Merge pull request #20 from MOCAP4ROS2-Project/adapt_and_package_ready

Set CI. Add Vicon SDK sources. Adapt to REP 144

.github/workflows/rolling.yaml

@@ -0,0 +1,36 @@
+name: rolling
+
+on:
+  pull_request:
+    branches:
+      - rolling
+  push:
+    branches:
+      - rolling
+
+jobs:
+  build-and-test:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-22.04]
+      fail-fast: false
+    steps:
+      - name: Setup ROS 2
+        uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: humble
+      - name: build and test
+        uses: ros-tooling/[email protected]
+        with:
+          package-name: mocap4r2_vicon_driver
+          target-ros2-distro: humble
+          vcs-repo-file-url: https://raw.githubusercontent.com/MOCAP4ROS2-Project/mocap4ros2_vicon/rolling/dependency_repos.repos
+      - name: Codecov
+        uses: codecov/[email protected]
+        with:
+          file: ros_ws/lcov/total_coverage.info
+          flags: unittests
+          name: codecov-umbrella
+          # yml: ./codecov.yml
+          fail_ci_if_error: false

README.md

@@ -7,10 +7,10 @@ This project provides support for ROS2 integration with Vicon cameras (MOCAP sys
 # Installation
 
 ## Dependencies:
-Vicon drivers for ROS2 are based on Vicon DataStream SDK 1.11.0. When compiling the `mocap_vicon_driver`, SDK is downloaded and installed, requiring packages `wget` and `p7zip-full` for this.
+Vicon drivers for ROS2 are based on Vicon DataStream SDK 1.11.0. When compiling the `mocap4r2_vicon_driver`, SDK is downloaded and installed, requiring packages `wget` and `p7zip-full` for this.
 Also, our package depends on other two repositories from MOCAP4ROS2 Project:
-- [mocap_msgs](https://github.com/MOCAP4ROS2-Project/mocap_msgs)
-- [mocap_control](https://github.com/MOCAP4ROS2-Project/mocap)
+- [mocap4r2_msgs](https://github.com/MOCAP4ROS2-Project/mocap4r2_msgs)
+- [mocap4r2_control](https://github.com/MOCAP4ROS2-Project/mocap)
 
 A rosinstall file is provided to automatically manage them. 
 
@@ -22,8 +22,8 @@ The following commands cover all the necessary steps to install DataStream SDK,
 sudo apt-get install wget git p7zip-full 
 
 ## create workspace
-mkdir -p ~/mocap_ws/src
-cd ~/mocap_ws/src
+mkdir -p ~/mocap4r2_ws/src
+cd ~/mocap4r2_ws/src
 
 ## clone vicon repository
 git clone https://github.com/MOCAP4ROS2-Project/mocap4ros2_vicon.git -b master
@@ -38,22 +38,22 @@ rosdep update
 rosdep install --from-paths . --ignore-packages-from-source --rosdistro humble -y
 
 ## build all
-cd ~/mocap_ws/
-colcon build --symlink-install --packages-up-to mocap_vicon_driver
+cd ~/mocap4r2_ws/
+colcon build --symlink-install --packages-up-to mocap4r2_vicon_driver
 ```
 
 # Configuration
 
-Check `config/mocap_vicon_driver_params.yaml` for the available parameters. Note that `host_name` should be the IP address and port of the machine running VICON tracker. 
+Check `config/mocap4r2_vicon_driver_params.yaml` for the available parameters. Note that `host_name` should be the IP address and port of the machine running VICON tracker. 
 
 # Launching
 After sourcing the workspace, the Vicon driver can be started using the provided launcher:
 
-`ros2 launch mocap_vicon_driver mocap_vicon_driver_launch.py`
+`ros2 launch mocap4r2_vicon_driver mocap4r2_vicon_driver_launch.py`
 
 Remember that the vicon driver is a lifecycle node, so it needs to be signaled to start:
 
-`ros2 lifecycle set /mocap_vicon_driver_node activate`
+`ros2 lifecycle set /mocap4r2_vicon_driver_node activate`
 
 # About MOCAP4ROS2
 

dependency_repos.repos

@@ -0,0 +1,9 @@
+repositories:
+  mocap4r2_msgs:
+    type: git
+    url: https://github.com/MOCAP4ROS2-Project/mocap4r2_msgs.git
+    version: rolling
+  mocap4r2:
+    type: git
+    url: https://github.com/MOCAP4ROS2-Project/mocap4r2.git
+    version: rolling

mocap4r2_vicon_driver/CMakeLists.txt

@@ -0,0 +1,130 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(mocap4r2_vicon_driver)
+
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(mocap4r2_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(mocap4r2_control REQUIRED)
+
+# Used by Vicon SDK. Now we dont copy boost binaries shipped with driver.
+find_package(Boost REQUIRED COMPONENTS thread date_time chrono)
+
+set(dependencies
+  rclcpp
+  rclcpp_lifecycle
+  mocap4r2_msgs
+  mocap4r2_control
+  geometry_msgs
+)
+
+file(GLOB_RECURSE VICON_HEADER_FILES "ThirdParty/*.h")
+file(GLOB_RECURSE VICON_SOURCES "ThirdParty/*.cpp")
+
+set(VICON_INCLUDE_DIRS "")
+foreach(HEADER ${VICON_HEADER_FILES})
+    get_filename_component(DIR ${HEADER} DIRECTORY)
+    set(VICON_INCLUDE_DIRS ${VICON_INCLUDE_DIRS} ${DIR})
+endforeach()
+list(REMOVE_DUPLICATES VICON_INCLUDE_DIRS)
+
+
+include_directories(
+  include
+  ThirdParty/DataStream
+  ThirdParty
+  ${VICON_INCLUDE_DIRS}
+)
+
+add_library(vicon_sdk SHARED ${VICON_SOURCES})
+target_link_libraries(vicon_sdk PUBLIC ${Boost_LIBRARIES})
+
+
+add_library(
+  ${PROJECT_NAME}
+src/mocap4r2_vicon_driver/mocap4r2_vicon_driver.cpp)
+
+ament_target_dependencies(${PROJECT_NAME} ${dependencies})
+target_compile_definitions(${PROJECT_NAME}
+  PRIVATE "VICON_BUILDING_LIBRARY")
+
+add_executable(mocap4r2_vicon_driver_main
+  src/mocap4r2_vicon_driver_main.cpp
+)
+ament_target_dependencies(mocap4r2_vicon_driver_main ${dependencies})
+target_link_libraries(mocap4r2_vicon_driver_main
+  ${PROJECT_NAME}
+  vicon_sdk
+)
+
+ament_target_dependencies(mocap4r2_vicon_driver ${dependencies})
+target_link_libraries(mocap4r2_vicon_driver
+  vicon_sdk
+)
+
+install(DIRECTORY include/
+  DESTINATION include/
+)
+
+install(DIRECTORY
+  launch
+  config
+  DESTINATION share/${PROJECT_NAME}
+)
+
+install(TARGETS
+  mocap4r2_vicon_driver_main
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
+install(TARGETS
+  ${PROJECT_NAME} vicon_sdk
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_copyright REQUIRED)
+  find_package(ament_cmake_cppcheck REQUIRED)
+  find_package(ament_cmake_cpplint REQUIRED)
+  find_package(ament_cmake_lint_cmake REQUIRED)
+  find_package(ament_cmake_xmllint REQUIRED)
+  find_package(ament_cmake_uncrustify REQUIRED)
+
+
+  file(GLOB_RECURSE EXCLUDE_FILES ThirdParty/*)
+
+  ament_copyright(EXCLUDE ${EXCLUDE_FILES})
+  ament_cppcheck(
+    EXCLUDE ${EXCLUDE_FILES}
+    LANGUAGE c++
+  )
+  ament_cpplint(EXCLUDE ${EXCLUDE_FILES})
+  ament_lint_cmake()
+  ament_uncrustify(
+    EXCLUDE ${EXCLUDE_FILES}
+    LANGUAGE c++
+  )
+
+  find_package(ament_cmake_gtest REQUIRED)
+  ament_add_gtest(test_mocap4r2_vicon_driver test/test_mocap4r2_vicon_driver.cpp)
+  target_link_libraries(test_mocap4r2_vicon_driver ${PROJECT_NAME})
+endif()
+
+ament_export_include_directories(include)
+ament_export_libraries(${PROJECT_NAME})
+ament_export_dependencies(${dependencies})
+ament_package()

mocap4r2_vicon_driver/ThirdParty/DataStream/ViconCGStream/ApexHaptics.h

@@ -0,0 +1,77 @@
+
+//////////////////////////////////////////////////////////////////////////////////
+// MIT License
+//
+// Copyright (c) 2020 Vicon Motion Systems Ltd
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in all
+// copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+//////////////////////////////////////////////////////////////////////////////////
+#pragma once
+
+#include "Item.h"
+#include <set>
+
+namespace ViconCGStream
+{
+//-------------------------------------------------------------------------------------------------
+
+/// Used by the client to enable and disable haptics on Apex device.
+class VApexHaptics : public VItem
+{
+public:
+
+  /// List of devices with haptics feedback on
+  std::set< unsigned int > m_OnDevicesList;
+
+
+  /// Equality operator
+  bool operator == ( const VApexHaptics & i_rOther ) const
+  {
+    return m_OnDevicesList == i_rOther.m_OnDevicesList;
+  }
+
+  /// Object type enum.
+  virtual ViconCGStreamType::Enum TypeID() const
+  {
+    return ViconCGStreamEnum::ApexHaptics;
+  }
+
+  /// Filter ID
+  virtual ViconCGStreamType::UInt32 FilterID() const
+  {
+    return FILTER_NA;
+  }
+
+  /// Read function.
+  virtual bool Read( const ViconCGStreamIO::VBuffer & i_rBuffer )
+  {
+    return i_rBuffer.Read( m_OnDevicesList );
+  }
+
+  /// Write function.
+  virtual void Write( ViconCGStreamIO::VBuffer & i_rBuffer ) const
+  {
+    i_rBuffer.Write( m_OnDevicesList );
+  }
+
+};
+
+//-------------------------------------------------------------------------------------------------
+};
+