Add ROBOTOLOGY_USES_ROS2 and ROBOTOLOGY_USES_MOVEIT options (#1746)

.github/workflows/pixi-ci.yml

@@ -16,14 +16,32 @@ on:
 
 jobs:
   build-with-pixi:
-    name: '[pixi:${{ matrix.os }}]'
+    name: '[pixi:${{ matrix.os }}@task:${{ matrix.pixi_task }}]'
     runs-on: ${{ matrix.os }}
     strategy:
       fail-fast: false
       matrix:
         build_type: [Release]
         os: [ubuntu-22.04, macos-13, macos-14, windows-2019]
-
+        pixi_task: [build-all, build-ros2, build-ros2moveit]
+        exclude:
+          # ros is not supported on osx-arm64 (incompatibility with gz-sim8)
+          - os: macos-14
+            pixi_task: build-ros2
+          # We already test linux-64 and ros2 in build-all-ros2moveit
+          - os: ubuntu-22.04
+            pixi_task: build-ros2
+          # Windows build fail due to length of build folder
+          # See https://github.com/robotology/robotology-superbuild/pull/1746#issuecomment-2514352629
+          - os: windows-2019
+            pixi_task: build-ros2
+          # moveit is only supported on Linux for now (missing required package in robostack)
+          - os: macos-13
+            pixi_task: build-ros2moveit
+          - os: macos-14
+            pixi_task: build-ros2moveit
+          - os: windows-2019
+            pixi_task: build-ros2moveit
     steps:
     - uses: actions/checkout@v4
 
@@ -41,7 +59,8 @@ jobs:
 
     - uses: prefix-dev/[email protected]
 
-    - name: Build
+    - name: Workaround on Windows
+      if: contains(matrix.os, 'windows')
       shell: bash
       run: |
         # Avoid YCM complaining that the git user is not set
@@ -52,4 +71,14 @@ jobs:
         # needs to be called before calling pixi run build-all, so
         # we explicitly call pixi run configure-all
         pixi run configure-all
-        pixi run build-all
+        # Workaround for build-ros2 builds
+        pixi run configure-ros2
+
+    - name: Build
+      shell: bash
+      run: |
+        # Avoid YCM complaining that the git user is not set
+        # Eventually we could consider removing that check in YCM
+        git config --global user.name PixiGHA User
+        git config --global user.email [email protected]
+        pixi run ${{ matrix.pixi_task }}

.gitignore

@@ -15,5 +15,5 @@ CTestTestfile.cmake
 # pixi environments
 .pixi
 *.egg-info
-# build directory used by pixi
-/.build/
+# build directories used by pixi
+/.build*/

README.md

@@ -148,6 +148,18 @@ To install Modern Gazebo (gz-sim) on Ubuntu Jammy (22.04) and Noble (24.04) and
 sudo apt-get install libcli11-dev
 ~~~
 
+#### `ROBOTOLOGY_USES_ROS2`
+
+To install ROS 2 on Ubuntu Jammy (22.04) or Noble (24.04) with apt packages, follow the official instructions:
+* Ubuntu 22.04 / ROS 2 Humble : https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html
+* Ubuntu 24.04 / ROS 2 Jazzy : https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html
+
+#### `ROBOTOLOGY_USES_MOVEIT`
+
+To install MoveIt! on Ubuntu Jammy (22.04) or Noble (24.04) with apt packages, follow the instructions to enable the `ROBOTOLOGY_USES_ROS2` option, and then install the additional packages:
+* Ubuntu 22.04 / ROS 2 Humble : `sudo apt install ros-humble-moveit`
+* Ubuntu 24.04 / ROS 2 Jazzy : `sudo apt install ros-jazzy-moveit`
+
 #### `ROBOTOLOGY_USES_PYTHON`
 
 Install Python and the necessary development files using the following command:

cmake/Buildxcub-moveit2.cmake

@@ -0,0 +1,22 @@
+# Copyright (C) Fondazione Istituto Italiano di Tecnologia
+# CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
+
+include(YCMEPHelper)
+include(FindOrBuildPackage)
+
+find_or_build_package(YARP QUIET)
+find_or_build_package(yarp-devices-ros2 QUIET)
+
+
+ycm_ep_helper(xcub-moveit2 TYPE GIT
+                                STYLE GITHUB
+                                REPOSITORY icub-tech-iit/xcub-moveit2.git
+                                TAG master
+                                COMPONENT core
+                                FOLDER src
+                                DEPENDS YARP yarp-devices-ros2
+                                # This is because xcub-moveit2 is a ros-style repository
+                                # composed by multiple CMake projects, for compatibility with CMake
+                                # we added an all_packages folder with CMakeLists.txt that add each 
+                                # subfolder with add_subdirectory
+                                SOURCE_SUBDIR xcub_moveit_all_packages)

cmake/Buildyarp-devices-ros2.cmake

@@ -0,0 +1,16 @@
+# Copyright (C) Fondazione Istituto Italiano di Tecnologia
+# CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
+
+include(YCMEPHelper)
+include(FindOrBuildPackage)
+
+find_or_build_package(YCM QUIET)
+find_or_build_package(YARP QUIET)
+
+ycm_ep_helper(yarp-devices-ros2 TYPE GIT
+                                     STYLE GITHUB
+                                     REPOSITORY robotology/yarp-devices-ros2.git
+                                     TAG master
+                                     COMPONENT core
+                                     FOLDER src
+                                     DEPENDS YCM YARP)

cmake/RobotologySuperbuildLogic.cmake

@@ -87,6 +87,12 @@ if(ROBOTOLOGY_ENABLE_CORE)
   if(ROBOTOLOGY_USES_MATLAB OR ROBOTOLOGY_USES_OCTAVE)
     find_or_build_package(yarp-matlab-bindings)
   endif()
+  if(ROBOTOLOGY_USES_ROS2)
+    find_or_build_package(yarp-devices-ros2)
+  endif()
+  if(ROBOTOLOGY_USES_MOVEIT)
+    find_or_build_package(xcub-moveit2)
+  endif()
 endif()
 
 # Robot Testing

cmake/RobotologySuperbuildOptions.cmake

@@ -41,6 +41,8 @@ else()
 endif()
 option(ROBOTOLOGY_USES_GAZEBO "Enable compilation of software that depends on Gazebo Classic" ${ROBOTOLOGY_USES_GAZEBO_DEFAULT})
 option(ROBOTOLOGY_USES_PCL_AND_VTK "Enable compilation of software that depends on PCL and VTK" OFF)
+option(ROBOTOLOGY_USES_ROS2 "Enable compilation of software that depends on ROS 2" OFF)
+option(ROBOTOLOGY_USES_MOVEIT "Enable compilation of software that depends on MoveIt" OFF)
 option(ROBOTOLOGY_USES_MUJOCO "Enable compilation of mujoco and software that depends on it" OFF)
 
 ## Enable packages that depend on the Modern Gazebo (gz-sim) simulator

doc/cmake-options.md

@@ -19,6 +19,8 @@ Table of Contents
   * [Dependencies-specific documentation](#dependencies-specific-documentation)
     * [Gazebo Classic simulator](#gazebo-classic-simulator)
     * [Modern Gazebo simulator](#modern-gazebo-simulator)
+    * [ROS 2](#ros-2)
+    * [MoveIt](#moveit)
     * [MuJoCo simulator](#mujoco)
     * [Ignition](#ignition)
     * [MATLAB](#matlab)
@@ -64,6 +66,8 @@ The dependencies CMake options specify if the packages dependending on something
 |:------------:|:-----------:|:-------------:|:---------------------------------:|
 | `ROBOTOLOGY_USES_GAZEBO`  | Include software and plugins that depend on the [Gazebo Classic simulator](https://classic.gazebosim.org/).  | `ON` | [Documentation on Gazebo Classic dependency.](#gazebo-classic-simulator) |
 | `ROBOTOLOGY_USES_GZ`  | Include software and plugins that depend on the [Modern Gazebo (gz-sim) simulator](http://gazebosim.org/). | `OFF` | [Documentation on Modern Gazebo (gz-sim) dependency.](#modern-gazebo-simulator) |
+| `ROBOTOLOGY_USES_ROS2`  | Include software and plugins that depend on [ROS 2](https://www.ros.org/). | `OFF` | [Documentation on ROS 2 dependency.](#ros-2) |
+| `ROBOTOLOGY_USES_MOVEIT`  | Include software and plugins that depend on the [MoveIt motion planning framework](https://moveit.ai/). | `OFF` | [Documentation on MoveIt dependency.](#moveit) |
 | `ROBOTOLOGY_USES_MUJOCO`  | Include software and plugins that depend on the [MuJoCo simulator](https://mujoco.org/).  | `ON` | [Documentation on MuJoCo dependency.](#mujoco) |
 | `ROBOTOLOGY_USES_PCL_AND_VTK`  | Include software and plugins that depend on the [PCL](https://pointclouds.org/) or [VTK](https://vtk.org/). | `OFF`   | [Documentation on PCL and VTK dependency.](#pcl_and_vtk) |
 | `ROBOTOLOGY_USES_IGNITION` | Include software that depends on [Ignition](ignitionrobotics.org/). | `OFF` | [Documentation on Ignition Gazebo dependency.](#ignition) |
@@ -94,6 +98,8 @@ Not all options are supported on all platforms. The following table provides a r
 | `ROBOTOLOGY_USES_GZ`<sup id="a3">[3!](#f3)</sup>                                          | ✔️                               |             ❌              |                 ✔️                        |              ✔️                           |               ✔️                            |
 | `ROBOTOLOGY_USES_MUJOCO`<sup id="a1">[1!](#f1)</sup>  | ✔️                               |           ❌                |                 ✔️                        |              ✔️                           |               ✔️                            |
 | `ROBOTOLOGY_USES_PCL_AND_VTK`                                       | ✔️                               |             ✔️              |                 ✔️                        |              ✔️                           |               ✔️                            |
+| `ROBOTOLOGY_USES_ROS2`                                       |   ✔️                             |             ❌              |                 ✔️                        |              ✔️                           |               ✔️                            |
+| `ROBOTOLOGY_USES_MOVEIT`                                       | ✔️                               |             ❌              |                 ✔️                        |              ❌                           |                  ❌                        |
 | `ROBOTOLOGY_USES_IGNITION`                                          | ❌                               |             ❌              |                 ✔️                        |              ❌                           |               ❌                            |
 | `ROBOTOLOGY_USES_MATLAB`                                            | ✔️                               |             ❌              |                 ✔️                        |              ✔️                           |               ✔️                            |
 | `ROBOTOLOGY_USES_OCTAVE`<sup id="a4">[4!](#f4)</sup>                                            | ✔️                               |              ❌             |                  ❌                       |        )       ❌                          |                  ❌                         |
@@ -204,6 +210,7 @@ Dependencies-specific documentation
 Support for this dependency is enabled by the `ROBOTOLOGY_USES_GAZEBO` CMake option, that enables the software that depends on "Classic Gazebo".
 
 ### Check the installation
+
 Follow the steps in  https://github.com/robotology/icub-models#use-the-models-with-gazebo to check if the Gazebo-based iCub simulation works fine.
 
 ## Modern Gazebo simulator
@@ -213,6 +220,20 @@ Support for this dependency is enabled by the `ROBOTOLOGY_USES_GZ` CMake option,
 > [!IMPORTANT]  
 > At the moment the `ROBOTOLOGY_USES_GZ` does not run on Windows (https://github.com/gazebosim/gz-sim/issues/2089) and have known problems on macOS (https://github.com/robotology/gz-sim-yarp-plugins/issues/90). Furthermore, it is not supported on non-Ubuntu Debian distributions with apt dependencies.
 
+## ROS 2
+
+This option enables the compilation of the [`yarp-devices-ros2` repo](https://github.com/robotology/yarp-devices-ros2).
+
+> [!WARNING]  
+> No conda binaries are available for the `yarp-devices-ros2` package at the moment, neither in `conda-forge` nor the `robotology` channel.
+
+
+## MoveIt
+
+This option enables the compilation of the [`xcub-moveit2` repo](https://github.com/icub-tech-iit/xcub-moveit2).
+
+> [!WARNING]  
+> No conda binaries are available for the `xcub-moveit2` package at the moment, neither in `conda-forge` nor the `robotology` channel.
 
 
 ## MuJoCo

doc/conda-forge.md

@@ -202,6 +202,22 @@ If you install your dependencies with `conda`, just make sure to install the `gz
 conda install -c conda-forge gz-sim8
 ~~~
 
+#### `ROBOTOLOGY_USES_ROS2`
+
+If you install your dependencies with `conda`, just make sure to install the required packages from the `robostack-staging` channel:
+
+~~~
+conda install -c conda-forge -c robostack-staging  ros-humble-ros-base ros-humble-test-msgs
+~~~
+
+#### `ROBOTOLOGY_USES_MOVEIT`
+
+If you install your dependencies with `conda`, just make sure to install the required packages from the `robostack-staging` channel:
+
+~~~
+conda install -c conda-forge -c robostack-staging ros-humble-moveit  ros-humble-hardware-interface ros-humble-moveit-visual-tools ros-humble-gazebo-msgs ros-humble-controller-manager
+~~~
+
 ### Clone the repo
 To compile the `robotology-superbuild` code itself, you need to clone it, following the instructions in https://github.com/robotology/robotology-superbuild#clone-the-repo .