Extend controller templates, update hardware templates and update scr…

…ipts to be easier to use (StoglRobotics#48)

* Update templates for controller
* Added template for chained controllers.
* Update hardware templates and make nice output to the hardware generation script.

.github/workflows/ci-format.yml

@@ -18,8 +18,8 @@ jobs:
       with:
         python-version: '3.9.7'
         cache: 'pip'
-    - name: Install clang-format-10
-      run: sudo apt-get install clang-format-11
+    - name: Install clang-format-12
+      run: sudo apt-get install clang-format-12
     - uses: pre-commit/[email protected]
       with:
         extra_args: --all-files --hook-stage manual

.pre-commit-config.yaml

@@ -80,7 +80,7 @@ repos:
       - id: clang-format
         name: clang-format
         description: Format files with ClangFormat.
-        entry: clang-format-10
+        entry: clang-format-12
         language: system
         files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
         args: ['-fallback-style=none', '-i']

scripts/_RosTeamWs_Defines.bash

@@ -55,6 +55,9 @@ function RosTeamWS_setup_exports {
   export RAW_TERMINAL_COLOR_LIGHT_GRAY=$'\e[0;37m'
   export RAW_TERMINAL_COLOR_WHITE=$'\e[1;37m'
 
+  export TERMINAL_COLOR_USER_NOTICE=${TERMINAL_COLOR_YELLOW}
+  export TERMINAL_COLOR_USER_INPUT_DECISION=${TERMINAL_COLOR_PURPLE}
+  export TERMINAL_COLOR_USER_CONFIRMATION=${TERMINAL_COLOR_BLUE}
 }
 
 # TODO(denis): add this into setup.bash
@@ -247,8 +250,8 @@ function framework_default_paths {
   PACKAGE_TEMPLATES="$FRAMEWORK_PACKAGE_PATH/templates/package"
   ROBOT_DESCRIPTION_TEMPLATES="$FRAMEWORK_PACKAGE_PATH/templates/robot_description"
   ROS2_CONTROL_TEMPLATES="$FRAMEWORK_PACKAGE_PATH/templates/ros2_control"
-  ROS2_CONTROL_HW_ITF_TEMPLATES="$FRAMEWORK_PACKAGE_PATH/templates/ros2_control/hardware"
-  ROS2_CONTROL_CONTROLLER_TEMPLATES="$FRAMEWORK_PACKAGE_PATH/templates/ros2_control/controller"
+  ROS2_CONTROL_HW_ITF_TEMPLATES="$ROS2_CONTROL_TEMPLATES/hardware"
+  ROS2_CONTROL_CONTROLLER_TEMPLATES="$ROS2_CONTROL_TEMPLATES/controller"
   LICENSE_TEMPLATES="$FRAMEWORK_PACKAGE_PATH/templates/licenses"
 }
 

scripts/_Team_Defines.bash

@@ -20,7 +20,7 @@ DEFAULT_ROS_VERSION=2
 # TODO(denis): We have two example teams. On is working with industrial and other with mobile robots
 # TEAM_TEAM_NAMES=("Industrial" "Mobile")
 
-TEAM_LICENSE="Apache License 2.0"
+TEAM_LICENSE="Apache-2.0"
 
 TEAM_REPOSITORY_SERVER="https://github.com"
 

scripts/create-new-package.bash

@@ -9,26 +9,28 @@ check_ros_distro ${ROS_DISTRO}
 
 PKG_NAME=$1
 if [ -z "$1" ]; then
-  print_and_exit "Package name is not defined. Nothing to do, exiting..." "$usage"
+  print_and_exit "Package name is not defined. Nothing to do 😯" "$usage"
 fi
 
 PKG_DESCRIPTION=$2
 if [ -z "$2" ]; then
-  print_and_exit "Package description is not defined. Nothing to do, exiting..." "$usage"
+  print_and_exit "Package description is not defined. Nothing to do 😯" "$usage"
 fi
 
 echo ""
-echo "Your path is `pwd`. Is this your workspace source folder?"
-read -p "If so press <ENTER> otherwise <CTRL>+C and start the script again from your source folder."
+echo -e "${TERMINAL_COLOR_USER_NOTICE}Your path is `pwd`. Is this your workspace source folder?${TERMINAL_COLOR_NC}"
+echo -e "${TERMINAL_COLOR_USER_CONFIRMATION}If so press <ENTER> otherwise <CTRL>+C and start the script again from your source folder.${TERMINAL_COLOR_NC}"
+read
 
-read -p "What type of package you want to create? (0 - standard, 1 - metapackage, 2 - subpackage) [0]:" META
+echo -n -e "${TERMINAL_COLOR_USER_INPUT_DECISION}What type of package you want to create? (0 - standard, 1 - metapackage, 2 - subpackage) [0]:${TERMINAL_COLOR_NC}"
+read META
 META=${META:=0}
 
 CREATE_PARAMS=""
 
 case "$META" in
 "1")
-   echo "Meta-package '$PKG_NAME' will be created!"
+   echo -e "${TERMINAL_COLOR_USER_NOTICE}Meta-package '$PKG_NAME' will be created!${TERMINAL_COLOR_NC}"
     CREATE_PARAMS="--meta"
     mkdir $PKG_NAME
     cd $PKG_NAME
@@ -42,16 +44,17 @@ case "$META" in
    if [[ ! -d $META_NAME ]]; then
      echo "ERROR: metapackage with the name '$META_NAME' does not exist! Exiting..."
    fi
-   echo "Subpackage '$PKG_NAME' will be created in the metapackage '$META_NAME'!"
+   echo -e "${TERMINAL_COLOR_USER_NOTICE}Subpackage '$PKG_NAME' will be created in the metapackage '$META_NAME'!${TERMINAL_COLOR_NC}"
    cd $META_NAME
    # TODO: read licence of the meta-package
    ;;
 *)
-  echo "Package '$PKG_NAME' will be created!"
+  echo -e "${TERMINAL_COLOR_USER_NOTICE}Package '$PKG_NAME' will be created!${TERMINAL_COLOR_NC}"
 esac
 
 
-read -p "Do you want to enter name and email address of the maintainer? If not, data from git configuration will be used. (y/n) [n]: " choice
+echo -n -e "${TERMINAL_COLOR_USER_INPUT_DECISION}Do you want to enter name and email address of the maintainer? If not, data from git configuration will be used. (y/n) [n]: ${TERMINAL_COLOR_NC}"
+read choice
 choice=${choice:="n"}
 
 case "$choice" in
@@ -73,15 +76,17 @@ case "$choice" in
 esac
 
 # License
-read -p "How do you want to licence your package? ['$TEAM_LICENSE']: " LICENSE
+echo -n -e "${TERMINAL_COLOR_USER_INPUT_DECISION}How do you want to licence your package? ['$TEAM_LICENSE']: ${TERMINAL_COLOR_NC}"
+read LICENSE
 LICENSE=${LICENSE:=$TEAM_LICENSE}
 
 if [[ $ros_version == 1 ]]; then
     BUILD_TYPE="catkin"
 
 elif [[ $ros_version == 2 ]]; then
   # Build type
-  read -p "Please choose your package build type (1 - ament_cmake, 2 - ament_python, 3 - cmake) [1]:" choice
+  echo -n -e "${TERMINAL_COLOR_USER_INPUT_DECISION}Please choose your package build type (1 - ament_cmake, 2 - ament_python, 3 - cmake) [1]:${TERMINAL_COLOR_NC}"
+  read choice
 
   case "$choice" in
   "2")
@@ -96,9 +101,9 @@ elif [[ $ros_version == 2 ]]; then
 fi
 
 echo ""
-echo "ATTENTION: Creating package '$PKG_NAME' in '`pwd`' with description '$PKG_DESCRIPTION', licence '$LICENSE', build type '$BUILD_TYPE' and maintainer '$MAINTAINER_NAME <$MAINTAINER_EMAIL>'"
-read -p "If correct press <ENTER>, otherwise <CTRL>+C and start the script again from your source folder."
-
+echo -e "${TERMINAL_COLOR_USER_INPUT_DECISION}ATTENTION: Creating package '$PKG_NAME' in '`pwd`' with description '$PKG_DESCRIPTION', licence '$LICENSE', build type '$BUILD_TYPE' and maintainer '$MAINTAINER_NAME <$MAINTAINER_EMAIL>'${TERMINAL_COLOR_NC}"
+echo -e "${TERMINAL_COLOR_USER_CONFIRMATION}If correct press <ENTER>, otherwise <CTRL>+C and start the script again from your source folder.${TERMINAL_COLOR_NC}"
+read
 
 if [[ $ros_version == 1 ]]; then
   catkin_create_pkg $CREATE_PARAMS $PKG_NAME -V 0.0.1 -l "$LICENSE" -D "$PKG_DESCRIPTION"
@@ -121,8 +126,9 @@ elif [[ $ros_version == 2 ]]; then
   fi
 fi
 
-read -p "Do you want to setup/update repository with the new package configuration? (y/n) [y]: " choice
-choice=${choice:="y"}
+echo -n -e "${TERMINAL_COLOR_USER_INPUT_DECISION}Do you want to setup/update repository with the new package configuration? (y/n) [n]: ${TERMINAL_COLOR_NC}"
+read choice
+choice=${choice:="n"}
 
 case "$choice" in
 "y")
@@ -187,5 +193,5 @@ case "$choice" in
   fi
   ;;
 "n")
-  echo "Repository configuration is _not_ updated!"
+  echo -e "${TERMINAL_COLOR_USER_NOTICE}Repository configuration is _not_ updated!${TERMINAL_COLOR_NC}"
 esac

scripts/ros2_control/setup-controller-package.bash

@@ -27,12 +27,14 @@ check_ros_distro ${ROS_DISTRO}
 
 FILE_NAME=$1
 if [ -z "$1" ]; then
-  print_and_exit "ERROR: You should provide the file name!" "$usage"
+  print_and_exit "You should provide the file name! Nothing to do 😯" "$usage"
 fi
 if [ -f src/$FILE_NAME.cpp ]; then
-  print_and_exit "ERROR:The file '$FILE_NAME' already exist!" "$usage"
+  print_and_exit "ERROR:The file '$FILE_NAME' already exist! 😱!" "$usage"
 fi
 
+echo ""  # Adds empty line
+
 CLASS_NAME=$2
 if [ -z "$2" ]; then
   delimiter='_'
@@ -43,25 +45,28 @@ if [ -z "$2" ]; then
     s=${s#*"$delimiter"}
     CLASS_NAME="$CLASS_NAME${part^}"
   done
-  echo "ClassName guessed from the '$FILE_NAME': '$CLASS_NAME'. Is this correct? If not, provide it as the second parameter."
+  echo -e "${TERMINAL_COLOR_USER_CONFIRMATION}ClassName guessed from the '$FILE_NAME': '$CLASS_NAME'. Is this correct? If not, provide it as the second parameter.${TERMINAL_COLOR_NC}"
 fi
 
 PKG_NAME=$3
 if [ -z "$3" ]; then
   current=$(pwd)
   PKG_NAME=$(basename "$current")
-  echo "Package name guessed from the current path is '$PKG_NAME'. Is this correct? If not provide it as the third parameter."
+  echo -e "${TERMINAL_COLOR_USER_CONFIRMATION}Package name guessed from the current path is '$PKG_NAME'. Is this correct? If not provide it as the third parameter.${TERMINAL_COLOR_NC}"
 fi
+read
 
-echo "Which license-header do you want to use? [1]"
+echo -e "${TERMINAL_COLOR_USER_INPUT_DECISION}Which license-header do you want to use? [1]"
 echo "(0) None"
-echo "(1) Apache 2.0 License"
+echo "(1) Apache-2.0"
 echo "(2) Propiatery"
+echo -n -e "${TERMINAL_COLOR_NC}"
 read choice
 choice=${choice:="1"}
 
 if [ "$choice" != 0 ]; then
-  read -p "Insert your company or personal name (copyright): " NAME_ON_LICENSE
+  echo -n -e "${TERMINAL_COLOR_USER_INPUT_DECISION}Insert your company or personal name (copyright): ${TERMINAL_COLOR_NC}"
+  read NAME_ON_LICENSE
   NAME_ON_LICENSE=${NAME_ON_LICENSE=""}
   YEAR_ON_LICENSE=$(date +%Y)
 fi
@@ -75,13 +80,31 @@ case "$choice" in
   LICENSE_HEADER="$LICENSE_TEMPLATES/propriatery_company_cpp.txt"
 esac
 
-read -p "Is package already configured (is in there a working controller already)? (yes/no) [no] " package_configured
+echo -n -e "${TERMINAL_COLOR_USER_INPUT_DECISION}Is package already configured (is in there a working controller already)? (yes/no) [no] ${TERMINAL_COLOR_NC}"
+read package_configured
 package_configured=${package_configured:="no"}
 
+echo -e "${TERMINAL_COLOR_USER_INPUT_DECISION}Do you want to setup a 'normal' or 'chainable' controller? [1]"
+echo "(1) normal (single-level control)"
+echo "(2) chainable"
+echo -n -e "${TERMINAL_COLOR_NC}"
+read choice
+choice=${choice:="1"}
+
+CONTROLLER_TYPE=""
+case "$choice" in
+"1")
+  CONTROLLER_TYPE="normal (single-level control)"
+  ;;
+"2")
+  CONTROLLER_TYPE="chainable"
+esac
+
 echo ""
-echo "ATTENTION: Setting up ros2_control controller files with following parameters: file name '$FILE_NAME', class '$CLASS_NAME', package/namespace '$PKG_NAME'. Those will be placed in folder '`pwd`'."
+echo -e "${TERMINAL_COLOR_USER_NOTICE}ATTENTION: Setting up ros2_control controller files with following parameters: file name '$FILE_NAME', class '$CLASS_NAME', package/namespace '$PKG_NAME', type '$CONTROLLER_TYPE'. Those will be placed in folder '`pwd`'.${TERMINAL_COLOR_NC}"
 echo ""
-read -p "If correct press <ENTER>, otherwise <CTRL>+C and start the script again from the package folder and/or with correct controller name."
+echo -e "${TERMINAL_COLOR_USER_CONFIRMATION}If correct press <ENTER>, otherwise <CTRL>+C and start the script again from the package folder and/or with correct controller name.${TERMINAL_COLOR_NC}"
+read
 
 # Add folders if deleted
 ADD_FOLDERS=("include/$PKG_NAME" "src" "test")
@@ -101,16 +124,26 @@ TEST_HPP="test/test_$FILE_NAME.hpp"
 
 # Copy files
 if [[ ! -f "$VC_H" ]]; then
-  cp -n $ROS2_CONTROL_HW_ITF_TEMPLATES/visibility_control.h $VC_H
+  cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/dummy_package_namespace/visibility_control.h $VC_H
 fi
-cat $ROS2_CONTROL_CONTROLLER_TEMPLATES/dummy_controller_pluginlib.xml >> $PLUGIN_XML
-cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/dummy_package_namespace/dummy_controller.hpp $CTRL_HPP
-cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/dummy_controller.cpp $CTRL_CPP
+
+if [[ "$CONTROLLER_TYPE" == "chainable" ]]; then
+  cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/dummy_package_namespace/dummy_chainable_controller.hpp $CTRL_HPP
+  cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/dummy_chainable_controller.cpp $CTRL_CPP
+  cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/test_dummy_chainable_controller.cpp $TEST_CPP
+  cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/test_dummy_chainable_controller.hpp $TEST_HPP
+  cat $ROS2_CONTROL_CONTROLLER_TEMPLATES/dummy_chainable_controller_pluginlib.xml >> $PLUGIN_XML
+else
+  cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/dummy_package_namespace/dummy_controller.hpp $CTRL_HPP
+  cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/dummy_controller.cpp $CTRL_CPP
+  cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/test_dummy_controller.cpp $TEST_CPP
+  cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/test_dummy_controller.hpp $TEST_HPP
+  cat $ROS2_CONTROL_CONTROLLER_TEMPLATES/dummy_controller_pluginlib.xml >> $PLUGIN_XML
+fi
+
 cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/test_load_dummy_controller.cpp $LOAD_TEST_CPP
-cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/test_dummy_controller.cpp $TEST_CPP
-cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/test_dummy_controller.hpp $TEST_HPP
 
-echo "Template files copied."
+echo -e "${TERMINAL_COLOR_USER_NOTICE}Template files copied.${TERMINAL_COLOR_NC}"
 
 # TODO(anyone): fuse this with hardware interface package creating.
 
@@ -139,11 +172,11 @@ FILES_TO_SED+=("$PLUGIN_XML")
 
 for SED_FILE in "${FILES_TO_SED[@]}"; do
   sed -i "s/TEMPLATES__ROS2_CONTROL__CONTROLLER__DUMMY_PACKAGE_NAMESPACE/${PKG_NAME^^}/g" $SED_FILE # package name for include guard
-  sed -i "s/TEMPLATES__ROS2_CONTROL__CONTROLLER/${PKG_NAME^^}/g" $SED_FILE # package name for include guard
-  sed -i "s/TEMPLATES__ROS2_CONTROL__HARDWARE/${PKG_NAME^^}/g" $SED_FILE # package name for include guard from hardware
   sed -i "s/dummy_package_namespace/${PKG_NAME}/g" $SED_FILE # package name for includes
   sed -i "s/dummy_controller/${FILE_NAME}/g" $SED_FILE # file name
+  sed -i "s/dummy_chainable_controller/${FILE_NAME}/g" $SED_FILE # file name
   sed -i "s/DUMMY_CONTROLLER/${FILE_NAME^^}/g" $SED_FILE # file name for include guard
+  sed -i "s/DUMMY_CHAINABLE_CONTROLLER/${FILE_NAME^^}/g" $SED_FILE # file name for include guard
   sed -i "s/DummyClassName/${CLASS_NAME}/g" $SED_FILE # class name
   sed -i "s/dummy_interface_type/${INTERFACE_TYPE}/g" $SED_FILE # interface type for includes
   sed -i "s/Dummy_Interface_Type/${INTERFACE_TYPE^}/g" $SED_FILE # Interface type in namespace resolution
@@ -188,6 +221,7 @@ echo "  pluginlib" >> $TMP_FILE
 echo "  rclcpp" >> $TMP_FILE
 echo "  rclcpp_lifecycle" >> $TMP_FILE
 echo "  realtime_tools" >> $TMP_FILE
+echo "  std_srvs" >> $TMP_FILE
 echo ")" >> $TMP_FILE
 
 if [[ "$package_configured" == "no" ]]; then
@@ -270,6 +304,7 @@ if [[ "$package_configured" == "no" ]]; then
   echo "  rclcpp" >> $TMP_FILE
   echo "  rclcpp_lifecycle" >> $TMP_FILE
   echo "  realtime_tools" >> $TMP_FILE
+  echo "  std_srvs" >> $TMP_FILE
   echo ")" >> $TMP_FILE
 
 fi
@@ -281,7 +316,7 @@ tail -n +$TEST_LINE CMakeLists.txt | tail -n +$CUT_LINE >> $TMP_FILE
 mv $TMP_FILE CMakeLists.txt
 
 # CMakeLists.txt & package.xml: Add dependencies if they not exist
-DEP_PKGS=("realtime_tools" "rclcpp_lifecycle" "rclcpp" "pluginlib" "hardware_interface" "controller_interface" "control_msgs")
+DEP_PKGS=("std_srvs" "realtime_tools" "rclcpp_lifecycle" "rclcpp" "pluginlib" "hardware_interface" "controller_interface" "control_msgs")
 
 for DEP_PKG in "${DEP_PKGS[@]}"; do
 
@@ -339,7 +374,7 @@ if [ -f README.md ]; then
 
 fi
 
-echo "Template files are adjusted."
+echo -e "${TERMINAL_COLOR_USER_NOTICE}Template files were adjusted.${TERMINAL_COLOR_NC}"
 
 git add .
 # git commit -m "RosTeamWS: ros2_control skeleton files for $ROBOT_NAME generated."
@@ -350,4 +385,4 @@ git add .
 compile_and_source_package $PKG_NAME "yes"
 
 echo ""
-echo "FINISHED: Your package is set and the tests should be finished without any errors. (linter errors possible!)"
+echo -e "${TERMINAL_COLOR_USER_NOTICE}FINISHED: Your package is set and the tests should be finished without any errors. (linter errors possible!)${TERMINAL_COLOR_NC}"