Release 1.2.0

Version 1.2.0 is an update to support the latest release of [aica-technology/control-libraries version 7.0](https://github.com/aica-technology/control-libraries/releases/tag/v7.0.0).
The only new feature is a pair of configuration files that lets `pkg-config` find the C++ library if it's installed.

CHANGELOG.md

@@ -2,11 +2,18 @@
 
 Release Versions:
 
+- [1.2.0](#120)
 - [1.1.0](#110)
 - [1.0.0](#100)
 - [0.2.0](#020)
 - [0.1.0](#010)
 
+## 1.2.0
+
+Version 1.2.0 is an update to support the latest release of
+[aica-technology/control-libraries version 7.0](https://github.com/aica-technology/control-libraries/releases/tag/v7.0.0).
+The only new feature is a pair of configuration files that lets `pkg-config` find the C++ library if it's installed.
+
 ## 1.1.0
 
 Version 1.1.0 sets control libraries version 6.0.0 as default and fixes the GitHub workflow. Additionally, the C++

Dockerfile

@@ -1,4 +1,4 @@
-FROM ghcr.io/epfl-lasa/control-libraries/development-dependencies as source-dependencies
+FROM ghcr.io/aica-technology/control-libraries/development-dependencies as source-dependencies
 
 RUN apt-get update && apt-get install -y \
   featherpad \
@@ -14,8 +14,8 @@ WORKDIR /tmp/cppzmq-${CPPZMQ_VERSION}
 RUN mkdir build && cd build && cmake .. -DCPPZMQ_BUILD_TESTS=OFF && make -j install
 
 WORKDIR /tmp
-ARG CONTROL_LIBRARIES_BRANCH=v6.0.0
-RUN git clone -b ${CONTROL_LIBRARIES_BRANCH} --depth 1 https://github.com/epfl-lasa/control-libraries.git
+ARG CONTROL_LIBRARIES_BRANCH=v7.0.0
+RUN git clone -b ${CONTROL_LIBRARIES_BRANCH} --depth 1 https://github.com/aica-technology/control-libraries.git
 RUN cd control-libraries/source && ./install.sh --auto --no-controllers --no-dynamical-systems --no-robot-model
 RUN cd control-libraries/protocol && ./install.sh --auto
 RUN pip3 install control-libraries/python

README.md

@@ -5,7 +5,7 @@ A repository of drivers, protocols and libraries for communicating between softw
 ## Installation and usage
 
 This project depends on the `state_representation` and `clproto` libraries from
-[control libraries](https://github.com/epfl-lasa/control-libraries) in C++ as well as Python. Before installing the
+[control libraries](https://github.com/aica-technology/control-libraries) in C++ as well as Python. Before installing the
 network interfaces libraries, install therefore the two modules mentioned above as well as their Python bindings.
 Afterwards, the installation is straight forward:
 

build-test.sh

@@ -1,5 +1,5 @@
 #!/bin/bash
-CONTROL_LIBRARIES_BRANCH=v6.0.0
+CONTROL_LIBRARIES_BRANCH=v7.0.0
 
 IMAGE_NAME=aica-technology/network-interfaces
 IMAGE_STAGE=build-test
@@ -29,5 +29,5 @@ BUILD_FLAGS+=(--build-arg CONTROL_LIBRARIES_BRANCH="${CONTROL_LIBRARIES_BRANCH}"
 BUILD_FLAGS+=(-t "${IMAGE_NAME}:${IMAGE_STAGE}")
 BUILD_FLAGS+=(--target "${IMAGE_STAGE}")
 
-docker pull ghcr.io/epfl-lasa/control-libraries/development-dependencies || exit 1
+docker pull ghcr.io/aica-technology/control-libraries/development-dependencies || exit 1
 DOCKER_BUILDKIT=1 docker build "${BUILD_FLAGS[@]}" .

cpp/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.15)
 
-set (NETWORK_INTERFACES_VERSION 1.1.0)
+set (NETWORK_INTERFACES_VERSION 1.2.0)
 project(network_interfaces VERSION ${NETWORK_INTERFACES_VERSION})
 
 option(BUILD_TESTING "Build tests." OFF)
@@ -38,8 +38,8 @@ include(GNUInstallDirs)
 include(CMakePackageConfigHelpers)
 include(FindPkgConfig)
 
-add_project_dependency(control_libraries 6.0.0 REQUIRED COMPONENTS state_representation)
-add_project_dependency(clproto 6.0.0 REQUIRED)
+add_project_dependency(control_libraries 7.0.0 REQUIRED COMPONENTS state_representation)
+add_project_dependency(clproto 7.0.0 REQUIRED)
 add_project_dependency(cppzmq 4.7.1 REQUIRED)
 
 include_directories(include)

cpp/include/network_interfaces/zmq/network.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#include <clproto.h>
+#include <clproto.hpp>
 #include <state_representation/space/cartesian/CartesianState.hpp>
 #include <state_representation/space/joint/JointState.hpp>
 #include <state_representation/space/Jacobian.hpp>

cpp/test/test_zmq_communication.cpp

@@ -8,14 +8,14 @@
 static void
 expect_joint_state_equal(const state_representation::JointState& js1, const state_representation::JointState& js2) {
   EXPECT_TRUE(js1.data().isApprox(js2.data()));
-  EXPECT_TRUE(js1.is_compatible(js2));
+  EXPECT_FALSE(js1.is_incompatible(js2));
 }
 
 static void expect_cart_state_equal(
     const state_representation::CartesianState& cs1, const state_representation::CartesianState& cs2
 ) {
   EXPECT_TRUE(cs1.data().isApprox(cs2.data()));
-  EXPECT_TRUE(cs1.is_compatible(cs2));
+  EXPECT_FALSE(cs1.is_incompatible(cs2));
 }
 
 class TestNetworkInterface : public ::testing::Test {
@@ -88,9 +88,9 @@ class TestNetworkInterface : public ::testing::Test {
     expect_cart_state_equal(state.ee_state, robot_state);
     expect_joint_state_equal(state.joint_state, robot_joint_state);
     EXPECT_TRUE(state.jacobian.data().isApprox(robot_jacobian.data()));
-    EXPECT_TRUE(state.jacobian.is_compatible(robot_jacobian));
+    EXPECT_FALSE(state.jacobian.is_incompatible(robot_jacobian));
     EXPECT_TRUE(state.mass.get_value().isApprox(robot_mass.get_value()));
-    EXPECT_TRUE(state.mass.is_compatible(robot_mass));
+    EXPECT_FALSE(state.mass.is_incompatible(robot_mass));
   }
 };
 

dev-server.sh

@@ -1,5 +1,5 @@
 #!/bin/bash
-CONTROL_LIBRARIES_BRANCH=v6.0.0
+CONTROL_LIBRARIES_BRANCH=v7.0.0
 REMOTE_SSH_PORT=4420
 
 IMAGE_NAME=aica-technology/network-interfaces
@@ -29,7 +29,7 @@ BUILD_FLAGS+=(--build-arg CONTROL_LIBRARIES_BRANCH="${CONTROL_LIBRARIES_BRANCH}"
 BUILD_FLAGS+=(-t "${IMAGE_NAME}:${IMAGE_STAGE}")
 BUILD_FLAGS+=(--target "${IMAGE_STAGE}")
 
-docker pull ghcr.io/epfl-lasa/control-libraries/development-dependencies || exit 1
+docker pull ghcr.io/aica-technology/control-libraries/development-dependencies || exit 1
 DOCKER_BUILDKIT=1 docker build "${BUILD_FLAGS[@]}" . || exit 1
 
 aica-docker server "${IMAGE_NAME}:${IMAGE_STAGE}" -u developer -p "${REMOTE_SSH_PORT}"

install.sh

@@ -98,21 +98,21 @@ done
 STATE_REPRESENTATION_INSTALL=$(ldconfig -p | grep libstate_representation)
 if [ -z "${STATE_REPRESENTATION_INSTALL}" ]; then
   echo ">>> STATE REPRESENTATION LIBRARY NOT FOUND!"
-  echo ">>> Install state_representation from https://github.com/epfl-lasa/control-libraries/source"
+  echo ">>> Install state_representation from https://github.com/aica-technology/control-libraries/source"
   exit 1
 fi
 
 CL_PROTO_INSTALL=$(ldconfig -p | grep libclproto)
 if [ -z "${CL_PROTO_INSTALL}" ]; then
   echo ">>> CL PROTO LIBRARY NOT FOUND!"
-  echo ">>> Install clproto from https://github.com/epfl-lasa/control-libraries/protocol"
+  echo ">>> Install clproto from https://github.com/aica-technology/control-libraries/protocol"
   exit 1
 fi
 
 CL_PYTHON_BINDINGS=$(pip3 list | grep control-libraries)
 if [ -z "${CL_PYTHON_BINDINGS}" ]; then
   echo ">>> PYTHON BINDINGS FOR CONTROL LIBRARIES NOT FOUND!"
-  echo ">>> Install bindings from https://github.com/epfl-lasa/control-libraries/python"
+  echo ">>> Install bindings from https://github.com/aica-technology/control-libraries/python"
   exit 1
 fi
 

python/setup.py

@@ -2,14 +2,14 @@
 
 setuptools.setup(
     name="network_interfaces",
-    version="1.1.0",
+    version="1.2.0",
     description="This package implements network interfaces of AICA",
     maintainer="Dominic Reber",
     maintainer_email="[email protected]",
     url="https://github.com/aica-technology/network-interfaces",
     packages=setuptools.find_packages(),
     install_requires=[
-        "control-libraries>=6.0.0",
+        "control-libraries>=7.0.0",
         "pyzmq>=22.3"
     ],
     classifiers=[

python/test/test_zmq_communication.py

@@ -30,7 +30,7 @@ def setUpClass(cls):
         cls.context = zmq.Context()
 
     def assert_state_equal(self, state1, state2):
-        self.assertTrue(state1.is_compatible(state2))
+        self.assertFalse(state1.is_incompatible(state2))
         assert_array_almost_equal(state1.data(), state2.data())
 
     def robot(self):
@@ -75,7 +75,7 @@ def test_communication(self):
         self.assert_state_equal(self.received_state.ee_state, self.robot_state)
         self.assert_state_equal(self.received_state.joint_state, self.robot_joint_state)
         self.assert_state_equal(self.received_state.jacobian, self.robot_jacobian)
-        self.assertTrue(self.received_state.mass.is_compatible(self.robot_mass))
+        self.assertFalse(self.received_state.mass.is_incompatible(self.robot_mass))
         assert_array_almost_equal(self.received_state.mass.get_value(), self.robot_mass.get_value())
 
     def test_encode_command(self):