Release 1.1.0

This version contains some general improvements and fixes,
including support for the breaking changes introduced
by control libraries 5.0

.github/workflows/build-push.yml

@@ -4,7 +4,7 @@ name: Build and Push
 on:
   push:
     branches:
-      - master
+      - main
       - develop
   release:
     types: [published]
@@ -21,8 +21,7 @@ jobs:
 
       - name: Build image
         run: |
-          docker build . --file ./Dockerfile.development  --tag dev-image
-          docker build . --file ./Dockerfile.production --build-arg BASE_IMAGE=dev-image --tag modulo
+          docker build --tag modulo .
       - name: Login to GitHub Container Registry
         run: echo "${{ secrets.GITHUB_TOKEN }}" | docker login ghcr.io -u "${{ github.actor }}" --password-stdin
 

CHANGELOG.md

@@ -1,4 +1,18 @@
-## 1.0.0 (September 22, 2020)
+## 1.1.0 (February 18, 2022)
+
+This version contains some general improvements and fixes, including support
+for the breaking changes introduced by control libraries 5.0
+
+- Update docker paradigm (#30)
+- Refactor the shutdown logic (#31)
+- Modify build script for production by default (#32)
+- Change the underlying message type to UInt8MultiArray (#33)
+- Support int and int array parameters (#34)
+- Remove the pure virtual step function (#35)
+- Fix the examples due to breaking changes in DS (#36)
+- Correct the include due to changes in control-libraries (#38)
+
+## 1.0.0 (September 22, 2021)
 
 Modulo core library to provide ROS2 Cell and Component classes built
 around state_representation and clproto libraries.

Dockerfile

@@ -0,0 +1,16 @@
+ARG ROS_VERSION=galactic
+FROM ghcr.io/aica-technology/ros2-control-libraries:${ROS_VERSION} as development
+
+WORKDIR ${HOME}/ros2_ws
+# copy sources and build ROS workspace with user permissions
+WORKDIR ${HOME}/ros2_ws/
+COPY --chown=${USER} ./source/ ./src/
+
+# clean image
+RUN sudo apt-get clean && sudo rm -rf /var/lib/apt/lists/*
+
+
+FROM development as production
+
+# build modulo
+RUN /bin/bash -c "source /opt/ros/$ROS_DISTRO/setup.bash; colcon build"

build-server.sh

@@ -0,0 +1,44 @@
+#!/bin/bash
+ROS_VERSION=galactic
+
+IMAGE_NAME=epfl-lasa/modulo
+IMAGE_TAG=latest
+
+REMOTE_SSH_PORT=4440
+SERVE_REMOTE=false
+
+HELP_MESSAGE="Usage: build.sh [-p] [-r]
+Options:
+  -d, --development      Only target the development layer to prevent
+                         sources from being built or tested
+
+  -r, --rebuild          Rebuild the image(s) using the docker
+                         --no-cache option
+
+  -v, --verbose          Use the verbose option during the building
+                         process
+
+  -s, --serve            Start the remove development server
+"
+
+BUILD_FLAGS=(--build-arg ROS_VERSION="${ROS_VERSION}")
+while [[ $# -gt 0 ]]; do
+  opt="$1"
+  case $opt in
+    -d|--development) BUILD_FLAGS+=(--target development) ; IMAGE_TAG=development ; shift ;;
+    -r|--rebuild) BUILD_FLAGS+=(--no-cache) ; shift ;;
+    -v|--verbose) BUILD_FLAGS+=(--progress=plain) ; shift ;;
+    -s|--serve) SERVE_REMOTE=true ; shift ;;
+    -h|--help) echo "${HELP_MESSAGE}" ; exit 0 ;;
+    *) echo 'Error in command line parsing' >&2
+       echo -e "\n${HELP_MESSAGE}"
+       exit 1
+  esac
+done
+
+docker pull ghcr.io/aica-technology/ros2-control-libraries:"${ROS_VERSION}"
+DOCKER_BUILDKIT=1 docker build -t "${IMAGE_NAME}:${IMAGE_TAG}" "${BUILD_FLAGS[@]}" . || exit 1
+
+if [ "${SERVE_REMOTE}" = true ]; then
+  aica-docker server "${IMAGE_NAME}:${IMAGE_TAG}" -u ros2 -p "${REMOTE_SSH_PORT}"
+fi

source/modulo_core/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.9)
-project(modulo_core)
+project(modulo_core VERSION 1.1.0)
 
 # Default to C++17
 if(NOT CMAKE_CXX_STANDARD)
@@ -65,22 +65,25 @@ target_link_libraries(${PROJECT_NAME}
   robot_model
 )
 
-ament_auto_add_executable(${PROJECT_NAME}_test_cartesian tests/testCartesian.cpp)
-target_link_libraries(${PROJECT_NAME}_test_cartesian ${PROJECT_NAME})
+ament_auto_add_executable(example_cartesian_linear examples/cartesianLinear.cpp)
+target_link_libraries(example_cartesian_linear ${PROJECT_NAME})
 
-ament_auto_add_executable(${PROJECT_NAME}_test_cartesian_circular tests/testCartesianCircular.cpp)
-target_link_libraries(${PROJECT_NAME}_test_cartesian_circular ${PROJECT_NAME})
+ament_auto_add_executable(example_cartesian_circular examples/cartesianCircular.cpp)
+target_link_libraries(example_cartesian_circular ${PROJECT_NAME})
 
-ament_auto_add_executable(${PROJECT_NAME}_test_joints tests/testJoints.cpp)
-target_link_libraries(${PROJECT_NAME}_test_joints ${PROJECT_NAME})
+ament_auto_add_executable(example_helicoidal examples/helicoidal.cpp)
+target_link_libraries(example_helicoidal ${PROJECT_NAME})
 
-ament_auto_add_executable(${PROJECT_NAME}_test_moving_reference_frame tests/testMovingReferenceFrame.cpp)
-target_link_libraries(${PROJECT_NAME}_test_moving_reference_frame ${PROJECT_NAME})
+ament_auto_add_executable(example_joints examples/joints.cpp)
+target_link_libraries(example_joints ${PROJECT_NAME})
+
+ament_auto_add_executable(example_moving_reference_frame examples/movingReferenceFrame.cpp)
+target_link_libraries(example_moving_reference_frame ${PROJECT_NAME})
 
 ament_auto_package()
 
 # Install launch files.
 install(DIRECTORY
   launch
   DESTINATION share/${PROJECT_NAME}/
-)
+)

source/modulo_core/README.md

@@ -57,4 +57,4 @@ public:
 
 No need to do anything else. The step function is called periodically at a frequency defined in the node under the `period` argument. And the `current_state` variable will be published over `robot/joint_state` channel on ros2 network automatically.
 
-We recommand to keep this step function short, especially if you use a small period. Otherwise, latency will occur in your control loop. Complete examples of control loop including multiple nodes are written in the [tests](./tests/) for each representation spaces.
+We recommend keeping this step function short, especially if you use a small period. Otherwise, latency will occur in your control loop. Complete examples of control loops including multiple nodes are written in the [tests](examples/) for each representation spaces.

source/modulo_core/tests/testCartesianCircular.cpp → source/modulo_core/examples/cartesianCircular.cpp

@@ -1,24 +1,34 @@
-#include <dynamical_systems/Circular.hpp>
 #include <eigen3/Eigen/Core>
 #include <exception>
 #include <iostream>
-#include <rcutils/cmdline_parser.h>
+
+#include <state_representation/space/cartesian/CartesianPose.hpp>
+#include <state_representation/space/cartesian/CartesianState.hpp>
+#include <state_representation/space/cartesian/CartesianTwist.hpp>
+#include <dynamical_systems/DynamicalSystemFactory.hpp>
 
 #include "modulo_core/Cell.hpp"
 
+using namespace state_representation;
+using namespace dynamical_systems;
+
 namespace {
 class MotionGenerator : public modulo::core::Cell {
 private:
-  std::shared_ptr<state_representation::CartesianPose> current_pose;
-  std::shared_ptr<state_representation::CartesianTwist> desired_twist;
-  dynamical_systems::Circular motion_generator;
+  std::shared_ptr<CartesianPose> current_pose;
+  std::shared_ptr<CartesianTwist> desired_twist;
+  std::shared_ptr<IDynamicalSystem<CartesianState>> motion_generator;
 
 public:
-  explicit MotionGenerator(const std::string& node_name, const std::chrono::milliseconds& period) : Cell(node_name, period),
-                                                                                                    current_pose(std::make_shared<state_representation::CartesianPose>("robot_test")),
-                                                                                                    desired_twist(std::make_shared<state_representation::CartesianTwist>("robot_test")),
-                                                                                                    motion_generator(state_representation::CartesianPose("robot_test", 0., 0., 0.)) {
-    this->add_parameters(this->motion_generator.get_parameters());
+  explicit MotionGenerator(const std::string& node_name, const std::chrono::milliseconds& period) :
+      Cell(node_name, period),
+      current_pose(std::make_shared<CartesianPose>("robot_test")),
+      desired_twist(std::make_shared<CartesianTwist>("robot_test")),
+      motion_generator(
+          DynamicalSystemFactory<CartesianState>::create_dynamical_system(
+              DynamicalSystemFactory<CartesianState>::DYNAMICAL_SYSTEM::CIRCULAR
+          )) {
+    motion_generator->set_parameter_value("limit_cycle", Ellipsoid("attractor"));
   }
 
   bool on_configure() {
@@ -29,7 +39,7 @@ class MotionGenerator : public modulo::core::Cell {
 
   void step() {
     if (!this->current_pose->is_empty()) {
-      *this->desired_twist = this->motion_generator.evaluate(*this->current_pose);
+      *this->desired_twist = this->motion_generator->evaluate(*this->current_pose);
     } else {
       this->desired_twist->initialize();
     }
@@ -38,13 +48,14 @@ class MotionGenerator : public modulo::core::Cell {
 
 class ConsoleVisualizer : public modulo::core::Cell {
 private:
-  std::shared_ptr<state_representation::CartesianPose> robot_pose;
-  std::shared_ptr<state_representation::CartesianTwist> desired_twist;
+  std::shared_ptr<CartesianPose> robot_pose;
+  std::shared_ptr<CartesianTwist> desired_twist;
 
 public:
-  explicit ConsoleVisualizer(const std::string& node_name, const std::chrono::milliseconds& period) : Cell(node_name, period),
-                                                                                                      robot_pose(std::make_shared<state_representation::CartesianPose>("robot_test")),
-                                                                                                      desired_twist(std::make_shared<state_representation::CartesianTwist>("robot_test")) {}
+  explicit ConsoleVisualizer(const std::string& node_name, const std::chrono::milliseconds& period) :
+      Cell(node_name, period),
+      robot_pose(std::make_shared<CartesianPose>("robot_test")),
+      desired_twist(std::make_shared<CartesianTwist>("robot_test")) {}
 
   bool on_configure() {
     this->add_subscription<geometry_msgs::msg::PoseStamped>("/robot_test/pose", this->robot_pose);
@@ -65,15 +76,18 @@ class ConsoleVisualizer : public modulo::core::Cell {
 
 class SimulatedRobotInterface : public modulo::core::Cell {
 private:
-  std::shared_ptr<state_representation::CartesianPose> robot_pose;
-  std::shared_ptr<state_representation::CartesianTwist> desired_twist;
+  std::shared_ptr<CartesianPose> robot_pose;
+  std::shared_ptr<CartesianTwist> desired_twist;
   std::chrono::milliseconds dt;
 
 public:
-  explicit SimulatedRobotInterface(const std::string& node_name, const std::chrono::milliseconds& period) : Cell(node_name, period),
-                                                                                                            robot_pose(std::make_shared<state_representation::CartesianPose>("robot_test", Eigen::Vector3d::Random(), Eigen::Quaterniond::UnitRandom())),
-                                                                                                            desired_twist(std::make_shared<state_representation::CartesianTwist>("robot_test")),
-                                                                                                            dt(period) {}
+  explicit SimulatedRobotInterface(const std::string& node_name, const std::chrono::milliseconds& period) :
+      Cell(node_name, period),
+      robot_pose(
+          std::make_shared<CartesianPose>(
+              "robot_test", Eigen::Vector3d::Random(), Eigen::Quaterniond::UnitRandom())),
+      desired_twist(std::make_shared<CartesianTwist>("robot_test")),
+      dt(period) {}
 
   bool on_configure() {
     this->add_subscription<geometry_msgs::msg::TwistStamped>("/ds/desired_twist", this->desired_twist);