros_ws/
 	catkin build #catkin_make

msg/WholeBodyController.msg

@@ -10,13 +10,13 @@
 Header header
 
 # Desired whole-body state
-state_msgs/WholeBodyState desired
+whole_body_state_msgs/WholeBodyState desired
 
 # Actual whole-body state
-state_msgs/WholeBodyState actual
+whole_body_state_msgs/WholeBodyState actual
 
 # Error whole-body state
-state_msgs/WholeBodyState error
+whole_body_state_msgs/WholeBodyState error
 
 # Command state
-state_msgs/JointCommand[] command
+whole_body_state_msgs/JointCommand[] command

msg/WholeBodyState.msg

@@ -28,10 +28,10 @@ Header header
 float64 time
 
 # This represents the base state (CoM motion, angular motion and centroidal momenta)
-state_msgs/CentroidalState centroidal
+whole_body_state_msgs/CentroidalState centroidal
 
 # This represents the joint state (position, velocity, acceleration and effort)
-state_msgs/JointState[] joints
+whole_body_state_msgs/JointState[] joints
 
 # This represents the end-effector state (cartesian position and contact forces)
-state_msgs/ContactState[] contacts
+whole_body_state_msgs/ContactState[] contacts

msg/WholeBodyTrajectory.msg

@@ -11,7 +11,7 @@
 Header header
 
 # The actual whole-body state
-state_msgs/WholeBodyState actual
+whole_body_state_msgs/WholeBodyState actual
 
 # The whole-body trajectory
-state_msgs/WholeBodyState[] trajectory
+whole_body_state_msgs/WholeBodyState[] trajectory

package.xml

@@ -1,29 +1,28 @@
 <?xml version="1.0"?>
-<package format="2">
-  <name>state_msgs</name>
+<package format="3">
+  <name>whole_body_state_msgs</name>
   <version>0.0.1</version>
   <description>
     Message and service data structures for robot states
   </description>
 
-  <author email="carlos.mastalli@ed.ac.uk">Carlos Mastalli</author>
   <maintainer email="carlos.mastalli@ad.ec.uk">Carlos Mastalli</maintainer>
+  <author email="carlos.mastalli@ed.ac.uk">Carlos Mastalli</author>
+  <author email="wolfgang@robots.ox.ac.uk">Wolfgang Merkt</author>
   <license>BSD 3-Clause</license>
 
   <buildtool_depend>catkin</buildtool_depend>
-
-  <build_depend>roscpp</build_depend>
+
   <build_depend>rospy</build_depend>
   <build_depend>message_generation</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>geometry_msgs</build_depend>
-
-  <exec_depend>roscpp</exec_depend>
+
   <exec_depend>rospy</exec_depend>
   <exec_depend>message_runtime</exec_depend>
   <exec_depend>std_msgs</exec_depend>
   <exec_depend>geometry_msgs</exec_depend>
-  <exec_depend>python-numpy</exec_depend>
-  <exec_depend>python-pinocchio</exec_depend>
-
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-numpy</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-numpy</exec_depend>
+  <exec_depend>pinocchio</exec_depend>
 </package>

setup.py

@@ -3,6 +3,6 @@
 from catkin_pkg.python_setup import generate_distutils_setup
 
 # fetch values from package.xml
-setup_args = generate_distutils_setup(packages=['state_msgs'], package_dir={'': 'src'})
+setup_args = generate_distutils_setup(packages=['whole_body_state_msgs'], package_dir={'': 'src'})
 
 setup(**setup_args)

src/whole_body_state_msgs/__init__.py

@@ -0,0 +1,4 @@
+import whole_body_controller_publisher
+import whole_body_interface
+import whole_body_state_publisher
+import whole_body_trajectory_publisher

src/state_msgs/whole_body_controller_publisher.py → src/whole_body_state_msgs/whole_body_controller_publisher.py

@@ -1,14 +1,18 @@
+from __future__ import print_function, absolute_import
+
 import rospy
-from state_msgs.msg import WholeBodyController
-from state_msgs import whole_body_interface as wb_iface
+from whole_body_state_msgs.msg import WholeBodyController
+from .whole_body_interface import WholeBodyStateInterface
 import copy
 
+__all__ = ['WholeBodyControllerPublisher']
+
 
 class WholeBodyControllerPublisher():
     def __init__(self, topic, model):
         # Initializing the publisher
         self.pub = rospy.Publisher(topic, WholeBodyController, queue_size=1)
-        self.wb_iface = wb_iface.WholeBodyStateInterface(model)
+        self.wb_iface = WholeBodyStateInterface(model)
 
     def publish(self,
                 t,

src/state_msgs/whole_body_interface.py → src/whole_body_state_msgs/whole_body_interface.py

@@ -1,8 +1,11 @@
+from __future__ import print_function, absolute_import
+
 import rospy
-from state_msgs.msg import WholeBodyState, ContactState, JointState
+from whole_body_state_msgs.msg import WholeBodyState, ContactState, JointState
 import pinocchio
 import numpy as np
 
+__all__ = ['WholeBodyStateInterface']
 
 class WholeBodyStateInterface():
     def __init__(self, model):

src/state_msgs/whole_body_state_publisher.py → src/whole_body_state_msgs/whole_body_state_publisher.py

@@ -1,14 +1,17 @@
+from __future__ import print_function, absolute_import
+
 import rospy
-from state_msgs.msg import WholeBodyState
-from state_msgs import whole_body_interface as wb_iface
+from whole_body_state_msgs.msg import WholeBodyState
+from .whole_body_interface import WholeBodyStateInterface
 
+__all__ = ['WholeBodyStatePublisher']
 
 class WholeBodyStatePublisher():
     def __init__(self, topic, model):
         # Initializing the publisher
         self.pub = rospy.Publisher(topic, WholeBodyState, queue_size=1)
-        self.wb_iface = wb_iface.WholeBodyStateInterface(model)
+        self.wb_iface = WholeBodyStateInterface(model)
 
     def publish(self, t, q, v, tau, p=dict(), pd=dict(), f=dict(), s=dict()):
         msg = self.wb_iface.writeToMessage(t, q, v, tau, p, pd, f, s)
-        self.pub.publish(msg)
+        self.pub.publish(msg)

src/state_msgs/whole_body_trajectory_publisher.py → src/whole_body_state_msgs/whole_body_trajectory_publisher.py

@@ -1,14 +1,17 @@
+from __future__ import print_function, absolute_import
+
 import rospy
-from state_msgs.msg import WholeBodyTrajectory
-from state_msgs import whole_body_interface as wb_iface
+from whole_body_state_msgs.msg import WholeBodyTrajectory
+from .whole_body_interface import WholeBodyStateInterface
 import copy
 
+__all__ = ['WholeBodyTrajectoryPublisher']
 
 class WholeBodyTrajectoryPublisher():
     def __init__(self, topic, model):
         # Defining the subscriber
         self.pub = rospy.Publisher(topic, WholeBodyTrajectory, queue_size=1)
-        self.wb_iface = wb_iface.WholeBodyStateInterface(model)
+        self.wb_iface = WholeBodyStateInterface(model)
 
     def publish(self, ts, qs, vs=None, us=None, ps=None, pds=None, fs=None, ss=None):
         msg = WholeBodyTrajectory()