add yamls and launch file for demo3 #19
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| vcs_repos/franka_ros: | ||
| type: git | ||
| url: https://github.com/frankaemika/franka_ros | ||
| version: develop |
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| vcs_repos/franka_ros: | |
| type: git | |
| url: https://github.com/frankaemika/franka_ros | |
| version: develop | |
| vcs_repos/franka_ros: | |
| type: git | |
| url: https://github.com/frankaemika/franka_ros2 | |
| version: v0.1.15 |
Didn't we end up forking franka_ros2 in the end?
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Everything from .repose should be mentioned in here as a exec_depend.
Also you are missing dependenceis on:
xacroros2controlclirobot_state_publisherlinear_feedback_controllerrviz2controller_managerros_gz_simjoint_state_broadcaster
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If something is not needed it has to be removed and not just commented out
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| <export> | ||
| <build_type>ament_cmake</build_type> | ||
| <controller_interface plugin="${prefix}/controller_plugins.xml" /> |
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| <controller_interface plugin="${prefix}/controller_plugins.xml" /> |
We are not building any controllers in here
| <maintainer email="[email protected]">Maximilien Naveau</maintainer> | ||
| <author>Maximilien Naveau</author> |
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| <maintainer email="[email protected]">Maximilien Naveau</maintainer> | |
| <author>Maximilien Naveau</author> | |
| <maintainer email="[email protected]">Guilhem Saurel</maintainer> | |
| <author email="[email protected]">Maximilien Naveau</author> |
| <?xml version="1.0"?> | ||
| <package format="3"> |
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| <?xml version="1.0"?> | |
| <package format="3"> | |
| <?xml version="1.0"?> | |
| <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> | |
| <package format="3"> |
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Could you modify the launch file to match this one?
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you mean adding another launch file for the real robot ?
| cmake_minimum_required(VERSION 3.22.1) | ||
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| # | ||
| # Project definition | ||
| # | ||
| project(agimus_demo_03_mpc_dummy_traj LANGUAGES CXX) | ||
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| # | ||
| # Handle dependencies by reading the package.xml | ||
| # | ||
| find_package(ament_cmake_auto REQUIRED) | ||
| ament_auto_find_build_dependencies() | ||
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| # | ||
| # Unit tests | ||
| # | ||
| include(CTest) | ||
| if(BUILD_TESTING) | ||
| find_package(ament_lint_auto REQUIRED) | ||
| ament_auto_find_test_dependencies() | ||
| # Integration test of the roscontrol controller with simulation on Talos. | ||
| # add_rostest(tests/test_integration.py) | ||
| endif() | ||
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| # | ||
| # Installation | ||
| # | ||
| install(DIRECTORY config DESTINATION share/${PROJECT_NAME}) | ||
| install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) | ||
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| ament_auto_package() |
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| cmake_minimum_required(VERSION 3.22.1) | |
| # | |
| # Project definition | |
| # | |
| project(agimus_demo_03_mpc_dummy_traj LANGUAGES CXX) | |
| # | |
| # Handle dependencies by reading the package.xml | |
| # | |
| find_package(ament_cmake_auto REQUIRED) | |
| ament_auto_find_build_dependencies() | |
| # | |
| # Unit tests | |
| # | |
| include(CTest) | |
| if(BUILD_TESTING) | |
| find_package(ament_lint_auto REQUIRED) | |
| ament_auto_find_test_dependencies() | |
| # Integration test of the roscontrol controller with simulation on Talos. | |
| # add_rostest(tests/test_integration.py) | |
| endif() | |
| # | |
| # Installation | |
| # | |
| install(DIRECTORY config DESTINATION share/${PROJECT_NAME}) | |
| install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) | |
| ament_auto_package() | |
| cmake_minimum_required(VERSION 3.22.1) | |
| project(agimus_demo_03_mpc_dummy_traj) | |
| find_package(ament_cmake REQUIRED) | |
| install(DIRECTORY | |
| launch | |
| config | |
| DESTINATION share/${PROJECT_NAME}/ | |
| ) | |
| ament_package() |
Isn't it simpler? There is not code so there is no need to expect anything related to C++ and testing
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There will be integration tests here so yes we should keep the things + we can use the linting of ROS if we want.
Though I guess with pre-commit it's gonna conflict...
| vcs_repos/franka_ros: | ||
| type: git | ||
| url: https://github.com/frankaemika/franka_ros | ||
| version: develop |
There was a problem hiding this comment.
| cmake_minimum_required(VERSION 3.22.1) | ||
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| # | ||
| # Project definition | ||
| # | ||
| project(agimus_demo_03_mpc_dummy_traj LANGUAGES CXX) | ||
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||
|
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| # | ||
| # Handle dependencies by reading the package.xml | ||
| # | ||
| find_package(ament_cmake_auto REQUIRED) | ||
| ament_auto_find_build_dependencies() | ||
|
|
||
| # | ||
| # Unit tests | ||
| # | ||
| include(CTest) | ||
| if(BUILD_TESTING) | ||
| find_package(ament_lint_auto REQUIRED) | ||
| ament_auto_find_test_dependencies() | ||
| # Integration test of the roscontrol controller with simulation on Talos. | ||
| # add_rostest(tests/test_integration.py) | ||
| endif() | ||
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| # | ||
| # Installation | ||
| # | ||
| install(DIRECTORY config DESTINATION share/${PROJECT_NAME}) | ||
| install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) | ||
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| ament_auto_package() |
There was a problem hiding this comment.
There will be integration tests here so yes we should keep the things + we can use the linting of ROS if we want.
Though I guess with pre-commit it's gonna conflict...
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