diff --git a/CMakeLists.txt b/CMakeLists.txt index 62824e7..d778b07 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,7 +1,7 @@ cmake_minimum_required(VERSION 3.12) -project(yarp-ros2 +project(yarp-devices-ros2 LANGUAGES CXX - VERSION 3.4.100) + VERSION 3.7.100) include(FeatureSummary) @@ -26,7 +26,7 @@ set(CMAKE_CXX_EXTENSIONS OFF) list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake") -set(YARP_FORCE_DYNAMIC_PLUGINS TRUE CACHE INTERNAL "yarp-ros2 is always built with dynamic plugins") +set(YARP_FORCE_DYNAMIC_PLUGINS TRUE CACHE INTERNAL "yarp-devices-ros2 is always built with dynamic plugins") option(BUILD_SHARED_LIBS "Build libraries as shared as opposed to static" ON) option(YARP_ROS2_USE_SYSTEM_map2d_nws_ros2_msgs "If ON, use map2d_nws_ros2_msgs found in the system, otherwise build it with this project." ON) @@ -48,13 +48,14 @@ set_property(GLOBAL PROPERTY USE_FOLDERS 1) include(AddUninstallTarget) -find_package(YARP 3.4.1 COMPONENTS os sig dev REQUIRED) +find_package(YARP 3.7.2 COMPONENTS os sig dev REQUIRED) set(CMAKE_C_FLAGS "${YARP_C_FLAGS} ${CMAKE_C_FLAGS}") set(CMAKE_CXX_FLAGS "${YARP_CXX_FLAGS} ${CMAKE_CXX_FLAGS}") -yarp_configure_plugins_installation(yarp-ros2) +yarp_configure_plugins_installation(yarp-devices-ros2) find_package(ament_cmake REQUIRED) +find_package(Doxygen) find_package(rclcpp REQUIRED) find_package(std_msgs REQUIRED) @@ -72,7 +73,7 @@ else() endif() add_subdirectory(src) - +#add_subdirectory(doc) #if(BUILD_TESTING) #find_package(ament_lint_auto REQUIRED) diff --git a/README.md b/README.md index 2c96892..b1421e6 100644 --- a/README.md +++ b/README.md @@ -1,11 +1,21 @@ -yarp_ros2 ---------- - -This is a work in progress. +![YARP logo](doc/images/yarp-robot-24.png?raw=true "yarp-devices-ros2") +Yarp devices for ROS2 +===================== This repository contains the YARP devices and utilities for ROS2. -Milestones of this repository and progress https://github.com/hsp-iit/research-development/issues/59 +:construction: This repository is currently work in progress. :construction: +:construction: The software contained is this repository is currently under testing. :construction: APIs may change without any warning. :construction: This code should be not used before its first official release :construction: + +Documentation +------------- + +Documentation of the individual devices is provided in the official Yarp documentation page: +[![YARP documentation](https://img.shields.io/badge/Documentation-yarp.it-19c2d8.svg)](https://yarp.it/latest/group__dev__impl.html) + + +Installation +------------- ### Build with ROS msgs compiled in separate colcon workspace @@ -33,3 +43,23 @@ cmake --build build --target install export AMENT_PREFIX_PATH=$AMENT_PREFIX_PATH: ~~~ +CI Status +--------- + +:construction: This repository is currently work in progress. :construction: + +[![Build Status](https://github.com/robotology/yarp-devices-ros2/workflows/CI%20Workflow/badge.svg)](https://github.com/robotology/yarp-devices-ros2/actions?query=workflow%3A%22CI+Workflow%22) + +License +--------- + +:construction: This repository is currently work in progress. :construction: + +Maintainers +-------------- +This repository is maintained by: + +| | | +|:---:|:---:| +| [](https://github.com/randaz81) | [@randaz81](https://github.com/randaz81) | +| [](https://github.com/elandini84) | [@elandini84](https://github.com/elandini84) | \ No newline at end of file diff --git a/doc/images/yarp-logo-name.png b/doc/images/yarp-logo-name.png new file mode 100644 index 0000000..9e1a197 Binary files /dev/null and b/doc/images/yarp-logo-name.png differ diff --git a/doc/images/yarp-robot-24.png b/doc/images/yarp-robot-24.png new file mode 100644 index 0000000..8689618 Binary files /dev/null and b/doc/images/yarp-robot-24.png differ diff --git a/.dockerignore b/docker/deprecated/.dockerignore similarity index 100% rename from .dockerignore rename to docker/deprecated/.dockerignore diff --git a/Dockerfile b/docker/deprecated/Dockerfile similarity index 100% rename from Dockerfile rename to docker/deprecated/Dockerfile diff --git a/docker/deprecated/README.md b/docker/deprecated/README.md new file mode 100644 index 0000000..2280323 --- /dev/null +++ b/docker/deprecated/README.md @@ -0,0 +1,2 @@ +Files contained in this directory are deprecated. +They are stored here only for temporary reference. \ No newline at end of file diff --git a/docker-compose.yml b/docker/deprecated/docker-compose.yml similarity index 100% rename from docker-compose.yml rename to docker/deprecated/docker-compose.yml diff --git a/r1_minimal.world b/docker/deprecated/r1_minimal.world similarity index 100% rename from r1_minimal.world rename to docker/deprecated/r1_minimal.world diff --git a/yarp-ros2_entrypoint.sh b/docker/deprecated/yarp-ros2_entrypoint.sh old mode 100755 new mode 100644 similarity index 100% rename from yarp-ros2_entrypoint.sh rename to docker/deprecated/yarp-ros2_entrypoint.sh diff --git a/yarprobotinterface.ini b/docker/deprecated/yarprobotinterface.ini similarity index 100% rename from yarprobotinterface.ini rename to docker/deprecated/yarprobotinterface.ini diff --git a/yarprobotinterface_testros2.xml b/docker/deprecated/yarprobotinterface_testros2.xml similarity index 100% rename from yarprobotinterface_testros2.xml rename to docker/deprecated/yarprobotinterface_testros2.xml diff --git a/src/devices/mobileBaseVelocityControl_nws_ros2/MobileBaseVelocityControl_nws_ros2.h b/src/devices/mobileBaseVelocityControl_nws_ros2/MobileBaseVelocityControl_nws_ros2.h index 575439a..28f0a47 100644 --- a/src/devices/mobileBaseVelocityControl_nws_ros2/MobileBaseVelocityControl_nws_ros2.h +++ b/src/devices/mobileBaseVelocityControl_nws_ros2/MobileBaseVelocityControl_nws_ros2.h @@ -21,6 +21,16 @@ #include #include +class Ros2InitMobVel +{ +public: + Ros2InitMobVel(); + + std::shared_ptr node; + + static Ros2InitMobVel& get(); +}; + /** * @ingroup dev_impl_nws_ros2 dev_impl_navigation * @@ -37,16 +47,6 @@ * | subdevice | - | string | - | - | No | name of the subdevice to instantiate | when used, parameters for the subdevice must be provided as well | */ -class Ros2InitMobVel -{ -public: - Ros2InitMobVel(); - - std::shared_ptr node; - - static Ros2InitMobVel& get(); -}; - class MobileBaseVelocityControl_nws_ros2 : public yarp::dev::DeviceDriver, public yarp::os::Thread, diff --git a/src/devices/rgbdToPointCloudSensor_nws_ros2/RgbdToPointCloudSensor_nws_ros2.h b/src/devices/rgbdToPointCloudSensor_nws_ros2/RgbdToPointCloudSensor_nws_ros2.h index 5894e52..883b95e 100644 --- a/src/devices/rgbdToPointCloudSensor_nws_ros2/RgbdToPointCloudSensor_nws_ros2.h +++ b/src/devices/rgbdToPointCloudSensor_nws_ros2/RgbdToPointCloudSensor_nws_ros2.h @@ -43,8 +43,9 @@ const std::string pointCloudTopicName_param = "topic_name"; /** * @ingroup dev_impl_nws_ros2 dev_impl_media * + * \brief `rgbdToPointCloudSensor_nws_ros2`: A Network grabber for kinect-like devices. It attaches to an RGBD camera and publishes directly a pointcloud. + * * \section rgbdToPointCloudSensor_nws_ros2_device_parameters Description of input parameters - * A Network grabber for kinect-like devices. * This device will produce one stream of data for the point cloud * derived fron the combination of the data derived from Framegrabber and IDepthSensor interfaces. * See they documentation for more details about each interface.