renaming & fixes

Author: fferri

.gitignore

@@ -33,7 +33,7 @@ CMakeFiles
 cmake_install.cmake
 build
 
-# generated by v_repStubsGen:
+# generated by simStubsGen:
 generated
 
 # other:

CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(vrep_ros_interface)
+project(sim_ros2_interface)
 
 if(NOT CMAKE_CXX_STANDARD)
     set(CMAKE_CXX_STANDARD 14)
@@ -31,7 +31,7 @@ set(CMAKE_MODULE_PATH
     ${CMAKE_MODULE_PATH}
     ${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules
     ${CMAKE_CURRENT_SOURCE_DIR}/cmake/CoppeliaRobotics-modules)
-find_package(VREP 3.6.1.2 REQUIRED)
+find_package(CoppeliaSim 3.6.1.2 REQUIRED)
 
 file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/generated)
 file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/doc)
@@ -54,34 +54,34 @@ include_directories(${tf2_msgs_INCLUDE_DIRS})
 include_directories(${tf2_sensor_msgs_INCLUDE_DIRS})
 include_directories(${trajectory_msgs_INCLUDE_DIRS})
 include_directories(${visualization_msgs_INCLUDE_DIRS})
-include_directories(${VREP_INCLUDE})
-include_directories(${VREP_COMMON})
+include_directories(${COPPELIASIM_INCLUDE_DIR})
+include_directories(${COPPELIASIM_COMMON_DIR})
 
 set(ROS_MSG_SRV_CACHE "${CMAKE_CURRENT_BINARY_DIR}/ros-msg-srv-defs.pickle")
 add_custom_command(OUTPUT "${ROS_MSG_SRV_CACHE}" COMMAND python "${CMAKE_CURRENT_SOURCE_DIR}/tools/parse_messages_and_services.py" "${CMAKE_CURRENT_SOURCE_DIR}/meta/messages.txt" "${CMAKE_CURRENT_SOURCE_DIR}/meta/services.txt" "${ROS_MSG_SRV_CACHE}" DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/meta/messages.txt" "${CMAKE_CURRENT_SOURCE_DIR}/meta/services.txt" "${CMAKE_CURRENT_SOURCE_DIR}/tools/parse_messages_and_services.py")
 
 set(generatedFiles)
 file(GLOB templateFiles RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}/templates/ ${CMAKE_CURRENT_SOURCE_DIR}/templates/*)
 foreach(templateFile ${templateFiles})
-    add_custom_command(OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/generated/${templateFile}" COMMAND python "${CMAKE_CURRENT_SOURCE_DIR}/external/v_repStubsGen/external/pycpp/pycpp.py" -p "cache_file=${ROS_MSG_SRV_CACHE}" -i "${CMAKE_CURRENT_SOURCE_DIR}/templates/${templateFile}" -o "${CMAKE_CURRENT_BINARY_DIR}/generated/${templateFile}" -P "${CMAKE_CURRENT_SOURCE_DIR}/tools" DEPENDS "${ROS_MSG_SRV_CACHE}" "${CMAKE_CURRENT_SOURCE_DIR}/templates/${templateFile}")
+    add_custom_command(OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/generated/${templateFile}" COMMAND python "${CMAKE_CURRENT_SOURCE_DIR}/external/simStubsGen/external/pycpp/pycpp.py" -p "cache_file=${ROS_MSG_SRV_CACHE}" -i "${CMAKE_CURRENT_SOURCE_DIR}/templates/${templateFile}" -o "${CMAKE_CURRENT_BINARY_DIR}/generated/${templateFile}" -P "${CMAKE_CURRENT_SOURCE_DIR}/tools" DEPENDS "${ROS_MSG_SRV_CACHE}" "${CMAKE_CURRENT_SOURCE_DIR}/templates/${templateFile}")
     set(generatedFiles ${generatedFiles} "${CMAKE_CURRENT_BINARY_DIR}/generated/${templateFile}")
 endforeach()
 add_custom_target(generate_ros_code DEPENDS ${generatedFiles})
-vrep_generate_stubs(${CMAKE_CURRENT_BINARY_DIR}/generated XML_FILE ${CMAKE_CURRENT_SOURCE_DIR}/meta/callbacks.xml LUA_FILE ${CMAKE_CURRENT_SOURCE_DIR}/simExtROS2Interface.lua)
+coppeliasim_generate_stubs(${CMAKE_CURRENT_BINARY_DIR}/generated XML_FILE ${CMAKE_CURRENT_SOURCE_DIR}/meta/callbacks.xml LUA_FILE ${CMAKE_CURRENT_SOURCE_DIR}/simExtROS2Interface.lua)
 
 configure_file(${CMAKE_CURRENT_SOURCE_DIR}/include/config.h.in ${CMAKE_CURRENT_BINARY_DIR}/include/config.h)
 
 set(SOURCES
-    src/vrep_ros_interface.cpp
-    ${CMAKE_CURRENT_SOURCE_DIR}/external/v_repPlusPlus/Plugin.cpp
+    src/sim_ros2_interface.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/external/simPlusPlus/Plugin.cpp
     ${CMAKE_CURRENT_BINARY_DIR}/generated/stubs.cpp
     src/ros_msg_builtin_io.cpp
-    ${VREP_EXPORTED_SOURCES}
+    ${COPPELIASIM_EXPORTED_SOURCES}
     ${CMAKE_CURRENT_BINARY_DIR}/generated/callbacks.cpp
 )
 add_library(simExtROS2Interface SHARED ${SOURCES})
 add_dependencies(simExtROS2Interface generate_ros_code)
-target_link_libraries(simExtROS2Interface ${VREP_LIBRARIES})
+target_link_libraries(simExtROS2Interface ${COPPELIASIM_LIBRARIES})
 ament_target_dependencies(simExtROS2Interface rclcpp)
 ament_target_dependencies(simExtROS2Interface actionlib_msgs)
 ament_target_dependencies(simExtROS2Interface diagnostic_msgs)
@@ -98,12 +98,12 @@ ament_target_dependencies(simExtROS2Interface tf2_sensor_msgs)
 ament_target_dependencies(simExtROS2Interface trajectory_msgs)
 ament_target_dependencies(simExtROS2Interface visualization_msgs)
 
-## This will produce the library directly in vrep root folder. The default folder
+## This will produce the library directly in CoppeliaSim root folder. The default folder
 ## for the libsimExtROS2Interface.so file will not be devel/lib anymore.
-#set_target_properties(simExtROS2Interface PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${VREP_ROOT})
+#set_target_properties(simExtROS2Interface PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${COPPELIASIM_ROOT_DIR})
 
-## install the library to VREP_ROOT folder
-## this command will install the generated library to the vrep root folder no matter where the library is generated.
-#install(TARGETS simExtROS2Interface DESTINATION ${VREP_ROOT})
+## install the library to COPPELIASIM_ROOT_DIR folder
+## this command will install the generated library to the CoppeliaSim root folder no matter where the library is generated.
+#install(TARGETS simExtROS2Interface DESTINATION ${COPPELIASIM_ROOT_DIR})
 
 ament_package()

README.md

@@ -1,13 +1,13 @@
-# ROS Interface plugin for V-REP
+# ROS2 Interface plugin for CoppeliaSim
 
 ### Compiling
 
-_NOTE:_ the directory containing all files (i.e. package.xml etc) must be called vrep_ros_interface, otherwise build will fail.
+_NOTE:_ the directory containing all files (i.e. package.xml etc) must be called sim_ros2_interface, otherwise build will fail.
 
-1. Install required packages for [v_repStubsGen](https://github.com/CoppeliaRobotics/v_repStubsGen): see v_repStubsGen's [README](external/v_repStubsGen/README.md)
+1. Install required packages for [simStubsGen](https://github.com/CoppeliaRobotics/simStubsGen): see simStubsGen's [README](external/simStubsGen/README.md)
 2. Checkout
 ```
-$ git clone --recursive https://github.com/CoppeliaRobotics/simExtRosInterface.git vrep_ros_interface
+$ git clone --recursive https://github.com/CoppeliaRobotics/simExtRos2Interface.git sim_ros2_interface
 ```
 3. Edit `meta/messages.txt` and `meta/services.txt` if you need to include more ROS messages/services. You need to specify the full message/service type, i.e. geometry_msgs/Twist rather than Twist.
 4. Compile

external/simPlusPlus

@@ -0,0 +1 @@
+../../simPlusPlus

external/simStubsGen

@@ -0,0 +1 @@
+../../simStubsGen

external/v_repPlusPlus

@@ -1,5 +1,5 @@
-#ifndef VREP_ROS_PLUGIN__ROS_MSG_BUILTIN_IO__H
-#define VREP_ROS_PLUGIN__ROS_MSG_BUILTIN_IO__H
+#ifndef SIM_ROS2_PLUGIN__ROS_MSG_BUILTIN_IO__H
+#define SIM_ROS2_PLUGIN__ROS_MSG_BUILTIN_IO__H
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -44,4 +44,4 @@ void write__string(std::string value, int stack, const WriteOptions *opt = NULL)
 void write__time(rclcpp::Time value, int stack, const WriteOptions *opt = NULL);
 void write__duration(rclcpp::Duration value, int stack, const WriteOptions *opt = NULL);
 
-#endif // VREP_ROS_PLUGIN__ROS_MSG_BUILTIN_IO__H
+#endif // SIM_ROS2_PLUGIN__ROS_MSG_BUILTIN_IO__H

external/v_repStubsGen

@@ -1,5 +1,5 @@
-#ifndef VREP_ROS_INTERFACE_H_INCLUDED
-#define VREP_ROS_INTERFACE_H_INCLUDED
+#ifndef SIM_ROS2_INTERFACE_H_INCLUDED
+#define SIM_ROS2_INTERFACE_H_INCLUDED
 
 #include <iostream>
 #include <sstream>
@@ -14,7 +14,7 @@
 
 //#include <image_transport/image_transport.h>
 
-#define PLUGIN_NAME "RosInterface"
+#define PLUGIN_NAME "Ros2Interface"
 #define PLUGIN_VERSION 5
 
 struct ScriptCallback
@@ -75,4 +75,4 @@ struct ServiceServerProxy : Proxy
 #include <stubs.h>
 #include <callbacks.h>
 
-#endif // VREP_ROS_INTERFACE_H_INCLUDED
+#endif // SIM_ROS2_INTERFACE_H_INCLUDED

image_transport.ttt

@@ -1,23 +1,55 @@
 #!/bin/sh
 
-if [ "x$VREP_ROOT" = "x" ]; then
-    echo "error: \$VREP_ROOT is not set" 1>&2
-    exit 1
+set -e
+
+cd "`dirname "$0"`"
+
+PLUGIN_NAME="$(basename "$(pwd)")"
+
+if [ "x$COPPELIASIM_ROOT_DIR" = "x" ]; then
+    # see if we can determine it automatically
+    # (i.e. the plugin dir is in $COPPELIASIM_ROOT_DIR/programming/$dir)
+    COPPELIASIM_ROOT_DIR="$(cd ../.. ; pwd)"
+    if [ ! -d "$COPPELIASIM_ROOT_DIR/programming/include" ]; then
+        echo "error: \$COPPELIASIM_ROOT_DIR is not set" 1>&2
+        exit 1
+    fi
 fi
 
 if [ "`uname`" = "Darwin" ]; then
-    INSTALL_TARGET="$VREP_ROOT/coppeliaSim.app/Contents/MacOS/"
+    INSTALL_TARGET="$COPPELIASIM_ROOT_DIR/coppeliaSim.app/Contents/MacOS/"
     DLEXT=dylib
 else
-    INSTALL_TARGET="$VREP_ROOT"
+    INSTALL_TARGET="$COPPELIASIM_ROOT_DIR"
     DLEXT=so
 fi
 
 if [ "x$BUILD_TARGET" = "x" ]; then
     BUILD_TARGET=debug
 fi
 
-cd "`dirname "$0"`"
-cp -v "../../devel/lib/libsimExtRosInterface.$DLEXT" "$INSTALL_TARGET"
-exit $?
+LIBRARY="lib$PLUGIN_NAME.$DLEXT"
+
+if [ -f CMakeLists.txt ]; then
+    # plugin uses cmake
+    mkdir -p build
+    cd build
+    cmake ..
+    cmake --build .
+    cd ..
+    LIBRARY="build/$LIBRARY"
+elif [ -f $PLUGIN_NAME.pro ]; then
+    # plugin uses qmake
+    qmake $PLUGIN_NAME.pro
+    make $BUILD_TARGET
+elif [ -f makefile ]; then
+    # plugin uses make
+    make $BUILD_TARGET
+else
+    echo "Unable to figure out the build system of $PLUGIN_NAME"
+    exit 1
+fi
+
+cp -v "$LIBRARY" "$INSTALL_TARGET"
+if [ -f *.lua ]; then cp -v *.lua "$COPPELIASIM_ROOT_DIR/lua/"; fi
 

include/ros_msg_builtin_io.h

@@ -2,7 +2,7 @@
 \mainpage
 \htmlinclude manifest.html
 
-\b vrep_ros_interface 
+\b sim_ros2_interface 
 
 <!-- 
 Provide an overview of your package.

include/vrep_ros_interface.h include/sim_ros2_interface.h

@@ -1,6 +1,6 @@
 <package format="2">
-  <name>vrep_ros_interface</name>
-  <description>V-REP plugin for ROS interface</description>
+  <name>sim_ros2_interface</name>
+  <description>CoppeliaSim ROS2 interface plugin</description>
   <maintainer email="[email protected]">Marc</maintainer>
   <version>3.3.0</version>
   <author>Federico Ferri</author>

install.sh

@@ -1,5 +1,5 @@
-#include <vrep_ros_interface.h>
-#include <v_repPlusPlus/Plugin.h>
+#include <sim_ros2_interface.h>
+#include <simPlusPlus/Plugin.h>
 
 #include <cstdlib>
 #include <functional>
@@ -561,11 +561,11 @@ bool initialize()
 
     int node_name_length = 0;
     char *node_name = nullptr;
-#if VREP_PROGRAM_FULL_VERSION_NB >= 3060104 // 3.6.1.rev4
-    node_name = simGetStringNamedParam("RosInterface.nodeName", &node_name_length);
+#if SIM_PROGRAM_FULL_VERSION_NB >= 3060104 // 3.6.1.rev4
+    node_name = simGetStringNamedParam("Ros2Interface.nodeName", &node_name_length);
 #endif
 
-    node = rclcpp::Node::make_shared(node_name && node_name_length ? node_name : "vrep_ros_interface");
+    node = rclcpp::Node::make_shared(node_name && node_name_length ? node_name : "sim_ros2_interface");
 
     if(node_name) simReleaseBuffer(node_name);
 
@@ -676,7 +676,7 @@ void shutdownTransientProxies(SScriptCallBack *p)
     shutdownTransientServiceServers(p);
 }
 
-class Plugin : public vrep::Plugin
+class Plugin : public sim::Plugin
 {
 public:
     void onStart()
@@ -696,7 +696,7 @@ class Plugin : public vrep::Plugin
         shutdown();
     }
 
-    void onInstancePass(const vrep::InstancePassFlags &flags, bool first)
+    void onInstancePass(const sim::InstancePassFlags &flags, bool first)
     {
         rclcpp::spin_some(node);
     }
@@ -712,7 +712,7 @@ class Plugin : public vrep::Plugin
             if(previousStopSimulationRequestCounter == -1)
                 previousStopSimulationRequestCounter = stopSimulationRequestCounter;
             if(previousStopSimulationRequestCounter == stopSimulationRequestCounter)
-                out = 0; // this tells V-REP that we don't wanna execute the main script
+                out = 0; // this tells CoppeliaSim that we don't wanna execute the main script
         }
         else
             previousStopSimulationRequestCounter = -1;
@@ -732,4 +732,4 @@ class Plugin : public vrep::Plugin
     int previousStopSimulationRequestCounter = -1;
 };
 
-VREP_PLUGIN(PLUGIN_NAME, PLUGIN_VERSION, Plugin)
+SIM_PLUGIN(PLUGIN_NAME, PLUGIN_VERSION, Plugin)

mainpage.dox

@@ -1,8 +1,8 @@
-#ifndef VREP_ROS_PLUGIN__CALLBACKS__H
-#define VREP_ROS_PLUGIN__CALLBACKS__H
+#ifndef SIM_ROS2_PLUGIN__CALLBACKS__H
+#define SIM_ROS2_PLUGIN__CALLBACKS__H
 
 #include <ros_msg_builtin_io.h>
-#include <vrep_ros_interface.h>
+#include <sim_ros2_interface.h>
 
 #py import parse_messages_and_services as p
 #py msgs, srvs, msgssrvs = p.load_cache(pycpp.params['cache_file'])
@@ -24,4 +24,4 @@ void ros_callback__`info.typespec.normalized()`(const `info.typespec.cpp_type()`
 bool ros_srv_callback__`info.typespec.normalized()`(const std::shared_ptr<rmw_request_id_t> request_header, const `info.typespec.cpp_type()`::Request::SharedPtr req, `info.typespec.cpp_type()`::Response::SharedPtr res, ServiceServerProxy *proxy);
 #py endfor
 
-#endif // VREP_ROS_PLUGIN__CALLBACKS__H
+#endif // SIM_ROS2_PLUGIN__CALLBACKS__H