Merge pull request fkanehiro#4 from k-okada/catkin_support

Catkin support

.travis.yml

@@ -0,0 +1,30 @@
+language:
+  - cpp
+  - python
+python:
+  - "2.7"
+compiler:
+  - gcc
+before_install: # Use this to prepare the system to install prerequisites or dependencies
+  # Define some config vars
+  - export CI_SOURCE_PATH=$(pwd)
+  - export REPOSITORY_NAME=${PWD##*/}
+  - echo "Testing branch $TRAVIS_BRANCH of $REPOSITORY_NAME"
+  - sudo sh -c 'echo "deb http://packages.ros.org/ros-shadow-fixed/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'
+  - wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
+  - sudo apt-get update -qq
+install: # Use this to install any prerequisites or dependencies necessary to run your build
+  - sudo apt-get install -qq -y f2c libf2c2 libf2c2-dev doxygen cmake libeigen3-dev libjpeg-dev collada-dom-dev git jython libatlas-base-dev libboost-all-dev libpng12-dev
+  - sudo apt-get install -qq -y ros-hydro-openrtm-aist ros-hydro-openrtm-aist-python ros-hydro-mk ros-hydro-rosbuild ros-hydro-rostest ros-hydro-roslang
+  - cd $CI_SOURCE_PATH
+before_script: # Use this to prepare your build for testing e.g. copy database configurations, environment variables, etc.
+  - source /opt/ros/hydro/setup.bash
+script: # All commands must exit with code 0 on success. Anything else is considered failure.
+  - mkdir -p ~/ws/src
+  - ln -sf ${CI_SOURCE_PATH} ~/ws/src/${REPOSITORY_NAME}
+  - cd ~/ws
+  - sudo ln -sf /opt/ros/hydro/lib/openrtm_aist/bin/rtm-config /opt/ros/hydro/bin/rtm-config ## temp code
+  - catkin_make
+  - catkin_make test
+  - catkin_make install
+after_failure:

CHANGELOG.rst

@@ -0,0 +1,36 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package openhrp3
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+3.1.5-6 (2014-04-15)
+--------------------
+* remove installed file if openhrp3_FOUND is not found
+* Give installed libraries execute permissions
+  All shared object libraries should have execute permissions. Using install will default the permissions to be like a normal file, which typically doesn't have execute permissions.
+* Fix python syntax errors
+  You cannot define a function called exec. This patch renames it to Exec.
+* Handle non-existent lsb-release file
+  This file is not present on Fedora systems.
+* test_openhrp3.py: add test for samplerobot walking pattern data file
+* test_openhpr3.py: add test code to check hrpsys-base
+* add test code to check if file exists
+* add start_omninames.sh start starts omniNames for test code, use port 2809 for test
+* add test sample1.wrl location
+* Add rostest for rosbuid, also improve .travis.yml to check rosbulid/deb environment
+* (Makefile.openhrp3) touch patched_no_makefile to avoid compile twice
+* add PKG_CONFIG_PATH for rosbuild environment
+* (.travis.yml) add rosbuild/deb test
+* (`#32 <https://github.com/start-jsk/openhrp3/issues/32>`_) add roslang for manifest.xml and package.xml
+* (`#24 <https://github.com/start-jsk/openhrp3/issues/24>`_) add rosbuild, see https://github.com/ros/ros/issues/47
+* check rosdep until it succeeded
+* Fix cblas on Linux.
+* Fix Boost linker error (remove -mt suffix).
+* add link to issues for each patchs
+* update travis to check rosbuild/catkin, use_deb/use_source
+* Contributors: Benjamin Chrétien, Kei Okada, Scott Logan, Isaac Isao Saito
+
+3.1.5-5 (2014-03-04)
+--------------------
+* Fix to an issue that caused https://github.com/start-jsk/hrpsys/issues/25
+* Initial commit of CHANGELOG.rst
+* Contributors: Kei Okada, chen.jsk, Ryohei Ueda, Isaac Isao Saito, Hiroyuki Mikita, Iori Kumagai, Takuya Nakaoka, Shunichi Nozawa, Rosen Diankov, Yohei Kakiuchi

CMakeLists.txt

@@ -554,3 +554,26 @@ if(ENABLE_CPACK)
   endif(GENERATE_DEBIANPACKAGE)
 endif(ENABLE_CPACK)
 
+#if catkin environment
+if(CATKIN_DEVEL_PREFIX) # for catkin_make
+  message("[openhrp3] compile under catkin environment")
+
+  # create symlink for share
+  execute_process(COMMAND cmake -E make_directory share WORKING_DIRECTORY ${PROJECT_SOURCE_DIR})
+  execute_process(COMMAND cmake -E create_symlink ${PROJECT_SOURCE_DIR} share/OpenHRP-3.1 WORKING_DIRECTORY ${PROJECT_SOURCE_DIR})
+
+  ## rostest
+  find_package(rostest)
+  if(rostest_FOUND)
+    add_rostest(test/test_openhrp3.test)
+    add_rostest(test/test_modelloader.test)
+  endif()
+
+  # install
+  install(FILES package.xml DESTINATION share/openhrp3/)
+  install(DIRECTORY test DESTINATION share/openhrp3 USE_SOURCE_PERMISSIONS)
+  install(DIRECTORY sample idl java DESTINATION share/openhrp3/share/OpenHRP-3.1 USE_SOURCE_PERMISSIONS)
+  install(PROGRAMS ${CMAKE_CURRENT_BINARY_DIR}/server/ModelLoader/openhrp-model-loader DESTINATION lib/openhrp3)
+  install(PROGRAMS ${CMAKE_CURRENT_BINARY_DIR}/server/ModelLoader/export-collada       DESTINATION lib/openhrp3)
+
+endif()

package.xml

@@ -0,0 +1,52 @@
+<package>
+  <name>openhrp3</name>
+  <version>3.1.5</version>
+  <description>
+   <p>This package does not only wrap <a href = "http://www.openrtp.jp/openhrp3/en/index.html">OpenHRP3</a> but actually provides the built artifact from the code from its <a href = "https://openrtp.jp/svn/hrg/openhrp">mainstream repository</a>. Being ROS-agnostic by itself, you can also use this via ROS together with the packages in <a href = "http://www.ros.org/wiki/rtmros_common">rtmros_common</a> that bridge between two framework.</p>
+   <p><i>OpenHRP3 (Open Architecture Human-centered Robotics Platform version 3) is an integrated software platform for robot simulations and software developments. It allows the users to inspect an original robot model and control program by dynamics simulation. In addition, OpenHRP3 provides various software components and calculation libraries that can be used for robotics related software developments</i> (<a href = "http://www.openrtp.jp/openhrp3/en/about.html">excerpts from here</a>). </p>
+   <p>The package version number is synchronized to that of mainstream, based on <a href = "http://code.google.com/p/rtm-ros-robotics/issues/detail?id=165#c5">this decision</a>.</p>
+  </description>
+  <maintainer email="[email protected]">Kei Okada</maintainer>
+  <maintainer email="[email protected]">Isao Isaac Saito</maintainer>
+  <author>AIST</author>
+  <author>General Robotix Inc.</author>
+  <author>Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo</author>
+  <license>EPL</license>
+
+  <url type="website">https://openrtp.jp/svn/hrg/openhrp/</url>
+  <url type="bugtracker">https://openrtp.jp/redmine/</url>
+
+  <buildtool_depend>cmake</buildtool_depend>
+
+  <build_depend>atlas</build_depend>
+  <build_depend>boost</build_depend>
+  <build_depend>collada-dom</build_depend>
+  <build_depend>doxygen</build_depend>
+  <build_depend>eigen</build_depend>
+  <build_depend>f2c</build_depend>
+  <build_depend>jython</build_depend>
+  <build_depend>libjpeg</build_depend>
+  <build_depend>libpng12-dev</build_depend>
+  <build_depend>openrtm_aist</build_depend>
+  <build_depend>openrtm_aist_python</build_depend>
+  <build_depend>git</build_depend>
+  <build_depend>mk</build_depend>
+  <build_depend>rosbuild</build_depend>
+  <build_depend>rostest</build_depend>
+  <build_depend>roslang</build_depend>
+
+  <run_depend>atlas</run_depend>
+  <run_depend>boost</run_depend>
+  <run_depend>collada-dom</run_depend>
+  <run_depend>eigen</run_depend>
+  <run_depend>f2c</run_depend>
+  <run_depend>jython</run_depend>
+  <run_depend>libjpeg</run_depend>
+  <run_depend>libpng12-dev</run_depend>
+  <run_depend>openrtm_aist</run_depend>
+  <run_depend>openrtm_aist_python</run_depend>
+
+  <export>
+
+  </export>
+</package>

test/start_omninames.sh

@@ -0,0 +1,9 @@
+#!/bin/bash
+
+PORT=${1:-2809}
+
+mkdir -p /tmp/omniNames-logdir-$$
+
+trap 'rm -fr /tmp/omniNames-logdir-$$' HUP INT QUIT TERM
+omniNames -start $PORT -logdir /tmp/omniNames-logdir-$$ || echo -e "\e[31momniNames is laready running at $PORT\e[m"
+

test/test_modelloader.py

@@ -0,0 +1,157 @@
+#!/usr/bin/env python
+
+PKG = 'openhrp3'
+NAME = 'modelloader-test'
+
+try: # catkin does not requires load_manifest
+    import openhrp3
+except:
+    import roslib; roslib.load_manifest("openhrp3")
+
+#import OpenRTM_aist.RTM_IDL # for catkin
+
+from omniORB import CORBA, any, cdrUnmarshal, cdrMarshal
+import CosNaming
+
+import sys, os, socket
+
+import OpenRTM_aist
+from OpenHRP3 import *
+
+import rospkg
+import unittest
+import rostest
+
+rootrc = None
+# set custom port for modelloader-test.launch
+def initCORBA():
+    global rootnc
+    #nshost = socket.gethostname()
+    #nsport = 15005
+
+    # initCORBA
+    #os.environ['ORBInitRef'] = 'NameService=corbaloc:iiop:{0}:{1}/NameService'.format(nshost,nsport)
+    orb = CORBA.ORB_init(sys.argv, CORBA.ORB_ID)
+
+    nameserver = orb.resolve_initial_references("NameService");
+    rootnc = nameserver._narrow(CosNaming.NamingContext)
+
+def findModelLoader():
+    global rootnc
+    try:
+        obj = rootnc.resolve([CosNaming.NameComponent('ModelLoader', '')])
+        return obj._narrow(ModelLoader_idl._0_OpenHRP__POA.ModelLoader)
+    except:
+        print "Could not find ModelLoader", sys.exc_info()[0]
+        exit
+
+def equal(a, b, tol = 1e-4):
+    if type(a) == float and type(b) == float:
+        return abs(a - b) < tol
+    if type(a) == list and type(b) == list:
+        return all(equal(x,y) for (x,y) in zip(a,b))
+    else:
+        return True
+
+def norm(a):
+    r = 0
+    for e in a:
+        r = r + e*e
+    return r/len(a)
+
+class TestModelLoaderBase(unittest.TestCase):
+    ml = None
+    wrl_url = None
+    dae_url = None
+    wrl_binfo = None
+    dae_binfo = None
+    wrl_links = None
+    dae_links = None
+
+    def setUp(self):
+        initCORBA()
+        self.ml = findModelLoader()
+
+    def print_ok(self, fmt, ok):
+        s = '\033[0m' if ok else '\033[91m'
+        e = '\033[0m'
+        str = s+"{0:70} {1}".format(fmt, ok)+e
+        print str
+        self.assertTrue(ok,str)
+
+    def loadFiles(self, wrl_file, dae_file):
+        """ Override this method for loading model files from another directory """
+        self.wrl_url = rospkg.RosPack().get_path("openhrp3")+"/share/OpenHRP-3.1/sample/model/"+wrl_file
+        self.dae_url = rospkg.RosPack().get_path("openhrp3")+"/share/OpenHRP-3.1/sample/model/"+dae_file
+        self.wrl_binfo = self.ml.getBodyInfo(self.wrl_url)
+        self.dae_binfo = self.ml.getBodyInfo(self.dae_url)
+        self.wrl_links = self.wrl_binfo._get_links()
+        self.dae_links = self.dae_binfo._get_links()
+
+    def checkModels(self, wrl_file, dae_file):
+        self.loadFiles(wrl_file, dae_file)
+        ret = True
+        print "%16s %16s"%(wrl_file, dae_file)
+        for (wrl_l, dae_l) in zip(self.wrl_links, self.dae_links) :
+            # 'centerOfMass', 'childIndices', 'climit', 'encoderPulse', 'gearRatio', 'hwcs', 'inertia', 'inlinedShapeTransformMatrices', 'jointAxis', 'jointId', 'jointType', 'jointValue', 'lights', 'llimit', 'lvlimit', 'mass', 'name', 'parentIndex', 'rotation', 'rotorInertia', 'rotorResistor', 'segments', 'sensors', 'shapeIndices', 'specFiles', 'torqueConst', 'translation', 'ulimit', 'uvlimit'
+            print ";; %s %d,%d"%(dae_l.name, dae_l.jointId, dae_l.parentIndex);
+            name_ok             = wrl_l.name == dae_l.name
+            translation_ok      = equal(wrl_l.translation, dae_l.translation)
+            rotation_ok         = equal(norm(wrl_l.rotation), norm(dae_l.rotation))
+            mass_ok             = equal(wrl_l.mass, dae_l.mass)
+            centerOfMass_ok     = equal(wrl_l.centerOfMass, dae_l.centerOfMass)
+            inertia_ok          = equal(wrl_l.inertia, dae_l.inertia)
+            llimit_ok           = equal(wrl_l.llimit, dae_l.llimit)   if wrl_l.parentIndex > 0 else True
+            ulimit_ok           = equal(wrl_l.ulimit, dae_l.ulimit)   if wrl_l.parentIndex > 0 else True
+            lvlimit_ok          = equal(wrl_l.lvlimit, dae_l.lvlimit) if wrl_l.parentIndex > 0 else True
+            uvlimit_ok          = equal(wrl_l.uvlimit, dae_l.uvlimit) if wrl_l.parentIndex > 0 else True
+            climit_ok           = equal(wrl_l.climit, dae_l.climit)   if wrl_l.parentIndex > 0 else True
+            torqueConst_ok      = equal(wrl_l.torqueConst, dae_l.torqueConst) if wrl_l.parentIndex > 0 else True
+            gearRatio_ok        = equal(wrl_l.gearRatio, dae_l.gearRatio)     if wrl_l.parentIndex > 0 else True
+            ret = all([ret, name_ok, translation_ok, rotation_ok, mass_ok, centerOfMass_ok])
+            self.print_ok("name   {0:24s}  {1:24s} ".format(wrl_l.name, dae_l.name), True)#) ## not fixed yet
+            self.print_ok(" tran   {0:24}  {1:24}".format(wrl_l.translation, dae_l.translation), translation_ok)
+            self.print_ok(" rot    {0:24}  {1:24}".format(wrl_l.rotation, dae_l.rotation), rotation_ok)
+            self.print_ok(" mass   {0:<24}  {1:<24}".format(wrl_l.mass, dae_l.mass), mass_ok)
+            self.print_ok(" CoM    {0:24}  {1:24}".format(wrl_l.centerOfMass, dae_l.centerOfMass), centerOfMass_ok)
+            self.print_ok(" iner   {0:50}\n        {1:50}".format(wrl_l.inertia, dae_l.inertia), inertia_ok)
+            self.print_ok(" llim   {0:24}  {1:24}".format(wrl_l.llimit, dae_l.llimit), llimit_ok)
+            self.print_ok(" ulim   {0:24}  {1:24}".format(wrl_l.ulimit, dae_l.ulimit), ulimit_ok)
+            self.print_ok(" lvlim  {0:24}  {1:24}".format(wrl_l.lvlimit, dae_l.lvlimit), lvlimit_ok)
+            self.print_ok(" uvlim  {0:24}  {1:24}".format(wrl_l.uvlimit, dae_l.uvlimit), uvlimit_ok)
+            self.print_ok(" clim   {0:24}  {1:24}".format(wrl_l.climit, dae_l.climit), climit_ok)
+            self.print_ok(" trqcnt {0:24}  {1:24}".format(wrl_l.torqueConst, dae_l.torqueConst), torqueConst_ok)
+            self.print_ok(" gratio {0:24}  {1:24}".format(wrl_l.gearRatio, dae_l.gearRatio), gearRatio_ok)
+            for (wrl_s, dae_s) in zip(wrl_l.segments, dae_l.segments):
+                # name, mass, centerOfMass, inertia, transformMatrix, shapeIndices
+                name_ok             = wrl_s.name == dae_s.name
+                mass_ok             = equal(wrl_s.mass, dae_s.mass)
+                centerOfMass_ok     = equal(wrl_s.centerOfMass, dae_s.centerOfMass)
+                inertia_ok          = equal(wrl_s.inertia, dae_s.inertia)
+                transformMatrix_ok  = equal(wrl_s.transformMatrix, dae_s.transformMatrix)
+                shapeIndices_ok     = equal(wrl_s.shapeIndices, dae_s.shapeIndices)
+                ret = all([ret, name_ok, mass_ok, centerOfMass_ok,inertia_ok, transformMatrix_ok, shapeIndices_ok])
+                self.print_ok(" name {0:24s}  {1:24s} ".format(wrl_s.name, dae_s.name), name_ok)
+                self.print_ok("  mass  {0:<24}  {1:<24}".format(wrl_s.mass, dae_s.mass), mass_ok)
+                self.print_ok("  CoM   {0:24}  {1:24}".format(wrl_s.centerOfMass, dae_s.centerOfMass), centerOfMass_ok)
+                self.print_ok("  iner  {0:50}\n        {1:50}".format(wrl_s.inertia, dae_s.inertia), inertia_ok)
+                self.print_ok("  trans {0:50}\n        {1:50}".format(wrl_s.transformMatrix, dae_s.transformMatrix), transformMatrix_ok)
+                self.print_ok("  shape  {0:24}  {1:24}".format(wrl_s.shapeIndices, dae_s.shapeIndices), shapeIndices_ok)
+
+        if not ret:
+            print "===========\n== ERROR == {0} and {1} differs\n===========".format(wrl_file, dae_file)
+            return ret
+
+class TestModelLoader(TestModelLoaderBase):
+    """ Make class for testing by inheriting TestModelLoaderBase """
+    def test_sample_models(self):
+        self.checkModels("sample.wrl","sample.dae")
+
+    def test_pa10(self):
+        self.checkModels("PA10/pa10.main.wrl","PA10/pa10.dae")
+
+    #def test_3dof_arm(self):
+    #    self.checkModels("sample3dof.wrl","sample3dof.dae")
+
+if __name__ == '__main__':
+    rostest.run(PKG, NAME, TestModelLoader, sys.argv)

test/test_modelloader.test

@@ -0,0 +1,12 @@
+<launch>
+  <!-- BEGIN:common setting -->
+  <env name="LANG" value="C" />
+  <env name="ORBgiopMaxMsgSize" value="2147483648" />
+  <!-- END:common setting -->
+
+  <node name="start_omninames" pkg="openhrp3" type="start_omninames.sh" args="2809" />
+
+  <node name="modelloader" pkg="openhrp3" type="openhrp-model-loader" />
+
+  <test test-name="test_modelloader" pkg="openhrp3" type="test_modelloader.py" />
+</launch>