From be8ef06d528a69c71504b5febe3e460815ab82b8 Mon Sep 17 00:00:00 2001 From: Jean-Baptiste Mouret Date: Fri, 21 Jan 2022 13:23:58 +0100 Subject: [PATCH 01/22] start working on utheque (Urdf-theque) --- src/robot_dart/robot.cpp | 8 ++++---- {robots => utheque}/arm.urdf | 0 {robots => utheque}/franka/franka.urdf | 0 .../franka_description/meshes/collision/finger.stl | Bin .../franka_description/meshes/collision/hand.stl | Bin .../franka_description/meshes/collision/link0.stl | Bin .../franka_description/meshes/collision/link1.stl | Bin .../franka_description/meshes/collision/link2.stl | Bin .../franka_description/meshes/collision/link3.stl | Bin .../franka_description/meshes/collision/link4.stl | Bin .../franka_description/meshes/collision/link5.stl | Bin .../franka_description/meshes/collision/link6.stl | Bin .../franka_description/meshes/collision/link7.stl | Bin .../franka_description/meshes/visual/finger.dae | 0 .../franka_description/meshes/visual/hand.dae | 0 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| Bin .../meshes/gripper/gripper_motor_double.glb | Bin .../gripper/gripper_motor_double_collision.glb | Bin .../meshes/gripper/gripper_motor_single.glb | Bin .../gripper/gripper_motor_single_collision.glb | Bin .../meshes/gripper/inner_double.glb | Bin .../meshes/gripper/inner_double_collision.glb | Bin .../meshes/gripper/inner_single.glb | Bin .../meshes/gripper/inner_single_collision.glb | Bin .../talos/talos_description/meshes/head/head_1.glb | Bin .../meshes/head/head_1_collision.glb | Bin .../talos/talos_description/meshes/head/head_2.glb | Bin .../meshes/head/head_2_collision.glb | Bin .../meshes/sensors/orbbec/orbbec.glb | Bin .../sensors/xtion_pro_live/xtion_pro_live.glb | Bin .../talos_description/meshes/torso/base_link.glb | Bin .../meshes/torso/base_link_collision.glb | Bin .../meshes/torso/torso_1.dae-backup | 0 .../talos_description/meshes/torso/torso_1.glb | Bin .../meshes/torso/torso_2.dae-backup | 0 .../talos_description/meshes/torso/torso_2.glb | Bin 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.../meshes/torso/torso_lift_collision_neck.dae | 0 .../meshes/torso/torso_lift_collision_shoulder.dae | 0 .../meshes/torso/torso_lift_with_arm.stl | Bin .../meshes/torso/torso_lift_without_arm.stl | Bin .../tiago_description/meshes/wheels/caster_1.stl | Bin .../tiago_description/meshes/wheels/caster_2.stl | Bin .../tiago/tiago_description/meshes/wheels/wheel.stl | Bin .../urdf/arm/arm.transmission.xacro | 0 .../tiago/tiago_description/urdf/arm/arm.urdf.xacro | 0 .../urdf/arm/wrist.transmission.xacro | 0 .../tiago_description/urdf/arm/wrist.urdf.xacro | 0 .../tiago/tiago_description/urdf/deg_to_rad.xacro | 0 .../urdf/end_effector/end_effector.urdf.xacro | 0 .../urdf/head/head.transmission.xacro | 0 .../tiago_description/urdf/head/head.urdf.xacro | 0 .../tiago_description/urdf/materials.urdf.xacro | 0 .../urdf/sensors/ftsensor.gazebo.xacro | 0 .../urdf/sensors/ftsensor.urdf.xacro | 0 .../urdf/sensors/openni.gazebo.xacro | 0 .../urdf/sensors/xtion_pro_live.urdf.xacro | 0 .../urdf/torso/torso.transmission.xacro | 0 .../tiago_description/urdf/torso/torso.urdf.xacro | 0 {robots => utheque}/tiago/tiago_steel.urdf | 0 {robots => utheque}/unitree_a1/a1.urdf | 0 .../unitree_a1/a1_description/meshes/calf.glb | Bin .../unitree_a1/a1_description/meshes/hip.glb | Bin .../unitree_a1/a1_description/meshes/thigh.glb | Bin .../a1_description/meshes/thigh_mirror.glb | Bin .../unitree_a1/a1_description/meshes/trunk.glb | Bin wscript | 10 +++++----- 338 files changed, 9 insertions(+), 9 deletions(-) rename {robots => utheque}/arm.urdf (100%) rename {robots => utheque}/franka/franka.urdf (100%) rename {robots => utheque}/franka/franka_description/meshes/collision/finger.stl (100%) rename {robots => utheque}/franka/franka_description/meshes/collision/hand.stl (100%) rename {robots => utheque}/franka/franka_description/meshes/collision/link0.stl (100%) rename {robots => utheque}/franka/franka_description/meshes/collision/link1.stl (100%) rename {robots => 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utheque}/tiago/tiago_description/urdf/end_effector/end_effector.urdf.xacro (100%) rename {robots => utheque}/tiago/tiago_description/urdf/head/head.transmission.xacro (100%) rename {robots => utheque}/tiago/tiago_description/urdf/head/head.urdf.xacro (100%) rename {robots => utheque}/tiago/tiago_description/urdf/materials.urdf.xacro (100%) rename {robots => utheque}/tiago/tiago_description/urdf/sensors/ftsensor.gazebo.xacro (100%) rename {robots => utheque}/tiago/tiago_description/urdf/sensors/ftsensor.urdf.xacro (100%) rename {robots => utheque}/tiago/tiago_description/urdf/sensors/openni.gazebo.xacro (100%) rename {robots => utheque}/tiago/tiago_description/urdf/sensors/xtion_pro_live.urdf.xacro (100%) rename {robots => utheque}/tiago/tiago_description/urdf/torso/torso.transmission.xacro (100%) rename {robots => utheque}/tiago/tiago_description/urdf/torso/torso.urdf.xacro (100%) rename {robots => utheque}/tiago/tiago_steel.urdf (100%) rename {robots => utheque}/unitree_a1/a1.urdf (100%) rename {robots => utheque}/unitree_a1/a1_description/meshes/calf.glb (100%) rename {robots => utheque}/unitree_a1/a1_description/meshes/hip.glb (100%) rename {robots => utheque}/unitree_a1/a1_description/meshes/thigh.glb (100%) rename {robots => utheque}/unitree_a1/a1_description/meshes/thigh_mirror.glb (100%) rename {robots => utheque}/unitree_a1/a1_description/meshes/trunk.glb (100%) diff --git a/src/robot_dart/robot.cpp b/src/robot_dart/robot.cpp index 3fc3f240..fd0b2ba2 100644 --- a/src/robot_dart/robot.cpp +++ b/src/robot_dart/robot.cpp @@ -1888,8 +1888,8 @@ namespace robot_dart { return fs::current_path().string(); // search /robots - if (fs::exists(fs::path("robots") / model_file)) - return (fs::current_path() / fs::path("robots")).string(); + if (fs::exists(fs::path("utheque") / model_file)) + return (fs::current_path() / fs::path("utheque")).string(); // search $ROBOT_DART_PATH const char* env = std::getenv("ROBOT_DART_PATH"); @@ -1899,8 +1899,8 @@ namespace robot_dart { return env_path.string(); } - // search PREFIX/share/robot_dart/robots - fs::path system_path(std::string(ROBOT_DART_PREFIX) + "/share/robot_dart/robots/"); + // search PREFIX/share/utheque + fs::path system_path(std::string(ROBOT_DART_PREFIX) + "/share/utheque"); if (fs::exists(system_path / model_file)) return system_path.string(); diff --git a/robots/arm.urdf b/utheque/arm.urdf similarity index 100% rename from robots/arm.urdf rename to utheque/arm.urdf diff --git a/robots/franka/franka.urdf b/utheque/franka/franka.urdf similarity index 100% rename from robots/franka/franka.urdf rename to utheque/franka/franka.urdf diff --git a/robots/franka/franka_description/meshes/collision/finger.stl b/utheque/franka/franka_description/meshes/collision/finger.stl similarity index 100% rename from robots/franka/franka_description/meshes/collision/finger.stl rename to utheque/franka/franka_description/meshes/collision/finger.stl diff --git a/robots/franka/franka_description/meshes/collision/hand.stl b/utheque/franka/franka_description/meshes/collision/hand.stl similarity index 100% rename from robots/franka/franka_description/meshes/collision/hand.stl rename to utheque/franka/franka_description/meshes/collision/hand.stl diff --git a/robots/franka/franka_description/meshes/collision/link0.stl b/utheque/franka/franka_description/meshes/collision/link0.stl similarity index 100% rename from robots/franka/franka_description/meshes/collision/link0.stl rename to utheque/franka/franka_description/meshes/collision/link0.stl diff --git a/robots/franka/franka_description/meshes/collision/link1.stl b/utheque/franka/franka_description/meshes/collision/link1.stl similarity index 100% rename from robots/franka/franka_description/meshes/collision/link1.stl rename to utheque/franka/franka_description/meshes/collision/link1.stl diff --git a/robots/franka/franka_description/meshes/collision/link2.stl 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robots/tiago/tiago_description/meshes/sensors/srf05.stl rename to utheque/tiago/tiago_description/meshes/sensors/srf05.stl diff --git a/robots/tiago/tiago_description/meshes/sensors/structure_sensor.stl b/utheque/tiago/tiago_description/meshes/sensors/structure_sensor.stl similarity index 100% rename from robots/tiago/tiago_description/meshes/sensors/structure_sensor.stl rename to utheque/tiago/tiago_description/meshes/sensors/structure_sensor.stl diff --git a/robots/tiago/tiago_description/meshes/sensors/xtion_pro_live.dae b/utheque/tiago/tiago_description/meshes/sensors/xtion_pro_live.dae similarity index 100% rename from robots/tiago/tiago_description/meshes/sensors/xtion_pro_live.dae rename to utheque/tiago/tiago_description/meshes/sensors/xtion_pro_live.dae diff --git a/robots/tiago/tiago_description/meshes/sensors/xtion_pro_live/xtion_pro_live.dae b/utheque/tiago/tiago_description/meshes/sensors/xtion_pro_live/xtion_pro_live.dae similarity index 100% rename from robots/tiago/tiago_description/meshes/sensors/xtion_pro_live/xtion_pro_live.dae rename to utheque/tiago/tiago_description/meshes/sensors/xtion_pro_live/xtion_pro_live.dae diff --git a/robots/tiago/tiago_description/meshes/sensors/xtion_pro_live/xtion_pro_live.png b/utheque/tiago/tiago_description/meshes/sensors/xtion_pro_live/xtion_pro_live.png similarity index 100% rename from robots/tiago/tiago_description/meshes/sensors/xtion_pro_live/xtion_pro_live.png rename to utheque/tiago/tiago_description/meshes/sensors/xtion_pro_live/xtion_pro_live.png diff --git a/robots/tiago/tiago_description/meshes/torso/torso_fix.stl b/utheque/tiago/tiago_description/meshes/torso/torso_fix.stl similarity index 100% rename from robots/tiago/tiago_description/meshes/torso/torso_fix.stl rename to utheque/tiago/tiago_description/meshes/torso/torso_fix.stl diff --git a/robots/tiago/tiago_description/meshes/torso/torso_lift_collision.dae b/utheque/tiago/tiago_description/meshes/torso/torso_lift_collision.dae similarity index 100% rename from robots/tiago/tiago_description/meshes/torso/torso_lift_collision.dae rename to utheque/tiago/tiago_description/meshes/torso/torso_lift_collision.dae diff --git a/robots/tiago/tiago_description/meshes/torso/torso_lift_collision_core.dae b/utheque/tiago/tiago_description/meshes/torso/torso_lift_collision_core.dae similarity index 100% rename from robots/tiago/tiago_description/meshes/torso/torso_lift_collision_core.dae rename to utheque/tiago/tiago_description/meshes/torso/torso_lift_collision_core.dae diff --git a/robots/tiago/tiago_description/meshes/torso/torso_lift_collision_neck.dae b/utheque/tiago/tiago_description/meshes/torso/torso_lift_collision_neck.dae similarity index 100% rename from robots/tiago/tiago_description/meshes/torso/torso_lift_collision_neck.dae rename to utheque/tiago/tiago_description/meshes/torso/torso_lift_collision_neck.dae diff --git a/robots/tiago/tiago_description/meshes/torso/torso_lift_collision_shoulder.dae b/utheque/tiago/tiago_description/meshes/torso/torso_lift_collision_shoulder.dae similarity index 100% rename from robots/tiago/tiago_description/meshes/torso/torso_lift_collision_shoulder.dae rename to utheque/tiago/tiago_description/meshes/torso/torso_lift_collision_shoulder.dae diff --git a/robots/tiago/tiago_description/meshes/torso/torso_lift_with_arm.stl b/utheque/tiago/tiago_description/meshes/torso/torso_lift_with_arm.stl similarity index 100% rename from robots/tiago/tiago_description/meshes/torso/torso_lift_with_arm.stl rename to utheque/tiago/tiago_description/meshes/torso/torso_lift_with_arm.stl diff --git a/robots/tiago/tiago_description/meshes/torso/torso_lift_without_arm.stl b/utheque/tiago/tiago_description/meshes/torso/torso_lift_without_arm.stl similarity index 100% rename from robots/tiago/tiago_description/meshes/torso/torso_lift_without_arm.stl rename to utheque/tiago/tiago_description/meshes/torso/torso_lift_without_arm.stl diff --git a/robots/tiago/tiago_description/meshes/wheels/caster_1.stl b/utheque/tiago/tiago_description/meshes/wheels/caster_1.stl similarity index 100% rename from robots/tiago/tiago_description/meshes/wheels/caster_1.stl rename to utheque/tiago/tiago_description/meshes/wheels/caster_1.stl diff --git a/robots/tiago/tiago_description/meshes/wheels/caster_2.stl b/utheque/tiago/tiago_description/meshes/wheels/caster_2.stl similarity index 100% rename from robots/tiago/tiago_description/meshes/wheels/caster_2.stl rename to utheque/tiago/tiago_description/meshes/wheels/caster_2.stl diff --git a/robots/tiago/tiago_description/meshes/wheels/wheel.stl b/utheque/tiago/tiago_description/meshes/wheels/wheel.stl similarity index 100% rename from robots/tiago/tiago_description/meshes/wheels/wheel.stl rename to utheque/tiago/tiago_description/meshes/wheels/wheel.stl diff --git a/robots/tiago/tiago_description/urdf/arm/arm.transmission.xacro b/utheque/tiago/tiago_description/urdf/arm/arm.transmission.xacro similarity index 100% rename from robots/tiago/tiago_description/urdf/arm/arm.transmission.xacro rename to utheque/tiago/tiago_description/urdf/arm/arm.transmission.xacro diff --git a/robots/tiago/tiago_description/urdf/arm/arm.urdf.xacro b/utheque/tiago/tiago_description/urdf/arm/arm.urdf.xacro similarity index 100% rename from robots/tiago/tiago_description/urdf/arm/arm.urdf.xacro rename to utheque/tiago/tiago_description/urdf/arm/arm.urdf.xacro diff --git a/robots/tiago/tiago_description/urdf/arm/wrist.transmission.xacro b/utheque/tiago/tiago_description/urdf/arm/wrist.transmission.xacro similarity index 100% rename from robots/tiago/tiago_description/urdf/arm/wrist.transmission.xacro rename to utheque/tiago/tiago_description/urdf/arm/wrist.transmission.xacro diff --git a/robots/tiago/tiago_description/urdf/arm/wrist.urdf.xacro b/utheque/tiago/tiago_description/urdf/arm/wrist.urdf.xacro similarity index 100% rename from robots/tiago/tiago_description/urdf/arm/wrist.urdf.xacro rename to utheque/tiago/tiago_description/urdf/arm/wrist.urdf.xacro diff --git a/robots/tiago/tiago_description/urdf/deg_to_rad.xacro b/utheque/tiago/tiago_description/urdf/deg_to_rad.xacro similarity index 100% rename from robots/tiago/tiago_description/urdf/deg_to_rad.xacro rename to utheque/tiago/tiago_description/urdf/deg_to_rad.xacro diff --git a/robots/tiago/tiago_description/urdf/end_effector/end_effector.urdf.xacro b/utheque/tiago/tiago_description/urdf/end_effector/end_effector.urdf.xacro similarity index 100% rename from robots/tiago/tiago_description/urdf/end_effector/end_effector.urdf.xacro rename to utheque/tiago/tiago_description/urdf/end_effector/end_effector.urdf.xacro diff --git a/robots/tiago/tiago_description/urdf/head/head.transmission.xacro b/utheque/tiago/tiago_description/urdf/head/head.transmission.xacro similarity index 100% rename from robots/tiago/tiago_description/urdf/head/head.transmission.xacro rename to utheque/tiago/tiago_description/urdf/head/head.transmission.xacro diff --git a/robots/tiago/tiago_description/urdf/head/head.urdf.xacro b/utheque/tiago/tiago_description/urdf/head/head.urdf.xacro similarity index 100% rename from robots/tiago/tiago_description/urdf/head/head.urdf.xacro rename to utheque/tiago/tiago_description/urdf/head/head.urdf.xacro diff --git a/robots/tiago/tiago_description/urdf/materials.urdf.xacro b/utheque/tiago/tiago_description/urdf/materials.urdf.xacro similarity index 100% rename from robots/tiago/tiago_description/urdf/materials.urdf.xacro rename to utheque/tiago/tiago_description/urdf/materials.urdf.xacro diff --git a/robots/tiago/tiago_description/urdf/sensors/ftsensor.gazebo.xacro b/utheque/tiago/tiago_description/urdf/sensors/ftsensor.gazebo.xacro similarity index 100% rename from robots/tiago/tiago_description/urdf/sensors/ftsensor.gazebo.xacro rename to utheque/tiago/tiago_description/urdf/sensors/ftsensor.gazebo.xacro diff --git a/robots/tiago/tiago_description/urdf/sensors/ftsensor.urdf.xacro b/utheque/tiago/tiago_description/urdf/sensors/ftsensor.urdf.xacro similarity index 100% rename from robots/tiago/tiago_description/urdf/sensors/ftsensor.urdf.xacro rename to utheque/tiago/tiago_description/urdf/sensors/ftsensor.urdf.xacro diff --git a/robots/tiago/tiago_description/urdf/sensors/openni.gazebo.xacro b/utheque/tiago/tiago_description/urdf/sensors/openni.gazebo.xacro similarity index 100% rename from robots/tiago/tiago_description/urdf/sensors/openni.gazebo.xacro rename to utheque/tiago/tiago_description/urdf/sensors/openni.gazebo.xacro diff --git a/robots/tiago/tiago_description/urdf/sensors/xtion_pro_live.urdf.xacro b/utheque/tiago/tiago_description/urdf/sensors/xtion_pro_live.urdf.xacro similarity index 100% rename from robots/tiago/tiago_description/urdf/sensors/xtion_pro_live.urdf.xacro rename to utheque/tiago/tiago_description/urdf/sensors/xtion_pro_live.urdf.xacro diff --git a/robots/tiago/tiago_description/urdf/torso/torso.transmission.xacro b/utheque/tiago/tiago_description/urdf/torso/torso.transmission.xacro similarity index 100% rename from robots/tiago/tiago_description/urdf/torso/torso.transmission.xacro rename to utheque/tiago/tiago_description/urdf/torso/torso.transmission.xacro diff --git a/robots/tiago/tiago_description/urdf/torso/torso.urdf.xacro b/utheque/tiago/tiago_description/urdf/torso/torso.urdf.xacro similarity index 100% rename from robots/tiago/tiago_description/urdf/torso/torso.urdf.xacro rename to utheque/tiago/tiago_description/urdf/torso/torso.urdf.xacro diff --git a/robots/tiago/tiago_steel.urdf b/utheque/tiago/tiago_steel.urdf similarity index 100% rename from robots/tiago/tiago_steel.urdf rename to utheque/tiago/tiago_steel.urdf diff --git a/robots/unitree_a1/a1.urdf b/utheque/unitree_a1/a1.urdf similarity index 100% rename from robots/unitree_a1/a1.urdf rename to utheque/unitree_a1/a1.urdf diff --git a/robots/unitree_a1/a1_description/meshes/calf.glb b/utheque/unitree_a1/a1_description/meshes/calf.glb similarity index 100% rename from robots/unitree_a1/a1_description/meshes/calf.glb rename to utheque/unitree_a1/a1_description/meshes/calf.glb diff --git a/robots/unitree_a1/a1_description/meshes/hip.glb b/utheque/unitree_a1/a1_description/meshes/hip.glb similarity index 100% rename from robots/unitree_a1/a1_description/meshes/hip.glb rename to utheque/unitree_a1/a1_description/meshes/hip.glb diff --git a/robots/unitree_a1/a1_description/meshes/thigh.glb b/utheque/unitree_a1/a1_description/meshes/thigh.glb similarity index 100% rename from robots/unitree_a1/a1_description/meshes/thigh.glb rename to utheque/unitree_a1/a1_description/meshes/thigh.glb diff --git a/robots/unitree_a1/a1_description/meshes/thigh_mirror.glb b/utheque/unitree_a1/a1_description/meshes/thigh_mirror.glb similarity index 100% rename from robots/unitree_a1/a1_description/meshes/thigh_mirror.glb rename to utheque/unitree_a1/a1_description/meshes/thigh_mirror.glb diff --git a/robots/unitree_a1/a1_description/meshes/trunk.glb b/utheque/unitree_a1/a1_description/meshes/trunk.glb similarity index 100% rename from robots/unitree_a1/a1_description/meshes/trunk.glb rename to utheque/unitree_a1/a1_description/meshes/trunk.glb diff --git a/wscript b/wscript index 9e06669a..54a020fa 100644 --- a/wscript +++ b/wscript @@ -254,13 +254,13 @@ def build(bld): f.write('#define ROBOT_DART_VERSION_MAJOR ' + version[0] + '\n') f.write('#define ROBOT_DART_VERSION_MINOR ' + version[1] + '\n') f.write('#define ROBOT_DART_VERSION_PATCH ' + version[2] + '\n') - f.write('#define ROBOT_DART_ROBOTS_DIR \"' + prefix + '/share/robot_dart/robots\"\n') + f.write('#define ROBOT_DART_ROBOTS_DIR \"' + prefix + '/share/utheque/\"\n') bld.install_files("${PREFIX}/include/robot_dart/", config_file) - #### install the URDF library (robots) - bld.install_files("${PREFIX}/share/robot_dart/robots/", - bld.path.ant_glob('robots/**'), - cwd=bld.path.find_dir('robots/'), + #### install the URDF library (utheque) + bld.install_files("${PREFIX}/share/utheque/", + bld.path.ant_glob('utheque/**'), + cwd=bld.path.find_dir('utheque/'), relative_trick=True) #### installation (waf install) From da24d1900906dfbbc7e847b280ca4c104d7a2f8b Mon Sep 17 00:00:00 2001 From: Jean-Baptiste Mouret Date: Fri, 21 Jan 2022 14:42:21 +0100 Subject: [PATCH 02/22] first version --- cmake/UthequeConfig.cmake.in | 30 +++++++++++++ cmake/UthequeConfigVersion.cmake.in | 11 +++++ src/robot_dart/robot.cpp | 42 +++-------------- src/utheque/utheque.hpp | 66 +++++++++++++++++++++++++++ wscript | 70 ++++++++++++++++++++++++++--- 5 files changed, 177 insertions(+), 42 deletions(-) create mode 100644 cmake/UthequeConfig.cmake.in create mode 100644 cmake/UthequeConfigVersion.cmake.in create mode 100644 src/utheque/utheque.hpp diff --git a/cmake/UthequeConfig.cmake.in b/cmake/UthequeConfig.cmake.in new file mode 100644 index 00000000..d2330ee9 --- /dev/null +++ b/cmake/UthequeConfig.cmake.in @@ -0,0 +1,30 @@ +# - Config file for the utheque package +# example: +# find_package(Utheque REQUIRED) +# add_executable(your_example example.cpp) +# target_link_libraries(your_example Utheque) + +include(CMakeFindDependencyMacro) +include(FindPackageHandleStandardArgs) + +# CMAKE_MODULE_PATH +set(CMAKE_MODULE_PATH "@Utheque_CMAKE_MODULE_PATH@") + +set(Utheque_INCLUDE_DIRS "@Utheque_INCLUDE_DIRS@") + + +find_package(Boost REQUIRED filesystem) + +set(Utheque_LIBRARIES "Threads::Threads;Eigen3::Eigen;Boost::filesystem") + +set_target_properties(Utheque PROPERTIES + INTERFACE_INCLUDE_DIRECTORIES "${Utheque_INCLUDE_DIRS}") + +# Handle the QUIET and REQUIRED arguments +find_package_handle_standard_args( + Utheque #Package name + DEFAULT_MSG + # Variables required to evaluate as TRUE + Utheque_INCLUDE_DIRS) + +mark_as_advanced(Utheque_INCLUDE_DIRS Utheque_FOUND) diff --git a/cmake/UthequeConfigVersion.cmake.in b/cmake/UthequeConfigVersion.cmake.in new file mode 100644 index 00000000..7a1d2b07 --- /dev/null +++ b/cmake/UthequeConfigVersion.cmake.in @@ -0,0 +1,11 @@ +set(PACKAGE_VERSION "@robot_dart_VERSION@") + +# Check whether the requested PACKAGE_FIND_VERSION is compatible +if("${PACKAGE_VERSION}" VERSION_LESS "${PACKAGE_FIND_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE FALSE) +else() + set(PACKAGE_VERSION_COMPATIBLE TRUE) + if ("${PACKAGE_VERSION}" VERSION_EQUAL "${PACKAGE_FIND_VERSION}") + set(PACKAGE_VERSION_EXACT TRUE) + endif() +endif() diff --git a/src/robot_dart/robot.cpp b/src/robot_dart/robot.cpp index fd0b2ba2..39e413f8 100644 --- a/src/robot_dart/robot.cpp +++ b/src/robot_dart/robot.cpp @@ -10,6 +10,8 @@ #include +#include // library of URDF + namespace robot_dart { namespace detail { template @@ -1876,38 +1878,7 @@ namespace robot_dart { const std::vector>& Robot::drawing_axes() const { return _axis_shapes; } - std::string Robot::_get_path(const std::string& filename) const - { - namespace fs = boost::filesystem; - fs::path model_file(boost::trim_copy(filename)); - if (model_file.string()[0] == '/') - return "/"; - - // search current directory - if (fs::exists(model_file)) - return fs::current_path().string(); - - // search /robots - if (fs::exists(fs::path("utheque") / model_file)) - return (fs::current_path() / fs::path("utheque")).string(); - - // search $ROBOT_DART_PATH - const char* env = std::getenv("ROBOT_DART_PATH"); - if (env != nullptr) { - fs::path env_path(env); - if (fs::exists(env_path / model_file)) - return env_path.string(); - } - - // search PREFIX/share/utheque - fs::path system_path(std::string(ROBOT_DART_PREFIX) + "/share/utheque"); - if (fs::exists(system_path / model_file)) - return system_path.string(); - - ROBOT_DART_EXCEPTION_ASSERT(false, std::string("Could not find :") + filename); - - return std::string(); - } + dart::dynamics::SkeletonPtr Robot::_load_model(const std::string& filename, const std::vector>& packages, bool is_urdf_string) { @@ -1916,8 +1887,7 @@ namespace robot_dart { dart::dynamics::SkeletonPtr tmp_skel; if (!is_urdf_string) { // search for the right directory for our files - std::string file_dir = _get_path(filename); - std::string model_file = file_dir + '/' + boost::trim_copy(filename); + std::string model_file = utheque::path(filename); // store the name for future use _model_filename = model_file; _packages = packages; @@ -1937,7 +1907,7 @@ namespace robot_dart { #endif for (size_t i = 0; i < packages.size(); i++) { std::string package = std::get<1>(packages[i]); - std::string package_path = _get_path(package); + std::string package_path = utheque::directory(package); loader.addPackageDirectory( std::get<0>(packages[i]), package_path + "/" + package); } @@ -1962,7 +1932,7 @@ namespace robot_dart { dart::io::DartLoader loader; for (size_t i = 0; i < packages.size(); i++) { std::string package = std::get<1>(packages[i]); - std::string package_path = _get_path(package); + std::string package_path = utheque::directory(package); loader.addPackageDirectory(std::get<0>(packages[i]), package_path + "/" + package); } tmp_skel = loader.parseSkeletonString(filename, ""); diff --git a/src/utheque/utheque.hpp b/src/utheque/utheque.hpp new file mode 100644 index 00000000..76db1e86 --- /dev/null +++ b/src/utheque/utheque.hpp @@ -0,0 +1,66 @@ +#ifndef UTHEQUE_HPP_ +#define UTHEQUE_HPP_ + +#include +#include +#include +#include // will move to std::filesystem + +namespace utheque { + static constexpr char* UTHEQUE_DEFAULT_PREFIX = "/usr/local"; + /// return the directory where to find the urdf (or urdf package) from the utheque (URDF library) + /// if start by /, do nothing + /// otherwise, search (in this order): + /// - in the current directory + /// - in /utheque/ + /// - $UTHEQUE_PATH + /// - in /share/utheque + /// @arg urdf or package name (e.g. talos/talos.urdf or talos_description) + /// @arg prefix /usr/local/ + /// @return the full (absolute) path where to find the URDF (e.g. /usr/local/share/utheque/) + static std::string directory(const std::string& filename, const std::string prefix = UTHEQUE_DEFAULT_PREFIX) + { + namespace fs = boost::filesystem; + fs::path model_file(boost::trim_copy(filename)); + if (model_file.string()[0] == '/') + return "/"; + + // search current directory + if (fs::exists(model_file)) + return fs::current_path().string(); + + // search /robots + if (fs::exists(fs::path("utheque") / model_file)) + return (fs::current_path() / fs::path("utheque")).string(); + + // search $UTHEQUE_PATH + const char* env = std::getenv("UTHEQUE_PATH"); + if (env != nullptr) { + fs::path env_path(env); + if (fs::exists(env_path / model_file)) + return env_path.string(); + } + + // search PREFIX/share/utheque + fs::path system_path(prefix + "/share/utheque"); + if (fs::exists(system_path / model_file)) + return system_path.string(); + + throw std::runtime_error(std::string("Utheque::could not find :") + filename); + + return std::string(); + } + + /// call directory() and put the filename back in the path + /// @arg urdf or package name (e.g. talos/talos.urdf or talos_description) + /// @arg prefix /usr/local/ + /// @return full path of the URDF file: (e.g. /usr/local/share/utheque/talos/talos.urdf) + static std::string path(const std::string& filename, const std::string& prefix = UTHEQUE_DEFAULT_PREFIX) { + namespace fs = boost::filesystem; + auto file_dir = fs::path(directory(filename, prefix)); + auto model_file = file_dir / fs::path(boost::trim_copy(filename)); + return model_file.string(); + } +} + +#endif \ No newline at end of file diff --git a/wscript b/wscript index 54a020fa..e817253a 100644 --- a/wscript +++ b/wscript @@ -1,5 +1,6 @@ #!/usr/bin/env python # encoding: utf-8 +from gettext import install import sys import os import fnmatch @@ -45,6 +46,26 @@ def options(opt): def configure(conf): + robot_dart_ok = True + try: + Logs.pprint("GREEN", "=== Configuring RobotDART ===") + configure_robot_dart(conf) + Logs.pprint("GREEN", "=== RobotDART ready to build ===") + conf.env['BUILD_ROBOT_DART'] = True + except: + conf.env['BUILD_ROBOT_DART'] = False + + conf.end_msg("ERROR", color="RED") + Logs.pprint("RED", "=== RobotDART will NOT be compiled/installed ===") + + print("\n=== Summary: ===") + if conf.env['BUILD_ROBOT_DART']: + conf.msg("Build/install RobotDart", "yes") + else: + conf.msg("Build/install RobotDart", "no", color="YELLOW") + conf.msg("Install Utheque (URDF library)", "yes") + +def configure_robot_dart(conf): conf.get_env()['BUILD_GRAPHIC'] = False conf.load('compiler_cxx') @@ -159,7 +180,44 @@ def summary(bld): if tfail > 0: bld.fatal("Build failed, because some tests failed!") + def build(bld): + if bld.env['BUILD_ROBOT_DART']: + Logs.pprint("GREEN", "=== Building RobotDART ===") + build_robot_dart(bld) + build_utheque(bld) + + +#### install the URDF library (utheque) +def build_utheque(bld): + prefix = bld.get_env()['PREFIX'] + + ###### URDF + bld.install_files("${PREFIX}/share/utheque/", + bld.path.ant_glob('utheque/**'), + cwd=bld.path.find_dir('utheque/'), + relative_trick=True) + ###### HEADER + bld.install_files("${PREFIX}/include/utheque/", + bld.path.ant_glob('src/utheque/**'), + cwd=bld.path.find_dir('src/utheque/'), + relative_trick=True) + #### CMake + with open('cmake/UthequeConfig.cmake.in') as f: + newText=f.read() \ + .replace('@Utheque_INCLUDE_DIRS@', prefix + "/include") + with open(blddir + '/UthequeConfig.cmake', "w") as f: + f.write(newText) + with open('cmake/UthequeConfigVersion.cmake.in') as f: + newText = f.read().replace('@utheque_VERSION@', str(VERSION)) + with open(blddir + '/UthequeConfigVersion.cmake', "w") as f: + f.write(newText) + + bld.install_files('${PREFIX}/lib/cmake/Utheque/', blddir + '/UthequeConfig.cmake') + bld.install_files('${PREFIX}/lib/cmake/Utheque/', blddir + '/UthequeConfigVersion.cmake') + + +def build_robot_dart(bld): prefix = bld.get_env()['PREFIX'] if len(bld.env.INCLUDES_DART) == 0 or len(bld.env.INCLUDES_EIGEN) == 0 or len(bld.env.INCLUDES_BOOST) == 0: @@ -187,6 +245,7 @@ def build(bld): libs = 'BOOST EIGEN DART PTHREAD' defines = ["ROBOT_DART_PREFIX=\"" + bld.env['PREFIX'] + "\""] + bld.program(features = 'cxx ' + bld.env['lib_type'], source = robot_dart_srcs, includes = './src', @@ -257,12 +316,7 @@ def build(bld): f.write('#define ROBOT_DART_ROBOTS_DIR \"' + prefix + '/share/utheque/\"\n') bld.install_files("${PREFIX}/include/robot_dart/", config_file) - #### install the URDF library (utheque) - bld.install_files("${PREFIX}/share/utheque/", - bld.path.ant_glob('utheque/**'), - cwd=bld.path.find_dir('utheque/'), - relative_trick=True) - + #### installation (waf install) install_files = [] for root, dirnames, filenames in os.walk(bld.path.abspath()+'/src/robot_dart/'): @@ -381,3 +435,7 @@ def build_examples(bld): class BuildExamples(BuildContext): cmd = 'examples' fun = 'build_examples' + +class BuildUtheque(BuildContext): + cmd = 'utheque' + fun = 'build_utheque' From e1ff0dc2f5237a86d8e1051f832175ab31f48f8d Mon Sep 17 00:00:00 2001 From: Jean-Baptiste Mouret Date: Fri, 21 Jan 2022 16:34:20 +0100 Subject: [PATCH 03/22] fix the tests --- src/tests/test_control.cpp | 2 +- src/tests/test_robot.cpp | 8 ++++---- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/src/tests/test_control.cpp b/src/tests/test_control.cpp index e015d1b3..9a0f71d8 100644 --- a/src/tests/test_control.cpp +++ b/src/tests/test_control.cpp @@ -40,7 +40,7 @@ BOOST_AUTO_TEST_CASE(test_pd_control) BOOST_CHECK(!pd_control->active()); // load a robot - auto pendulum = std::make_shared(std::string(ROBOT_DART_BUILD_DIR) + "/robots/pendulum.urdf"); + auto pendulum = std::make_shared(std::string(ROBOT_DART_BUILD_DIR) + "/utheque/pendulum.urdf"); BOOST_REQUIRE(pendulum); // set proper parameters diff --git a/src/tests/test_robot.cpp b/src/tests/test_robot.cpp index 5d5fe154..34beceb8 100644 --- a/src/tests/test_robot.cpp +++ b/src/tests/test_robot.cpp @@ -28,7 +28,7 @@ BOOST_AUTO_TEST_CASE(test_constructors) BOOST_CHECK(robot == nullptr); // well-defined URDF - auto pendulum = std::make_shared(std::string(ROBOT_DART_BUILD_DIR) + "/robots/pendulum.urdf"); + auto pendulum = std::make_shared(std::string(ROBOT_DART_BUILD_DIR) + "/utheque/pendulum.urdf"); BOOST_REQUIRE(pendulum); // well-defined skeleton dart::dynamics::SkeletonPtr dummy_skel = dart::dynamics::Skeleton::create("dummy"); @@ -46,7 +46,7 @@ BOOST_AUTO_TEST_CASE(test_constructors) BOOST_AUTO_TEST_CASE(test_dof_maps) { - auto pendulum = std::make_shared(std::string(ROBOT_DART_BUILD_DIR) + "/robots/pendulum.urdf"); + auto pendulum = std::make_shared(std::string(ROBOT_DART_BUILD_DIR) + "/utheque/pendulum.urdf"); BOOST_REQUIRE(pendulum); // check dofs @@ -62,7 +62,7 @@ BOOST_AUTO_TEST_CASE(test_dof_maps) BOOST_AUTO_TEST_CASE(test_fix_free) { - auto pendulum = std::make_shared(std::string(ROBOT_DART_BUILD_DIR) + "/robots/pendulum.urdf"); + auto pendulum = std::make_shared(std::string(ROBOT_DART_BUILD_DIR) + "/utheque/pendulum.urdf"); BOOST_REQUIRE(pendulum); pendulum->fix_to_world(); @@ -80,7 +80,7 @@ BOOST_AUTO_TEST_CASE(test_fix_free) BOOST_AUTO_TEST_CASE(test_actuators_and_dofs) { - auto pexod = std::make_shared(std::string(ROBOT_DART_BUILD_DIR) + "/robots/pexod.urdf"); + auto pexod = std::make_shared(std::string(ROBOT_DART_BUILD_DIR) + "/utheque/pexod.urdf"); BOOST_REQUIRE(pexod); // fix to world pexod->fix_to_world(); From b0bb76db9979f107c4939b89dc70292964fbce4c Mon Sep 17 00:00:00 2001 From: Jean-Baptiste Mouret Date: Fri, 21 Jan 2022 16:51:43 +0100 Subject: [PATCH 04/22] add configure option --utheque-only and --no-robot_dart --- wscript | 27 +++++++++++++++++---------- 1 file changed, 17 insertions(+), 10 deletions(-) diff --git a/wscript b/wscript index e817253a..e086403a 100644 --- a/wscript +++ b/wscript @@ -43,19 +43,26 @@ def options(opt): opt.add_option('--shared', action='store_true', help='build shared library', dest='build_shared') opt.add_option('--tests', action='store_true', help='compile tests or not', dest='tests') opt.add_option('--python', action='store_true', help='compile python bindings', dest='pybind') + opt.add_option('--utheque-only', action='store_true', help='only install the URDF library (utheque) / deactivate RobotDART', dest='utheque_only') + opt.add_option('--no-robot_dart', action='store_true', help='only install the URDF library (utheque) / deactivate RobotDART', dest='utheque_only') def configure(conf): - robot_dart_ok = True - try: - Logs.pprint("GREEN", "=== Configuring RobotDART ===") - configure_robot_dart(conf) - Logs.pprint("GREEN", "=== RobotDART ready to build ===") - conf.env['BUILD_ROBOT_DART'] = True - except: - conf.env['BUILD_ROBOT_DART'] = False - - conf.end_msg("ERROR", color="RED") + if not conf.options.utheque_only: + robot_dart_ok = True + try: + Logs.pprint("GREEN", "=== Configuring RobotDART ===") + configure_robot_dart(conf) + Logs.pprint("GREEN", "=== RobotDART ready to build ===") + conf.env['BUILD_ROBOT_DART'] = True + except: + conf.env['BUILD_ROBOT_DART'] = False + + conf.end_msg("ERROR", color="RED") + else: + conf.env['BUILD_ROBOT_DART'] = False + + if not conf.env['BUILD_ROBOT_DART']: Logs.pprint("RED", "=== RobotDART will NOT be compiled/installed ===") print("\n=== Summary: ===") From 6853f3955480cc97886286e9f4569f43f7ef100b Mon Sep 17 00:00:00 2001 From: Jean-Baptiste Mouret Date: Fri, 21 Jan 2022 17:16:06 +0100 Subject: [PATCH 05/22] forgot to fix test_control --- src/tests/test_control.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/tests/test_control.cpp b/src/tests/test_control.cpp index 9a0f71d8..92aa4eb5 100644 --- a/src/tests/test_control.cpp +++ b/src/tests/test_control.cpp @@ -95,7 +95,7 @@ BOOST_AUTO_TEST_CASE(test_simple_control) BOOST_CHECK(!simple_control->active()); // load a robot - auto pendulum = std::make_shared(std::string(ROBOT_DART_BUILD_DIR) + "/robots/pendulum.urdf"); + auto pendulum = std::make_shared(std::string(ROBOT_DART_BUILD_DIR) + "/utheque/pendulum.urdf"); BOOST_REQUIRE(pendulum); pendulum->fix_to_world(); @@ -125,7 +125,7 @@ BOOST_AUTO_TEST_CASE(test_simple_control) BOOST_AUTO_TEST_CASE(test_robot_control) { // load a robot - auto pendulum = std::make_shared(std::string(ROBOT_DART_BUILD_DIR) + "/robots/pendulum.urdf"); + auto pendulum = std::make_shared(std::string(ROBOT_DART_BUILD_DIR) + "/utheque/pendulum.urdf"); BOOST_REQUIRE(pendulum); pendulum->fix_to_world(); From adb5a833ddbaf8ed5cea1367bebd21bcb29dde98 Mon Sep 17 00:00:00 2001 From: Jean-Baptiste Mouret Date: Sat, 22 Jan 2022 14:54:23 +0100 Subject: [PATCH 06/22] fix minor things --- wscript | 2 -- 1 file changed, 2 deletions(-) diff --git a/wscript b/wscript index e086403a..9826767e 100644 --- a/wscript +++ b/wscript @@ -1,6 +1,5 @@ #!/usr/bin/env python # encoding: utf-8 -from gettext import install import sys import os import fnmatch @@ -49,7 +48,6 @@ def options(opt): def configure(conf): if not conf.options.utheque_only: - robot_dart_ok = True try: Logs.pprint("GREEN", "=== Configuring RobotDART ===") configure_robot_dart(conf) From c770994e73e9943d0457b5bc29312f0932af84ec Mon Sep 17 00:00:00 2001 From: Konstantinos Chatzilygeroudis Date: Sat, 22 Jan 2022 17:43:45 +0200 Subject: [PATCH 07/22] [utheque]: A few minor things/formatting --- cmake/UthequeConfig.cmake.in | 2 +- src/robot_dart/robot.cpp | 2 -- src/utheque/utheque.hpp | 17 +++++++++-------- wscript | 14 ++++++-------- 4 files changed, 16 insertions(+), 19 deletions(-) diff --git a/cmake/UthequeConfig.cmake.in b/cmake/UthequeConfig.cmake.in index d2330ee9..ecba9c16 100644 --- a/cmake/UthequeConfig.cmake.in +++ b/cmake/UthequeConfig.cmake.in @@ -15,7 +15,7 @@ set(Utheque_INCLUDE_DIRS "@Utheque_INCLUDE_DIRS@") find_package(Boost REQUIRED filesystem) -set(Utheque_LIBRARIES "Threads::Threads;Eigen3::Eigen;Boost::filesystem") +set(Utheque_LIBRARIES "Boost::filesystem") set_target_properties(Utheque PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${Utheque_INCLUDE_DIRS}") diff --git a/src/robot_dart/robot.cpp b/src/robot_dart/robot.cpp index 39e413f8..d30efe40 100644 --- a/src/robot_dart/robot.cpp +++ b/src/robot_dart/robot.cpp @@ -1878,8 +1878,6 @@ namespace robot_dart { const std::vector>& Robot::drawing_axes() const { return _axis_shapes; } - - dart::dynamics::SkeletonPtr Robot::_load_model(const std::string& filename, const std::vector>& packages, bool is_urdf_string) { ROBOT_DART_EXCEPTION_ASSERT(!filename.empty(), "Empty URDF filename"); diff --git a/src/utheque/utheque.hpp b/src/utheque/utheque.hpp index 76db1e86..8bce8c74 100644 --- a/src/utheque/utheque.hpp +++ b/src/utheque/utheque.hpp @@ -1,18 +1,18 @@ #ifndef UTHEQUE_HPP_ #define UTHEQUE_HPP_ -#include -#include #include #include // will move to std::filesystem +#include +#include namespace utheque { - static constexpr char* UTHEQUE_DEFAULT_PREFIX = "/usr/local"; + static constexpr char* UTHEQUE_DEFAULT_PREFIX = const_cast("/usr/local"); /// return the directory where to find the urdf (or urdf package) from the utheque (URDF library) /// if start by /, do nothing - /// otherwise, search (in this order): + /// otherwise, search (in this order): /// - in the current directory - /// - in /utheque/ + /// - in /utheque/ /// - $UTHEQUE_PATH /// - in /share/utheque /// @arg urdf or package name (e.g. talos/talos.urdf or talos_description) @@ -55,12 +55,13 @@ namespace utheque { /// @arg urdf or package name (e.g. talos/talos.urdf or talos_description) /// @arg prefix /usr/local/ /// @return full path of the URDF file: (e.g. /usr/local/share/utheque/talos/talos.urdf) - static std::string path(const std::string& filename, const std::string& prefix = UTHEQUE_DEFAULT_PREFIX) { + static std::string path(const std::string& filename, const std::string& prefix = UTHEQUE_DEFAULT_PREFIX) + { namespace fs = boost::filesystem; auto file_dir = fs::path(directory(filename, prefix)); auto model_file = file_dir / fs::path(boost::trim_copy(filename)); return model_file.string(); } -} +} // namespace utheque -#endif \ No newline at end of file +#endif diff --git a/wscript b/wscript index 9826767e..9cc3f13b 100644 --- a/wscript +++ b/wscript @@ -42,7 +42,6 @@ def options(opt): opt.add_option('--shared', action='store_true', help='build shared library', dest='build_shared') opt.add_option('--tests', action='store_true', help='compile tests or not', dest='tests') opt.add_option('--python', action='store_true', help='compile python bindings', dest='pybind') - opt.add_option('--utheque-only', action='store_true', help='only install the URDF library (utheque) / deactivate RobotDART', dest='utheque_only') opt.add_option('--no-robot_dart', action='store_true', help='only install the URDF library (utheque) / deactivate RobotDART', dest='utheque_only') @@ -67,9 +66,9 @@ def configure(conf): if conf.env['BUILD_ROBOT_DART']: conf.msg("Build/install RobotDart", "yes") else: - conf.msg("Build/install RobotDart", "no", color="YELLOW") + conf.msg("Build/install RobotDart", "no", color="YELLOW") conf.msg("Install Utheque (URDF library)", "yes") - + def configure_robot_dart(conf): conf.get_env()['BUILD_GRAPHIC'] = False @@ -203,14 +202,14 @@ def build_utheque(bld): cwd=bld.path.find_dir('utheque/'), relative_trick=True) ###### HEADER - bld.install_files("${PREFIX}/include/utheque/", + bld.install_files("${PREFIX}/include/utheque/", bld.path.ant_glob('src/utheque/**'), cwd=bld.path.find_dir('src/utheque/'), relative_trick=True) #### CMake - with open('cmake/UthequeConfig.cmake.in') as f: + with open('cmake/UthequeConfig.cmake.in') as f: newText=f.read() \ - .replace('@Utheque_INCLUDE_DIRS@', prefix + "/include") + .replace('@Utheque_INCLUDE_DIRS@', prefix + "/include") with open(blddir + '/UthequeConfig.cmake', "w") as f: f.write(newText) with open('cmake/UthequeConfigVersion.cmake.in') as f: @@ -221,7 +220,7 @@ def build_utheque(bld): bld.install_files('${PREFIX}/lib/cmake/Utheque/', blddir + '/UthequeConfig.cmake') bld.install_files('${PREFIX}/lib/cmake/Utheque/', blddir + '/UthequeConfigVersion.cmake') - + def build_robot_dart(bld): prefix = bld.get_env()['PREFIX'] @@ -321,7 +320,6 @@ def build_robot_dart(bld): f.write('#define ROBOT_DART_ROBOTS_DIR \"' + prefix + '/share/utheque/\"\n') bld.install_files("${PREFIX}/include/robot_dart/", config_file) - #### installation (waf install) install_files = [] for root, dirnames, filenames in os.walk(bld.path.abspath()+'/src/robot_dart/'): From aa5c129dbcc30b5752bc55351c7f47b10b5bda9b Mon Sep 17 00:00:00 2001 From: Konstantinos Chatzilygeroudis Date: Sat, 22 Jan 2022 23:33:35 +0200 Subject: [PATCH 08/22] [utheque]: add ci test --- .github/workflows/ci_linux.yml | 1 + cmake/UthequeConfig.cmake.in | 1 - cmake/example_utheque/CMakeLists.txt | 10 ++++++++++ cmake/example_utheque/example.cpp | 10 ++++++++++ 4 files changed, 21 insertions(+), 1 deletion(-) create mode 100644 cmake/example_utheque/CMakeLists.txt create mode 100644 cmake/example_utheque/example.cpp diff --git a/.github/workflows/ci_linux.yml b/.github/workflows/ci_linux.yml index 14ecc4d2..1ddd842f 100644 --- a/.github/workflows/ci_linux.yml +++ b/.github/workflows/ci_linux.yml @@ -80,6 +80,7 @@ jobs: export CC=/usr/bin/clang && export CXX=/usr/bin/clang++ fi cd ${{github.workspace}}/cmake/example && mkdir -p build && cd build && cmake -DDART_DIR=$DART_DIR .. && make -j4 + cd ${{github.workspace}}/cmake/example_utheque && mkdir -p build && cd build && cmake .. && make -j4 - name: Run Python run: | if [ "$BUILD_PYTHON" = "ON" ]; then diff --git a/cmake/UthequeConfig.cmake.in b/cmake/UthequeConfig.cmake.in index ecba9c16..7bcb55ad 100644 --- a/cmake/UthequeConfig.cmake.in +++ b/cmake/UthequeConfig.cmake.in @@ -12,7 +12,6 @@ set(CMAKE_MODULE_PATH "@Utheque_CMAKE_MODULE_PATH@") set(Utheque_INCLUDE_DIRS "@Utheque_INCLUDE_DIRS@") - find_package(Boost REQUIRED filesystem) set(Utheque_LIBRARIES "Boost::filesystem") diff --git a/cmake/example_utheque/CMakeLists.txt b/cmake/example_utheque/CMakeLists.txt new file mode 100644 index 00000000..0a28c0d3 --- /dev/null +++ b/cmake/example_utheque/CMakeLists.txt @@ -0,0 +1,10 @@ +cmake_minimum_required(VERSION 3.10 FATAL_ERROR) +project(utheque_example) + +find_package(Utheque REQUIRED) + +add_executable(utheque_example example.cpp) + +target_link_libraries(utheque_example +Utheque +) diff --git a/cmake/example_utheque/example.cpp b/cmake/example_utheque/example.cpp new file mode 100644 index 00000000..78d839ae --- /dev/null +++ b/cmake/example_utheque/example.cpp @@ -0,0 +1,10 @@ +#include // library of URDF + +int main() +{ + std::string model_file = utheque::path("arm.urdf"); + + std::cout << model_file << std::endl; + + return 0; +} From 05291c49d33f537407448501b6ed66cc9c3b9b7f Mon Sep 17 00:00:00 2001 From: Konstantinos Chatzilygeroudis Date: Sat, 22 Jan 2022 23:58:21 +0200 Subject: [PATCH 09/22] [utheque]: attempt to fix CMake --- cmake/UthequeConfig.cmake.in | 4 +++- cmake/UthequeConfigVersion.cmake.in | 2 +- cmake/example_utheque/CMakeLists.txt | 4 +--- wscript | 3 ++- 4 files changed, 7 insertions(+), 6 deletions(-) diff --git a/cmake/UthequeConfig.cmake.in b/cmake/UthequeConfig.cmake.in index 7bcb55ad..aca6a8b4 100644 --- a/cmake/UthequeConfig.cmake.in +++ b/cmake/UthequeConfig.cmake.in @@ -16,8 +16,10 @@ find_package(Boost REQUIRED filesystem) set(Utheque_LIBRARIES "Boost::filesystem") +add_library(Utheque INTERFACE IMPORTED) set_target_properties(Utheque PROPERTIES - INTERFACE_INCLUDE_DIRECTORIES "${Utheque_INCLUDE_DIRS}") + INTERFACE_INCLUDE_DIRECTORIES "${Utheque_INCLUDE_DIRS}" + INTERFACE_LINK_LIBRARIES "${Utheque_LIBRARIES}") # Handle the QUIET and REQUIRED arguments find_package_handle_standard_args( diff --git a/cmake/UthequeConfigVersion.cmake.in b/cmake/UthequeConfigVersion.cmake.in index 7a1d2b07..f539c7c6 100644 --- a/cmake/UthequeConfigVersion.cmake.in +++ b/cmake/UthequeConfigVersion.cmake.in @@ -1,4 +1,4 @@ -set(PACKAGE_VERSION "@robot_dart_VERSION@") +set(PACKAGE_VERSION "@utheque_VERSION@") # Check whether the requested PACKAGE_FIND_VERSION is compatible if("${PACKAGE_VERSION}" VERSION_LESS "${PACKAGE_FIND_VERSION}") diff --git a/cmake/example_utheque/CMakeLists.txt b/cmake/example_utheque/CMakeLists.txt index 0a28c0d3..5bde48a2 100644 --- a/cmake/example_utheque/CMakeLists.txt +++ b/cmake/example_utheque/CMakeLists.txt @@ -5,6 +5,4 @@ find_package(Utheque REQUIRED) add_executable(utheque_example example.cpp) -target_link_libraries(utheque_example -Utheque -) +target_link_libraries(utheque_example Utheque) diff --git a/wscript b/wscript index 9cc3f13b..a72dca4a 100644 --- a/wscript +++ b/wscript @@ -209,7 +209,8 @@ def build_utheque(bld): #### CMake with open('cmake/UthequeConfig.cmake.in') as f: newText=f.read() \ - .replace('@Utheque_INCLUDE_DIRS@', prefix + "/include") + .replace('@Utheque_INCLUDE_DIRS@', prefix + "/include") \ + .replace('@Utheque_CMAKE_MODULE_PATH@', prefix + "/lib/cmake/Utheque/") with open(blddir + '/UthequeConfig.cmake', "w") as f: f.write(newText) with open('cmake/UthequeConfigVersion.cmake.in') as f: From 740d29a771fcafb655167dd0e309f1622477ffaf Mon Sep 17 00:00:00 2001 From: Konstantinos Chatzilygeroudis Date: Sun, 23 Jan 2022 00:08:14 +0200 Subject: [PATCH 10/22] [utheque]: fix for CMake --- cmake/example_utheque/example.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/cmake/example_utheque/example.cpp b/cmake/example_utheque/example.cpp index 78d839ae..5e8d123d 100644 --- a/cmake/example_utheque/example.cpp +++ b/cmake/example_utheque/example.cpp @@ -1,5 +1,7 @@ #include // library of URDF +#include + int main() { std::string model_file = utheque::path("arm.urdf"); From 0f2e73717ecb318743c5e42bae4fe5a6b9eae5d1 Mon Sep 17 00:00:00 2001 From: Konstantinos Chatzilygeroudis Date: Sun, 23 Jan 2022 00:23:09 +0200 Subject: [PATCH 11/22] [utheque]: search in ROBOT_DART_PREFIX and minor ref fix --- src/robot_dart/robot.cpp | 2 +- src/utheque/utheque.hpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/robot_dart/robot.cpp b/src/robot_dart/robot.cpp index d30efe40..4f1d1b7b 100644 --- a/src/robot_dart/robot.cpp +++ b/src/robot_dart/robot.cpp @@ -1885,7 +1885,7 @@ namespace robot_dart { dart::dynamics::SkeletonPtr tmp_skel; if (!is_urdf_string) { // search for the right directory for our files - std::string model_file = utheque::path(filename); + std::string model_file = utheque::path(filename, std::string(ROBOT_DART_PREFIX)); // store the name for future use _model_filename = model_file; _packages = packages; diff --git a/src/utheque/utheque.hpp b/src/utheque/utheque.hpp index 8bce8c74..f88f4444 100644 --- a/src/utheque/utheque.hpp +++ b/src/utheque/utheque.hpp @@ -18,7 +18,7 @@ namespace utheque { /// @arg urdf or package name (e.g. talos/talos.urdf or talos_description) /// @arg prefix /usr/local/ /// @return the full (absolute) path where to find the URDF (e.g. /usr/local/share/utheque/) - static std::string directory(const std::string& filename, const std::string prefix = UTHEQUE_DEFAULT_PREFIX) + static std::string directory(const std::string& filename, const std::string& prefix = UTHEQUE_DEFAULT_PREFIX) { namespace fs = boost::filesystem; fs::path model_file(boost::trim_copy(filename)); From 5237b0de6068fff15ac8d1699e65b8de56893a3d Mon Sep 17 00:00:00 2001 From: Jean-Baptiste Mouret Date: Mon, 24 Jan 2022 11:10:22 +0100 Subject: [PATCH 12/22] add a verbose mode + debug the cmake install + export UTHEQUE_PREFIX --- cmake/UthequeConfig.cmake.in | 7 ++-- cmake/example/CMakeLists.txt | 2 ++ cmake/example_utheque/CMakeLists.txt | 8 +++++ cmake/example_utheque/example_utheque.cpp | 9 +++++ src/utheque/utheque.hpp | 41 ++++++++++++++++++++--- wscript | 5 ++- 6 files changed, 64 insertions(+), 8 deletions(-) create mode 100644 cmake/example_utheque/CMakeLists.txt create mode 100644 cmake/example_utheque/example_utheque.cpp diff --git a/cmake/UthequeConfig.cmake.in b/cmake/UthequeConfig.cmake.in index ecba9c16..2dce215d 100644 --- a/cmake/UthequeConfig.cmake.in +++ b/cmake/UthequeConfig.cmake.in @@ -10,14 +10,17 @@ include(FindPackageHandleStandardArgs) # CMAKE_MODULE_PATH set(CMAKE_MODULE_PATH "@Utheque_CMAKE_MODULE_PATH@") -set(Utheque_INCLUDE_DIRS "@Utheque_INCLUDE_DIRS@") +find_package(Boost REQUIRED filesystem) +add_library(Utheque INTERFACE) -find_package(Boost REQUIRED filesystem) +set(Utheque_INCLUDE_DIRS "@Utheque_INCLUDE_DIRS@") set(Utheque_LIBRARIES "Boost::filesystem") set_target_properties(Utheque PROPERTIES + INTERFACE_LINK_LIBRARIES "${Utheque_LIBRARIES}" + INTERFACE_COMPILE_DEFINITIONS @Utheque_PREFIX@ INTERFACE_INCLUDE_DIRECTORIES "${Utheque_INCLUDE_DIRS}") # Handle the QUIET and REQUIRED arguments diff --git a/cmake/example/CMakeLists.txt b/cmake/example/CMakeLists.txt index 0f9d7ea4..d950f5ef 100644 --- a/cmake/example/CMakeLists.txt +++ b/cmake/example/CMakeLists.txt @@ -2,11 +2,13 @@ cmake_minimum_required(VERSION 3.10 FATAL_ERROR) project(robot_dart_example) # we ask for Magnum because we want to build the graphics find_package(RobotDART REQUIRED OPTIONAL_COMPONENTS Magnum) +find_package(Utheque REQUIRED) add_executable(robot_dart_example example.cpp) target_link_libraries(robot_dart_example RobotDART::Simu + Utheque ) if(RobotDART_Magnum_FOUND) diff --git a/cmake/example_utheque/CMakeLists.txt b/cmake/example_utheque/CMakeLists.txt new file mode 100644 index 00000000..a94568f3 --- /dev/null +++ b/cmake/example_utheque/CMakeLists.txt @@ -0,0 +1,8 @@ +cmake_minimum_required(VERSION 3.10 FATAL_ERROR) +project(utheque_example) + +find_package(Utheque REQUIRED) + +add_executable(utheque_example example_utheque.cpp) +set_target_properties(utheque_example PROPERTIES CXX_STANDARD 11 CXX_STANDARD_REQUIRED YES) +target_link_libraries(utheque_example PUBLIC Utheque) diff --git a/cmake/example_utheque/example_utheque.cpp b/cmake/example_utheque/example_utheque.cpp new file mode 100644 index 00000000..23e469c0 --- /dev/null +++ b/cmake/example_utheque/example_utheque.cpp @@ -0,0 +1,9 @@ +#include +#include + +int main() +{ + auto p = utheque::path("talos/talos.urdf", utheque::UTHEQUE_DEFAULT_PREFIX, true); // verbose mode + std::cout << "Path of the URDF: " << p << std::endl; + return 0; +} diff --git a/src/utheque/utheque.hpp b/src/utheque/utheque.hpp index 8bce8c74..61da8d2c 100644 --- a/src/utheque/utheque.hpp +++ b/src/utheque/utheque.hpp @@ -7,7 +7,11 @@ #include namespace utheque { +#ifndef UTHEQUE_PREFIX static constexpr char* UTHEQUE_DEFAULT_PREFIX = const_cast("/usr/local"); +#else + static constexpr char* UTHEQUE_DEFAULT_PREFIX = const_cast(UTHEQUE_PREFIX); +#endif /// return the directory where to find the urdf (or urdf package) from the utheque (URDF library) /// if start by /, do nothing /// otherwise, search (in this order): @@ -15,38 +19,65 @@ namespace utheque { /// - in /utheque/ /// - $UTHEQUE_PATH /// - in /share/utheque + /// The default prefix is got : + /// - from the cmake config (which defines UTHEQUE_PREFIX) + /// - otherwise from -DUTHEQUE_PREFIX="..." + /// - if no UTHEQUE_PREFIX, then use /usr/local /// @arg urdf or package name (e.g. talos/talos.urdf or talos_description) - /// @arg prefix /usr/local/ + /// @arg prefix (default to UTHEQUE_PREFIX) + /// @arg verbose print search paths /// @return the full (absolute) path where to find the URDF (e.g. /usr/local/share/utheque/) - static std::string directory(const std::string& filename, const std::string prefix = UTHEQUE_DEFAULT_PREFIX) + static std::string directory(const std::string& filename, const std::string prefix = UTHEQUE_DEFAULT_PREFIX, bool verbose = false) { namespace fs = boost::filesystem; fs::path model_file(boost::trim_copy(filename)); + if (verbose) + std::cout << "utheque: searching for [" << model_file.string() << "]" << std::endl; + if (model_file.string()[0] == '/') return "/"; + if (verbose) + std::cout << "utheque: not an absolute path" << std::endl; + // search current directory if (fs::exists(model_file)) return fs::current_path().string(); + if (verbose) + std::cout << "utheque: not found in current path [" << fs::current_path().string() << "]" << std::endl; + // search /robots if (fs::exists(fs::path("utheque") / model_file)) return (fs::current_path() / fs::path("utheque")).string(); + if (verbose) + std::cout << "utheque: not found in current path/utheque [" << (fs::current_path() / fs::path("utheque")).string() << "]" << std::endl; + // search $UTHEQUE_PATH const char* env = std::getenv("UTHEQUE_PATH"); if (env != nullptr) { + if (verbose) + std::cout << "Utheque: $UTHEQUE_PATH: [" << env << "]" << std::endl; fs::path env_path(env); if (fs::exists(env_path / model_file)) return env_path.string(); } + else if (verbose) + std::cout << "Utheque: no $UTHEQUE_PATH" << std::endl; + + if (verbose) + std::cout << "utheque: not found in $UTHEQUE_PATH" << std::endl; // search PREFIX/share/utheque fs::path system_path(prefix + "/share/utheque"); if (fs::exists(system_path / model_file)) return system_path.string(); - throw std::runtime_error(std::string("Utheque::could not find :") + filename); + if (verbose) + std::cout << "utheque: not found in [" << system_path.string() << "]" << std::endl; + + throw std::runtime_error(std::string("Utheque:: could not find: ") + filename); return std::string(); } @@ -55,10 +86,10 @@ namespace utheque { /// @arg urdf or package name (e.g. talos/talos.urdf or talos_description) /// @arg prefix /usr/local/ /// @return full path of the URDF file: (e.g. /usr/local/share/utheque/talos/talos.urdf) - static std::string path(const std::string& filename, const std::string& prefix = UTHEQUE_DEFAULT_PREFIX) + static std::string path(const std::string& filename, const std::string& prefix = UTHEQUE_DEFAULT_PREFIX, bool verbose = false) { namespace fs = boost::filesystem; - auto file_dir = fs::path(directory(filename, prefix)); + auto file_dir = fs::path(directory(filename, prefix, verbose)); auto model_file = file_dir / fs::path(boost::trim_copy(filename)); return model_file.string(); } diff --git a/wscript b/wscript index 9cc3f13b..129a8cb0 100644 --- a/wscript +++ b/wscript @@ -209,7 +209,10 @@ def build_utheque(bld): #### CMake with open('cmake/UthequeConfig.cmake.in') as f: newText=f.read() \ - .replace('@Utheque_INCLUDE_DIRS@', prefix + "/include") + .replace('@Utheque_INCLUDE_DIRS@', prefix + "/include")\ + .replace('@Utheque_CMAKE_MODULE_PATH@', prefix + "/lib/cmake/Utheque/")\ + .replace('@Utheque_PREFIX@', "UTHEQUE_PREFIX=\"" + prefix + "\"") + with open(blddir + '/UthequeConfig.cmake', "w") as f: f.write(newText) with open('cmake/UthequeConfigVersion.cmake.in') as f: From aa2f2687551f472dcdd9b7bbe6df10af093f2489 Mon Sep 17 00:00:00 2001 From: Jean-Baptiste Mouret Date: Mon, 24 Jan 2022 11:19:05 +0100 Subject: [PATCH 13/22] typo --- src/utheque/utheque.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/utheque/utheque.hpp b/src/utheque/utheque.hpp index 61da8d2c..3b9b498f 100644 --- a/src/utheque/utheque.hpp +++ b/src/utheque/utheque.hpp @@ -27,7 +27,7 @@ namespace utheque { /// @arg prefix (default to UTHEQUE_PREFIX) /// @arg verbose print search paths /// @return the full (absolute) path where to find the URDF (e.g. /usr/local/share/utheque/) - static std::string directory(const std::string& filename, const std::string prefix = UTHEQUE_DEFAULT_PREFIX, bool verbose = false) + static std::string directory(const std::string& filename, const std::string& prefix = UTHEQUE_DEFAULT_PREFIX, bool verbose = false) { namespace fs = boost::filesystem; fs::path model_file(boost::trim_copy(filename)); From af57a46f043c4d3f44187a13f8410d64b495e7ab Mon Sep 17 00:00:00 2001 From: Jean-Baptiste Mouret Date: Mon, 24 Jan 2022 11:23:06 +0100 Subject: [PATCH 14/22] minor change to example_utheque --- cmake/example_utheque/example.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cmake/example_utheque/example.cpp b/cmake/example_utheque/example.cpp index 5e8d123d..82f3c678 100644 --- a/cmake/example_utheque/example.cpp +++ b/cmake/example_utheque/example.cpp @@ -6,7 +6,7 @@ int main() { std::string model_file = utheque::path("arm.urdf"); - std::cout << model_file << std::endl; + std::cout << "URDF full path from utheque library:" << model_file << std::endl; return 0; } From 9aedd4ce14bce741acc80c15bb5f9e87640e6ee0 Mon Sep 17 00:00:00 2001 From: Jean-Baptiste Mouret Date: Mon, 24 Jan 2022 11:26:59 +0100 Subject: [PATCH 15/22] remove the second example of utheque --- cmake/example_utheque/example.cpp | 12 ------------ 1 file changed, 12 deletions(-) delete mode 100644 cmake/example_utheque/example.cpp diff --git a/cmake/example_utheque/example.cpp b/cmake/example_utheque/example.cpp deleted file mode 100644 index 82f3c678..00000000 --- a/cmake/example_utheque/example.cpp +++ /dev/null @@ -1,12 +0,0 @@ -#include // library of URDF - -#include - -int main() -{ - std::string model_file = utheque::path("arm.urdf"); - - std::cout << "URDF full path from utheque library:" << model_file << std::endl; - - return 0; -} From debcf85ec6ff6eb4e248c06acd4b6a60fe8fec2a Mon Sep 17 00:00:00 2001 From: Jean-Baptiste Mouret Date: Mon, 24 Jan 2022 19:15:14 +0100 Subject: [PATCH 16/22] use the namespace for the prefix --- src/utheque/utheque.hpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/utheque/utheque.hpp b/src/utheque/utheque.hpp index 3b9b498f..ce266553 100644 --- a/src/utheque/utheque.hpp +++ b/src/utheque/utheque.hpp @@ -8,9 +8,9 @@ namespace utheque { #ifndef UTHEQUE_PREFIX - static constexpr char* UTHEQUE_DEFAULT_PREFIX = const_cast("/usr/local"); + static constexpr char* DEFAULT_PREFIX = const_cast("/usr/local"); #else - static constexpr char* UTHEQUE_DEFAULT_PREFIX = const_cast(UTHEQUE_PREFIX); + static constexpr char* DEFAULT_PREFIX = const_cast(UTHEQUE_PREFIX); #endif /// return the directory where to find the urdf (or urdf package) from the utheque (URDF library) /// if start by /, do nothing From 33b53e05c06c664c614717a4157e7c4d0f51139f Mon Sep 17 00:00:00 2001 From: Jean-Baptiste Mouret Date: Mon, 24 Jan 2022 19:15:54 +0100 Subject: [PATCH 17/22] swap prefix and verbose (we often need the verbose) --- src/utheque/utheque.hpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/utheque/utheque.hpp b/src/utheque/utheque.hpp index ce266553..ccda5de6 100644 --- a/src/utheque/utheque.hpp +++ b/src/utheque/utheque.hpp @@ -27,7 +27,7 @@ namespace utheque { /// @arg prefix (default to UTHEQUE_PREFIX) /// @arg verbose print search paths /// @return the full (absolute) path where to find the URDF (e.g. /usr/local/share/utheque/) - static std::string directory(const std::string& filename, const std::string& prefix = UTHEQUE_DEFAULT_PREFIX, bool verbose = false) + static std::string directory(const std::string& filename, bool verbose = false, const std::string& prefix = UTHEQUE_DEFAULT_PREFIX) { namespace fs = boost::filesystem; fs::path model_file(boost::trim_copy(filename)); @@ -86,7 +86,7 @@ namespace utheque { /// @arg urdf or package name (e.g. talos/talos.urdf or talos_description) /// @arg prefix /usr/local/ /// @return full path of the URDF file: (e.g. /usr/local/share/utheque/talos/talos.urdf) - static std::string path(const std::string& filename, const std::string& prefix = UTHEQUE_DEFAULT_PREFIX, bool verbose = false) + static std::string path(const std::string& filename, , bool verbose = false, const std::string& prefix = UTHEQUE_DEFAULT_PREFIX) { namespace fs = boost::filesystem; auto file_dir = fs::path(directory(filename, prefix, verbose)); From 4e12760fd18ac27718c33b82bc3d4807011530d1 Mon Sep 17 00:00:00 2001 From: Jean-Baptiste Mouret Date: Mon, 24 Jan 2022 19:18:18 +0100 Subject: [PATCH 18/22] typo... --- cmake/example_utheque/example_utheque.cpp | 2 +- src/utheque/utheque.hpp | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/cmake/example_utheque/example_utheque.cpp b/cmake/example_utheque/example_utheque.cpp index 23e469c0..b12daba6 100644 --- a/cmake/example_utheque/example_utheque.cpp +++ b/cmake/example_utheque/example_utheque.cpp @@ -3,7 +3,7 @@ int main() { - auto p = utheque::path("talos/talos.urdf", utheque::UTHEQUE_DEFAULT_PREFIX, true); // verbose mode + auto p = utheque::path("talos/talos.urdf", true); // verbose mode std::cout << "Path of the URDF: " << p << std::endl; return 0; } diff --git a/src/utheque/utheque.hpp b/src/utheque/utheque.hpp index ccda5de6..853ce306 100644 --- a/src/utheque/utheque.hpp +++ b/src/utheque/utheque.hpp @@ -27,7 +27,7 @@ namespace utheque { /// @arg prefix (default to UTHEQUE_PREFIX) /// @arg verbose print search paths /// @return the full (absolute) path where to find the URDF (e.g. /usr/local/share/utheque/) - static std::string directory(const std::string& filename, bool verbose = false, const std::string& prefix = UTHEQUE_DEFAULT_PREFIX) + static std::string directory(const std::string& filename, bool verbose = false, const std::string& prefix = DEFAULT_PREFIX) { namespace fs = boost::filesystem; fs::path model_file(boost::trim_copy(filename)); @@ -86,7 +86,7 @@ namespace utheque { /// @arg urdf or package name (e.g. talos/talos.urdf or talos_description) /// @arg prefix /usr/local/ /// @return full path of the URDF file: (e.g. /usr/local/share/utheque/talos/talos.urdf) - static std::string path(const std::string& filename, , bool verbose = false, const std::string& prefix = UTHEQUE_DEFAULT_PREFIX) + static std::string path(const std::string& filename, , bool verbose = false, const std::string& prefix = DEFAULT_PREFIX) { namespace fs = boost::filesystem; auto file_dir = fs::path(directory(filename, prefix, verbose)); From 772417658469e54af73a061df0130e7ab9195122 Mon Sep 17 00:00:00 2001 From: Jean-Baptiste Mouret Date: Mon, 24 Jan 2022 19:28:53 +0100 Subject: [PATCH 19/22] another typo.. --- src/robot_dart/robot.cpp | 2 +- src/utheque/utheque.hpp | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/robot_dart/robot.cpp b/src/robot_dart/robot.cpp index 4f1d1b7b..ccc592a3 100644 --- a/src/robot_dart/robot.cpp +++ b/src/robot_dart/robot.cpp @@ -1885,7 +1885,7 @@ namespace robot_dart { dart::dynamics::SkeletonPtr tmp_skel; if (!is_urdf_string) { // search for the right directory for our files - std::string model_file = utheque::path(filename, std::string(ROBOT_DART_PREFIX)); + std::string model_file = utheque::path(filename, false, std::string(ROBOT_DART_PREFIX)); // store the name for future use _model_filename = model_file; _packages = packages; diff --git a/src/utheque/utheque.hpp b/src/utheque/utheque.hpp index 853ce306..a79807a6 100644 --- a/src/utheque/utheque.hpp +++ b/src/utheque/utheque.hpp @@ -86,10 +86,10 @@ namespace utheque { /// @arg urdf or package name (e.g. talos/talos.urdf or talos_description) /// @arg prefix /usr/local/ /// @return full path of the URDF file: (e.g. /usr/local/share/utheque/talos/talos.urdf) - static std::string path(const std::string& filename, , bool verbose = false, const std::string& prefix = DEFAULT_PREFIX) + static std::string path(const std::string& filename, bool verbose = false, const std::string& prefix = DEFAULT_PREFIX) { namespace fs = boost::filesystem; - auto file_dir = fs::path(directory(filename, prefix, verbose)); + auto file_dir = fs::path(directory(filename, verbose, prefix)); auto model_file = file_dir / fs::path(boost::trim_copy(filename)); return model_file.string(); } From 229744075eaf69521a3f36389bdf42d106547349 Mon Sep 17 00:00:00 2001 From: Jean-Baptiste Mouret Date: Mon, 24 Jan 2022 19:33:06 +0100 Subject: [PATCH 20/22] add ROBOT_DART_PREFIX for directory/urdf packages too --- src/robot_dart/robot.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/robot_dart/robot.cpp b/src/robot_dart/robot.cpp index ccc592a3..f081608d 100644 --- a/src/robot_dart/robot.cpp +++ b/src/robot_dart/robot.cpp @@ -1905,7 +1905,7 @@ namespace robot_dart { #endif for (size_t i = 0; i < packages.size(); i++) { std::string package = std::get<1>(packages[i]); - std::string package_path = utheque::directory(package); + std::string package_path = utheque::directory(package, false, std::string(ROBOT_DART_PREFIX)); loader.addPackageDirectory( std::get<0>(packages[i]), package_path + "/" + package); } From 6b174c2c1c1845611b8974c4e690de966719ca43 Mon Sep 17 00:00:00 2001 From: Konstantinos Chatzilygeroudis Date: Mon, 24 Jan 2022 23:08:43 +0200 Subject: [PATCH 21/22] [utheque]: minor things --- cmake/example/CMakeLists.txt | 2 -- src/robot_dart/robot.cpp | 2 +- wscript | 2 +- 3 files changed, 2 insertions(+), 4 deletions(-) diff --git a/cmake/example/CMakeLists.txt b/cmake/example/CMakeLists.txt index d950f5ef..0f9d7ea4 100644 --- a/cmake/example/CMakeLists.txt +++ b/cmake/example/CMakeLists.txt @@ -2,13 +2,11 @@ cmake_minimum_required(VERSION 3.10 FATAL_ERROR) project(robot_dart_example) # we ask for Magnum because we want to build the graphics find_package(RobotDART REQUIRED OPTIONAL_COMPONENTS Magnum) -find_package(Utheque REQUIRED) add_executable(robot_dart_example example.cpp) target_link_libraries(robot_dart_example RobotDART::Simu - Utheque ) if(RobotDART_Magnum_FOUND) diff --git a/src/robot_dart/robot.cpp b/src/robot_dart/robot.cpp index f081608d..3b435d01 100644 --- a/src/robot_dart/robot.cpp +++ b/src/robot_dart/robot.cpp @@ -1930,7 +1930,7 @@ namespace robot_dart { dart::io::DartLoader loader; for (size_t i = 0; i < packages.size(); i++) { std::string package = std::get<1>(packages[i]); - std::string package_path = utheque::directory(package); + std::string package_path = utheque::directory(package, false, std::string(ROBOT_DART_PREFIX)); loader.addPackageDirectory(std::get<0>(packages[i]), package_path + "/" + package); } tmp_skel = loader.parseSkeletonString(filename, ""); diff --git a/wscript b/wscript index 129a8cb0..6ca74e12 100644 --- a/wscript +++ b/wscript @@ -212,7 +212,7 @@ def build_utheque(bld): .replace('@Utheque_INCLUDE_DIRS@', prefix + "/include")\ .replace('@Utheque_CMAKE_MODULE_PATH@', prefix + "/lib/cmake/Utheque/")\ .replace('@Utheque_PREFIX@', "UTHEQUE_PREFIX=\"" + prefix + "\"") - + with open(blddir + '/UthequeConfig.cmake', "w") as f: f.write(newText) with open('cmake/UthequeConfigVersion.cmake.in') as f: From ba9b2d608f45a38d1306f0a64f0b9bf1a5d36c11 Mon Sep 17 00:00:00 2001 From: Konstantinos Chatzilygeroudis Date: Mon, 24 Jan 2022 23:49:07 +0200 Subject: [PATCH 22/22] [readme]: small update [ci skip] --- README.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index 816a2d82..35b3d6f9 100644 --- a/README.md +++ b/README.md @@ -8,7 +8,8 @@ robot_dart [![Build Status](https://github.com/resibots/robot_dart/actions/workf ## Authors - Author/Maintainer: Konstantinos Chatzilygeroudis -- Other contributors: Vaios Papaspyros +- Active contributors: Jean-Baptiste Mouret +- Other contributors: Antoine Cully, Vassilis Vassiliades, Vaios Papaspyros ### Using the code