Merge pull request #1 from kzorina/humble-devel

Update to have MpcInput.msg

.github/workflows/ci_ros2.yml

@@ -0,0 +1,35 @@
+name: Ubuntu20.04, ROS2 Continuous Integration
+
+on: [push, pull_request]
+
+jobs:
+  build:
+    strategy:
+      matrix:
+        include:
+          - ros_version: "humble"
+            ubuntu_version: "ubuntu-22.04"
+          - ros_version: "iron"
+            ubuntu_version: "ubuntu-22.04"
+    runs-on: ${{ matrix.ubuntu_version }}
+    steps:
+      #
+      # Setup the machines and build environment
+      #
+      - name: Install ROS.
+        uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: ${{ matrix.ros_version }}
+
+      #
+      # Checkout the current branch
+      #
+      - uses: actions/checkout@v2
+
+      #
+      # Build and test the repo
+      #
+      - uses: ros-tooling/[email protected]
+        with:
+          package-name: linear_feedback_controller_msgs
+          target-ros2-distro: ${{ matrix.ros_version }}

.pre-commit-config.yaml

@@ -0,0 +1,14 @@
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.4.0
+    hooks:
+    -   id: check-added-large-files
+    -   id: check-merge-conflict
+    -   id: check-symlinks
+    -   id: debug-statements
+    -   id: destroyed-symlinks
+    -   id: detect-private-key
+    -   id: end-of-file-fixer
+    -   id: fix-byte-order-marker
+    -   id: mixed-line-ending
+    -   id: trailing-whitespace

CMakeLists.txt

@@ -1,23 +1,16 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.22.1)
 project(agimus_msgs)
 
-find_package(catkin REQUIRED COMPONENTS
-  std_msgs roscpp rospy std_msgs message_generation
-)
-
-## Generate messages in the 'msg' folder
-add_message_files(
-  FILES
-  TrajectorySample.msg
-  Vector.msg
-)
+# Find required packages
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
 
-## Generate added messages and services with any dependencies listed here
-generate_messages(
-  DEPENDENCIES
-  std_msgs
+# Define message files
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/MpcInput.msg"
+  DEPENDENCIES geometry_msgs std_msgs
 )
 
-catkin_package(
- CATKIN_DEPENDS std_msgs roscpp rospy std_msgs message_runtime
-)
+ament_package()

LICENSE

@@ -0,0 +1,24 @@
+BSD 2-Clause License
+
+Copyright (c) 2024, agimus-project
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. 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.
+
+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.

README.md

@@ -0,0 +1,2 @@
+# Custom messages used in AGIMUS project
+Custom messages used in AGIMUS project

msg/MpcInput.msg

@@ -0,0 +1,30 @@
+# MpcInput.msg
+# This message represents the state of a robot, including joint values, velocities, accelerations,
+# and the target end-effector pose.
+
+# Joint positions (rad for revolute joints or meters for prismatic joints)
+# Length of the list should match the number of robot joints
+float64[] q
+# Corresponding cost weights
+float64[] q_w
+
+# Joint velocities (rad/s for revolute joints or m/s for prismatic joints)
+# Length should match the number of robot joints
+float64[] qdot
+# Corresponding cost weights
+float64[] qdot_w
+
+# Joint accelerations (rad/s^2 for revolute joints or m/s^2 for prismatic joints)
+# Length should match the number of robot joints
+float64[] qddot
+# Corresponding cost weights
+float64[] qddot_w
+
+# Target end-effector frame pose in the urdf root frame
+# Pose includes position (x, y, z) and orientation as a quaternion (x, y, z, w)
+geometry_msgs/Pose pose
+# Corresponding cost weights
+float64[6] pose_w
+
+# End-effector frame name
+string ee_frame_name

package.xml

@@ -1,34 +1,32 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
   <name>agimus_msgs</name>
-  <version>0.0.1</version>
+  <version>0.0.2</version>
   <description>Agimus project ROS messages</description>
-
-  <!-- One maintainer tag required, multiple allowed, one person per tag -->
-  <!-- Example:  -->
-  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
-  <maintainer email="[email protected]">gsaurel</maintainer>
-
-
+  <author email="[email protected]">Kateryna Zorina</author>
+  <maintainer email="[email protected]">Guilhem Saurel</maintainer>
   <license>BSD</license>
 
 
-  <!-- Url tags are optional, but multiple are allowed, one per tag -->
-  <!-- Optional attribute type can be: website, bugtracker, or repository -->
-  <!-- Example: -->
   <url type="website">https://github.com/agimus-project/agimus_msgs</url>
+  <url type="bugtracker">https://github.com/agimus-project/agimus_msgs/issues</url>
+  <url type="repository">https://github.com/agimus-project/agimus_msgs</url>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>rosidl_default_generators</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>std_msgs</build_depend>
 
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
 
-  <author >dbaudu</author>
-
-  <buildtool_depend>catkin</buildtool_depend>
-  <depend>roscpp</depend>
-  <depend>rospy</depend>
-  <depend>std_msgs</depend>
-  <build_depend>message_generation</build_depend>
-  <exec_depend>message_runtime</exec_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
 
+  <member_of_group>rosidl_interface_packages</member_of_group>
 
   <export>
+    <build_type>ament_cmake</build_type>
   </export>
 </package>