fix pre-commit

.clang-format

@@ -10,5 +10,5 @@ ConstructorInitializerIndentWidth: 0
 ContinuationIndentWidth: 2
 DerivePointerAlignment: false
 PointerAlignment: Middle
-ReflowComments: false
+ReflowComments: true
 IncludeBlocks: Preserve

.github/workflows/ci-ros-lint.yml

@@ -12,7 +12,7 @@ jobs:
           linter: [cppcheck, copyright, lint_cmake]
     steps:
     - uses: actions/checkout@v3
-    - uses: ros-tooling/setup-ros@v0.2
+    - uses: ros-tooling/setup-ros@0.6.2
     - uses: ros-tooling/[email protected]
       with:
         distribution: rolling
@@ -29,6 +29,9 @@ jobs:
           kuka_kr5_support
           kuka_kr3_support
           kuka_experimental
+          kuka_rsi_hw_interface
+          kuka_rsi_simulator
+          kuka_eki_hw_interface
 
 
   ament_lint_100:
@@ -40,7 +43,7 @@ jobs:
           linter: [cpplint]
     steps:
     - uses: actions/checkout@v3
-    - uses: ros-tooling/setup-ros@v0.2
+    - uses: ros-tooling/setup-ros@0.6.2
     - uses: ros-tooling/[email protected]
       with:
         distribution: rolling
@@ -58,3 +61,6 @@ jobs:
           kuka_kr5_support
           kuka_kr3_support
           kuka_experimental
+          kuka_rsi_hw_interface
+          kuka_rsi_simulator
+          kuka_eki_hw_interface

.pre-commit-config.yaml

@@ -34,13 +34,13 @@ repos:
 
   # Python hooks
   - repo: https://github.com/asottile/pyupgrade
-    rev: v3.3.1
+    rev: v3.4.0
     hooks:
     -   id: pyupgrade
         args: [--py36-plus]
 
   - repo: https://github.com/psf/black
-    rev: 23.1.0
+    rev: 23.3.0
     hooks:
       - id: black
         args: ["--line-length=99"]
@@ -56,7 +56,7 @@ repos:
     rev: 6.0.0
     hooks:
     - id: flake8
-      args: ["--ignore=E501"]
+      args: ["--ignore=E501,W503"]
 
   # CPP hooks
   - repo: local
@@ -137,7 +137,7 @@ repos:
   # Spellcheck in comments and docs
   # skipping of *.svg files is not working...
   - repo: https://github.com/codespell-project/codespell
-    rev: v2.2.2
+    rev: v2.2.4
     hooks:
       - id: codespell
         args: ['--write-changes', '--ignore-words-list=linz']

kuka_eki_hw_interface/include/kuka_eki_hw_interface/kuka_eki_hw_interface.hpp

@@ -0,0 +1,105 @@
+// Software License Agreement (3-Clause BSD License)
+//
+// Copyright (c) 2018, 3M
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the copyright holder nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+// Author: Brett Hemes (3M) <[email protected]>
+
+#ifndef KUKA_EKI_HW_INTERFACE__KUKA_EKI_HW_INTERFACE_HPP_
+#define KUKA_EKI_HW_INTERFACE__KUKA_EKI_HW_INTERFACE_HPP_
+
+#include <controller_manager/controller_manager.h>
+#include <hardware_interface/joint_command_interface.h>
+#include <hardware_interface/joint_state_interface.h>
+#include <hardware_interface/robot_hw.h>
+#include <ros/ros.h>
+
+#include <string>
+#include <vector>
+
+#include <boost/asio.hpp>
+
+namespace kuka_eki_hw_interface
+{
+
+class KukaEkiHardwareInterface : public hardware_interface::RobotHW
+{
+private:
+  ros::NodeHandle nh_;
+
+  const unsigned int n_dof_ = 6;
+  std::vector<std::string> joint_names_;
+  std::vector<double> joint_position_;
+  std::vector<double> joint_velocity_;
+  std::vector<double> joint_effort_;
+  std::vector<double> joint_position_command_;
+
+  // EKI
+  std::string eki_server_address_;
+  std::string eki_server_port_;
+  int eki_cmd_buff_len_;
+  int eki_max_cmd_buff_len_ =
+    5;  // by default, limit command buffer to 5 (size of advance run in KRL)
+
+  // Timing
+  ros::Duration control_period_;
+  ros::Duration elapsed_time_;
+  double loop_hz_;
+
+  // Interfaces
+  hardware_interface::JointStateInterface joint_state_interface_;
+  hardware_interface::PositionJointInterface position_joint_interface_;
+
+  // EKI socket read/write
+  int eki_read_state_timeout_ = 5;  // [s]; settable by parameter (default = 5)
+  boost::asio::io_service ios_;
+  boost::asio::deadline_timer deadline_;
+  boost::asio::ip::udp::endpoint eki_server_endpoint_;
+  boost::asio::ip::udp::socket eki_server_socket_;
+  void eki_check_read_state_deadline();
+  static void eki_handle_receive(
+    const boost::system::error_code & ec, size_t length, boost::system::error_code * out_ec,
+    size_t * out_length);
+  bool eki_read_state(
+    std::vector<double> & joint_position, std::vector<double> & joint_velocity,
+    std::vector<double> & joint_effort, int & cmd_buff_len);
+  bool eki_write_command(const std::vector<double> & joint_position);
+
+public:
+  KukaEkiHardwareInterface();
+  ~KukaEkiHardwareInterface();
+
+  void init();
+  void start();
+  void read(const ros::Time & time, const ros::Duration & period);
+  void write(const ros::Time & time, const ros::Duration & period);
+};
+
+}  // namespace kuka_eki_hw_interface
+
+#endif  // KUKA_EKI_HW_INTERFACE__KUKA_EKI_HW_INTERFACE_HPP_

kuka_eki_hw_interface/krl/README.md

@@ -26,7 +26,7 @@ The files included in the `kuka_eki_hw_interface/krl` folder provide the KRL int
 Note that the `eki/robot_address` and `eki/robot_port` parameters of the `kuka_eki_hw_interface` must correspond to the `IP`and `PORT` set in this XML file.
 
 ##### Copy files to controller
-The files `kuka_eki_hw_interface.dat` and `kuke_eki_hw_interface.src` should not be edited. All files are now ready to be copied to the Kuka controller.  Using WorkVisual or a USB drive (with appropriate privleges):
+The files `kuka_eki_hw_interface.dat` and `kuke_eki_hw_interface.src` should not be edited. All files are now ready to be copied to the Kuka controller.  Using WorkVisual or a USB drive (with appropriate privileges):
 
 1. Copy `kuka_eki_hw_interface.dat` and `kuka_eki_hw_interface.src` files to `KRC:\R1\Program`.
 2. Copy `EkiHwInterface.xml` to `C:\KRC\ROBOTER\Config\User\Common\EthernetKRL\`.
@@ -90,4 +90,3 @@ $ rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller
 Choose **controller manager ns** and **controller** and you should be able to move each robot joint.
 
 * Note that T1-mode limits the robot movement velocity and is intended for testing purposes.
-

kuka_eki_hw_interface/krl/kuka_eki_hw_interface.dat

@@ -1,4 +1,4 @@
 &ACCESS RVO
 defdat kuka_eki_hw_interface
    ext bas(bas_command  :in,real  :in )
-enddat
+enddat

kuka_eki_hw_interface/krl/kuka_eki_hw_interface.src

@@ -62,7 +62,7 @@ def  kuka_eki_hw_interface()
    eki_hw_iface_init()
 
    ; BCO (Block COincidence) run to current position
-   ; (requied for below loop continue before first incoming command)
+   ; (required for below loop continue before first incoming command)
    joint_pos_tgt = $axis_act_meas
    ptp joint_pos_tgt
 
@@ -157,7 +157,7 @@ endfct
 
 
 ; eki_hw_iface_get
-; Tries to read most recent elemnt from buffer. q left unchanged if empty.
+; Tries to read most recent element from buffer. q left unchanged if empty.
 ; Returns number of elements read.
 deffct int eki_hw_iface_get(joint_pos_cmd :out)
    decl eki_status eki_ret