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Implement driver and controller interfaces (#25)
* Started project configuration * Added missing dotfiles * Started implementation of alpha driver * continued implementation of alpha driver * Finished initial crc implementation and started devops error resolution * Working on resolving build errors for tests * Resolved linking errors with testing in cmakelists * cleaned up alpha driver cmakelists file * Resolved bugs in crc calculation * implemented cobs encoding and cleaned up crc methods * Revert back to clang formatting * added support for clang tidy and resolved clang tidy errors * resolved copyright errors * forgot to save * more files that i forgot to save * Started designing ros messages * Implemented support for packet decoding * Cleanup * implemented unit tests for packet * Resolve type warnings and discrepancies between cpplint and clang format * Made a packet ros msg for comms between driver and control interface * save point * started implementing terminal configurations and serial device initialization * added methods to send data and register read callbacks * Added support for configuring read to block * Added active public member * started implementing heartbeat monitor * Clean up linter errors * Cleaned up some guidelines violations and integrated logging support into client * Finished up initial implementation of serial client * started implementation of ros wrapper for driver * resolved some bugs in the serial client * Resolved bug in serial read * Cleaned up implemented and comments * added heartbeat monitor * sorry google but i hate your method naming convention * rip buildx * started refactoring to support ros2 control and started systeminterface implementation * Continued refactoring driver to better support ros2 control integration * Cleaned up comments and added new request method * Converted driver to library and separated control interface * get rid of gross src directory * forgot to actually remove src * started implementation of hardware interface * removed alpha msgs package and added bringup and description packages * started implementation of init method * finished initial version of hardware interface on_init * started implementing on_cleanup * added logs and try catch blocks for mode switching * Remove files from develop to start enforcing pr process * Starting down the rabbit hole of exception safe code.. cheers Jon Kalb * Integrate a Linux serial driver with ros2_control position, velocity, and joint trajectory control (#18) * updated exceptions according to feedback from code review * removed unnecessary consts * Integrate ros2_control for position, velocity, and joint trajectory control (#11) * moved ros2 control work to new branch * started adding support for position control * quick save * Implemented command and state interface exports * Resolve merge conflicts * Save point * added on_configure method * finished read and write methods * Implemented initial version of write method * ported meshes and URDFs from reach sdk * Added urdf specifications and rviz launch * fix logger naming in hardware description * added missing readme * added missing readme * starting integration of ros2_control xacro * fix readme link * Remove italics * added ros2_control descriptions nad config and gazebo macro * added moveit * started moveit2 integration * Starting to migrate moveit2 configs to description package * started working on adding launch files * removed joint state gui * squashed system hardware bugs and continued bringup * why does gazebo suck so much * Save point * finished first versions of launch files.. time to debug * Fixed moveit configs * curse you moveit * fixed controller execution * fixed rviz launch with gazebo * fixed moveit bugs * debugging gazebo * Removed gazebo stuff for time being * started system cleanup for PR * i guess its ros 2 not ros2 * cleaned up bringup package * cleaned up folder structure * starting cleanup of documentation * IMPORTANT GAZEBO SAVE POINT * added gazebo to dockerfile * Added documented inertial properties * fixed bugs in state callbacks * continued bug fixes * save point for ramen * resolved bugs in hardware configuration with moveit * first pass for PR * Resolved *most* of the comments from the pr review * fixed joint limit issues * Fixed initial positions file error * Added missing changelog document * Fixed camera angles for rviz and gazebo * Fixed moveit rviz camera angle * fixed order of moveit controllers * Created a CODE_OF_CONDUCT document (#19) * Integrate GH actions CI/CD pipelines (#21) * started docker then got distracted * split dev image from production images * take 1 * take 2 * moving ci integration here to make docker updates easier * testing precommit pipeline * take one on ci * ran with wrong branch * attempt to use clang style config files * another attempt at clang format * testing different version of clang tidy * testing to see if ici catches bug in test * attempt to disable clang format checks * remove clang format from build tests in favor of pre-commit * weird things happening with tidy * weird things happening with tidy * im tired and want to go to bed * im just guessing at this point * another random test * disable ici clang tidy in favor of other workflow * why * why * why * pain * sad * this is as good as it's going to get * put env variable in wrong spot * fixed readme. time for bed * fixed readme. time for bed * fixed readme. time for bed * removed test branch from ci pipeline. actually going to bed now * Resolved PR comments
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‎.clang-format

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---
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Language: Cpp
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BasedOnStyle: Google
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ColumnLimit: 100
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MaxEmptyLinesToKeep: 1
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IndentWidth: 2
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TabWidth: 2
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UseTab: Never
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AccessModifierOffset: -2
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AlignAfterOpenBracket: AlwaysBreak
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ConstructorInitializerIndentWidth: 0
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ContinuationIndentWidth: 2
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DerivePointerAlignment: false
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PointerAlignment: Middle
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PackConstructorInitializers: Never
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# Configure brace wrapping cases
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BreakBeforeBraces: Custom
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BraceWrapping:
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AfterClass: true
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AfterEnum: true
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AfterFunction: true
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AfterNamespace: true
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AfterStruct: true
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AfterUnion: true
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BeforeCatch: true

‎.clang-tidy

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---
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Checks: >
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-*,
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abseil-*,
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bugprone-*,
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google-*,
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misc-*,
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modernize-*,
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performance-*,
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portability-*,
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readability-*,
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-google-readability-braces-around-statements,
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-google-readability-namespace-comments,
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-google-runtime-references,
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-misc-non-private-member-variables-in-classes,
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-modernize-return-braced-init-list,
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-modernize-use-trailing-return-type,
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-performance-move-const-arg,
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-readability-braces-around-statements,
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-readability-identifier-length,
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-readability-magic-numbers,
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-readability-named-parameter,
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-readability-redundant-declaration,
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-readability-function-cognitive-complexity,
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-bugprone-narrowing-conversions,
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-bugprone-easily-swappable-parameters,
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-bugprone-implicit-widening-of-multiplication-result,
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-modernize-avoid-bind,
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-modernize-use-nodiscard
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WarningsAsErrors: "*"
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CheckOptions:
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- key: readability-braces-around-statements.ShortStatementLines
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value: "2"
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- key: readability-identifier-naming.NamespaceCase
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value: lower_case
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- key: readability-identifier-naming.ClassCase
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value: CamelCase
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- key: readability-identifier-naming.StructCase
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value: CamelCase
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- key: readability-identifier-naming.TemplateParameterCase,
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value: CamelCase,
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- key: readability-identifier-naming.FunctionCase
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value: camelBack
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- key: readability-identifier-naming.MethodCase
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value: camelBack
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- key: readability-identifier-naming.VariableCase
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value: lower_case
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- key: readability-identifier-naming.ClassMemberCase
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value: lower_case
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- key: readability-identifier-naming.ClassMemberSuffix
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value: _
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- key: readability-identifier-naming.PrivateMemberSuffix
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value: _
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- key: readability-identifier-naming.ProtectedMemberSuffix
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value: _
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- key: readability-identifier-naming.EnumConstantCase
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value: CamelCase
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- key: readability-identifier-naming.EnumConstantPrefix
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value: k
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- key: readability-identifier-naming.ConstexprVariableCase
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value: CamelCase
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- key: readability-identifier-naming.ConstexprVariablePrefix
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value: k
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- key: readability-identifier-naming.GlobalConstantCase
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value: CamelCase
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- key: readability-identifier-naming.GlobalConstantPrefix
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value: k
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- key: readability-identifier-naming.MemberConstantCase
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value: CamelCase
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- key: readability-identifier-naming.MemberConstantPrefix
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value: k
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- key: readability-identifier-naming.StaticConstantCase
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value: CamelCase
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- key: readability-identifier-naming.StaticConstantPrefix
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value: k
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- key: readability-implicit-bool-conversion.AllowIntegerConditions
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value: 1
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- key: readability-implicit-bool-conversion.AllowPointerConditions
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value: 1
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- key: readability-function-cognitive-complexity.IgnoreMacros
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value: 1

‎.devcontainer/Dockerfile

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ARG ROS_DISTRO=rolling
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FROM ros:$ROS_DISTRO as core
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LABEL maintainer="Evan Palmer"
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LABEL maintainer-email="[email protected]"
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ENV DEBIAN_FRONTEND=noninteractive
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# Install core apt dependencies
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RUN apt-get update && apt-get install -y --no-install-recommends \
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apt-utils \
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software-properties-common \
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git \
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wget \
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gnupg2 \
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lsb-release \
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&& apt-get autoremove -y \
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&& apt-get clean -y \
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&& rm -rf /var/lib/apt/lists/*
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# Install core ROS dependencies
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RUN apt-get update && apt-get install -y --no-install-recommends \
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ros-$ROS_DISTRO-robot-state-publisher \
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ros-$ROS_DISTRO-xacro \
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ros-$ROS_DISTRO-ros2-control \
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ros-$ROS_DISTRO-ros2-controllers \
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ros-$ROS_DISTRO-controller-manager \
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&& apt-get autoremove -y \
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&& apt-get clean -y \
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&& rm -rf /var/lib/apt/lists/*
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FROM core as ci
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# Install CI apt dependencies
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RUN apt-get update && apt-get install -y --no-install-recommends \
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clang-format \
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python3-dev \
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python3-pip \
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&& apt-get autoremove -y \
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&& apt-get clean -y \
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&& rm -rf /var/lib/apt/lists/*
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# Install debugging/linting Python packages
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RUN pip3 install \
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black \
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flake8 \
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isort \
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pydocstyle \
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pre-commit \
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mypy
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FROM ci as base
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RUN apt-get update && apt-get install -y --no-install-recommends \
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ros-$ROS_DISTRO-rviz2 \
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ros-dev-tools \
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ros-$ROS_DISTRO-moveit \
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ros-$ROS_DISTRO-gazebo-ros-pkgs \
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ros-$ROS_DISTRO-gazebo-ros2-control \
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&& apt-get autoremove -y \
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&& apt-get clean -y \
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&& rm -rf /var/lib/apt/lists/*
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FROM base as develop
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RUN apt-get update && apt-get install -y --no-install-recommends \
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iputils-ping \
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net-tools \
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lsb-release \
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gdb \
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&& apt-get autoremove -y \
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&& apt-get clean -y \
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&& rm -rf /var/lib/apt/lists/*
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# Configure a new non-root user
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ARG USERNAME=dev
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ARG USER_UID=1000
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ARG USER_GID=$USER_UID
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RUN groupadd --gid $USER_GID $USERNAME \
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&& useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
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&& apt-get update \
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&& apt-get install -y sudo \
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&& echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
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&& chmod 0440 /etc/sudoers.d/$USERNAME \
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&& rm -rf /var/lib/apt/lists/* \
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&& echo "source /usr/share/bash-completion/completions/git" >> /home/$USERNAME/.bashrc \
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&& echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc
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ARG WORKSPACE
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RUN echo "if [ -f ${WORKSPACE}/install/setup.bash ]; then source ${WORKSPACE}/install/setup.bash; fi" >> /home/$USERNAME/.bashrc
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RUN echo "export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${WORKSPACE}/" >> /home/$USERNAME/.bashrc
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RUN echo "source /usr/share/gazebo/setup.sh" >> /home/$USERNAME/.bashrc

‎.devcontainer/devcontainer.json

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{
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"dockerFile": "Dockerfile",
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"build": {
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"args": {
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"WORKSPACE": "${containerWorkspaceFolder}",
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"ROS_DISTRO": "humble"
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}
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},
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"remoteUser": "dev",
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"runArgs": [
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"--network=host",
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"--cap-add=SYS_PTRACE",
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"--security-opt=seccomp:unconfined",
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"--security-opt=apparmor:unconfined",
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"--volume=/dev:/dev",
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"--privileged"
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],
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"containerEnv": {
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"DISPLAY": "${localEnv:DISPLAY}",
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"WAYLAND_DISPLAY": "${localEnv:WAYLAND_DISPLAY}",
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"XDG_RUNTIME_DIR": "${localEnv:XDG_RUNTIME_DIR}",
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"PULSE_SERVER": "${localEnv:PULSE_SERVER}"
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},
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"customizations": {
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"vscode": {
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"settings": {
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"terminal.integrated.profiles.linux": {
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"bash": {
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"path": "/bin/bash"
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}
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},
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"terminal.integrated.defaultProfile.linux": "bash",
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"files.associations": {
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"*.repos": "yaml",
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"*.world": "xml",
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"*.xacro": "xml",
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"*.srdf": "xml",
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"*.rviz": "yaml"
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},
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"files.eol": "\n",
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"files.insertFinalNewline": true,
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"files.trimTrailingWhitespace": true,
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"editor.acceptSuggestionOnEnter": "smart",
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"editor.wordWrap": "on",
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"editor.formatOnSave": true,
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"editor.tabSize": 2,
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"editor.rulers": [80],
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"editor.defaultFormatter": "esbenp.prettier-vscode",
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"xml.format.maxLineWidth": 80,
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"json.format.enable": true,
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"python.linting.enabled": true,
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"python.linting.flake8Enabled": true,
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"python.linting.pylintEnabled": false,
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"python.linting.pydocstyleEnabled": true,
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"python.linting.mypyEnabled": true,
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"python.formatting.provider": "black",
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"python.formatting.blackPath": "/usr/local/bin/black",
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"python.autoComplete.extraPaths": [
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"/opt/ros/humble/lib/python3.10/site-packages/"
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],
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"python.analysis.extraPaths": [
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"/opt/ros/humble/lib/python3.10/site-packages/"
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],
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"C_Cpp.default.intelliSenseMode": "linux-gcc-x86",
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"C_Cpp.clang_format_fallbackStyle": "Google",
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"C_Cpp.codeAnalysis.clangTidy.enabled": true,
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"C_Cpp.codeAnalysis.clangTidy.runAutomatically": true,
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"clang-format.executable": "/usr/bin/clang-format",
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"uncrustify.configPath.linux": "/opt/ros/humble/lib/python3.10/site-packages/ament_uncrustify/configuration/ament_code_style.cfg",
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"[cpp]": {
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"editor.wordBasedSuggestions": false,
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"editor.suggest.insertMode": "replace",
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"editor.semanticHighlighting.enabled": true,
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"editor.rulers": [100],
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"editor.defaultFormatter": "xaver.clang-format",
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"editor.formatOnSave": true
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},
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"[python]": {
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"editor.tabSize": 4,
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"editor.rulers": [90],
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"editor.defaultFormatter": "ms-python.python",
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"editor.codeActionsOnSave": {
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"source.organizeImports": true
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},
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"editor.formatOnSave": true
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},
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"[dockerfile]": {
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"editor.quickSuggestions": {
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"strings": true
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},
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"editor.defaultFormatter": "ms-azuretools.vscode-docker",
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"editor.tabSize": 4
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},
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"[json]": {
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"editor.quickSuggestions": {
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"strings": true
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},
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"editor.suggest.insertMode": "replace"
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},
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"[xml]": {
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"editor.defaultFormatter": "redhat.vscode-xml"
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},
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"[yaml]": {
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"editor.insertSpaces": true,
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"editor.autoIndent": "advanced",
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"editor.defaultFormatter": "redhat.vscode-yaml"
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},
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"[markdown]": {
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"editor.unicodeHighlight.ambiguousCharacters": false,
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"editor.unicodeHighlight.invisibleCharacters": false,
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"diffEditor.ignoreTrimWhitespace": false,
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"editor.wordWrap": "on",
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"editor.quickSuggestions": {
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"comments": "off",
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"strings": "off",
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"other": "off"
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}
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},
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"search.exclude": {
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"**/node_modules": true,
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"**/bower_components": true,
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"**/*.code-search": true,
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"**/build": true,
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"**/install": true,
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"**/log": true
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}
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},
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"extensions": [
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"ms-azuretools.vscode-docker",
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"ms-python.python",
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"ms-python.vscode-pylance",
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"njpwerner.autodocstring",
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"redhat.vscode-xml",
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"redhat.vscode-yaml",
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"cschlosser.doxdocgen",
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"ms-vscode.cpptools",
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"josetr.cmake-language-support-vscode",
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"smilerobotics.urdf",
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"DavidAnson.vscode-markdownlint",
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"esbenp.prettier-vscode",
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"xaver.clang-format"
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]
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}
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}
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}

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